A double-body unmanned ship with garbage storage capacity intelligent sensing function

Abstract

The utility model provides a kind of double body unmanned ship with garbage storage capacity intelligent sensing function, it is related to unmanned ship technical field.The device includes ship body, garbage cage, force sensor and control processor, garbage cage is installed in ship body, control processor is configured on ship body;The rear end of garbage cage is rotatably provided with rear garbage door, and rear electric push rod structure is provided between the stern area of ship body and rear garbage door, rear electric push rod structure is rotatably connected with rear garbage door, and force sensor is installed in the axial stress path of rear electric push rod structure in series;Control processor is used to control the telescopic action of rear electric push rod structure, force sensor is used to monitor the axial load force borne by rear electric push rod structure in real time when rear garbage door is in closed state, and pressure signal is transmitted to control processor, and control processor judges whether to issue return instruction according to the comparison result of pressure signal and preset threshold value.

Description

Technical Field

[0001] This utility model relates to the field of unmanned vessel technology, and in particular to a catamaran unmanned vessel with intelligent sensing function for waste storage volume. Background Technology

[0002] With the development of smart environmental protection and urban water environment management, catamaran unmanned vessels are widely used in the cleanup of floating garbage in rivers, lakes, ports, and other waterways due to their advantages such as good stability, large deck space, and strong seaworthiness. A typical clean-up catamaran unmanned vessel usually has a flow guide structure and a forward opening at the bow. During operation, garbage is carried by the water flow into a garbage cage in the middle of the hull for storage. Once the garbage cage is full, it returns to the designated location to complete the dumping operation.

[0003] However, accurately determining the loading status of the garbage cage remains a key bottleneck hindering the full automation of the catamaran unmanned surface vessel. Currently, the mainstream methods used in the industry each have their limitations, as follows:

[0004] Timed control method: Triggers return command by setting a fixed operation time, but it cannot adapt to the differences in garbage density in different waters, and is prone to problems such as returning before the garbage is full (reducing operation efficiency) or garbage overflow (causing secondary pollution);

[0005] Image recognition method: This method involves capturing images of the inside of the garbage cage using a camera and then analyzing them using algorithms. However, its recognition accuracy is easily affected by environmental factors such as lighting conditions, lens damage, and water mist inside the cage, resulting in unstable recognition accuracy.

[0006] Ultrasonic / infrared ranging method: The loading status is determined by measuring the height of the garbage pile inside the compartment, but it is prone to large measurement errors for loose or unevenly stacked garbage, and it is difficult to reflect the true loading volume.

[0007] Weight sensor method: The sensor is installed under the support structure of the garbage cage. The measurement accuracy is relatively high, but it has problems such as high cost, strict requirements for waterproofing and corrosion resistance, and difficulty in adapting to the operating characteristics of unmanned floating platforms.

[0008] More importantly, all the methods mentioned above focus on a "static measurement" model, neglecting the dynamic load information brought about by hydrodynamics during the operation of the catamaran unmanned vessel—that is, the continuous pressure generated when the water flow pushes the garbage in front and squeezes the rear structure of the garbage cage. This dynamic pressure is closely related to the garbage accumulation density, the actual loading volume, and the water flow resistance, and is a quantifiable potential signal source that can directly reflect the loading status.

[0009] Therefore, if the structural layout can be reasonably designed and a high-sensitivity force sensing device can be introduced to extract effective characteristic parameters from the fluid-structure coupling process, it is expected to break through the limitations of existing technologies and achieve low-cost, high-robust online monitoring of the garbage loading status, providing technical support for the fully automated operation of the catamaran unmanned vessel. Utility Model Content

[0010] The purpose of this invention is to provide a catamaran unmanned surface vessel with intelligent sensing capabilities for waste storage. The various technical effects of the preferred technical solutions among the many technical solutions provided by this invention are detailed below.

[0011] To achieve the above objectives, the present invention provides the following technical solution:

[0012] This utility model provides a catamaran unmanned vessel with intelligent sensing function of garbage storage volume, including a hull, a garbage cage, a force sensor and a control processor, wherein the garbage cage is installed in the hull and the control processor is disposed on the hull;

[0013] The rear end of the garbage cage is rotatably provided with a rear garbage door. A rear electric push rod structure is provided between the stern area of ​​the hull and the rear garbage door. The extended end of the rear electric push rod structure is rotatably connected to the rear garbage door. The force sensor is connected in series in the axial force path of the rear electric push rod structure.

[0014] Both the rear electric push rod structure and the force sensor are communicatively connected to the control processor.

[0015] The control processor is used to control the extension and retraction of the rear electric push rod structure. The force sensor is used to monitor the axial load force borne by the rear electric push rod structure in real time when the rear garbage door is closed, and transmit the pressure signal to the control processor. The control processor determines whether to issue a return command based on the comparison result of the pressure signal and a preset threshold.

[0016] Optionally, there are two force sensors and two rear electric push rod structures, with the two rear electric push rod structures arranged symmetrically, and the force sensors and rear electric push rod structures connected in a one-to-one correspondence.

[0017] Optionally, a first bracket is provided on the side end of the rear garbage door, and the extended end of the rear electric push rod structure is hinged to the first bracket;

[0018] An extension frame is provided on the side of the garbage cage, and the end of the rear electric push rod structure is hinged to the force sensor. The extension frame is hinged to the force sensor.

[0019] Optionally, the front end of the garbage cage is rotatably provided with a front garbage door, and a front electric push rod structure is provided between the bow area of ​​the hull and the front garbage door. The extended end of the front electric push rod structure is rotatably connected to the front garbage door, and the end of the front electric push rod structure is rotatably connected to the bow area of ​​the hull. The front electric push rod structure is communicatively connected to the control processor.

[0020] Optionally, the front garbage door, the rear garbage door, and the bottom plate of the garbage cage are all mesh structures.

[0021] Optionally, the hull includes a left floating hull, a right floating hull, and a deck platform. The left floating hull and the right floating hull are connected by the deck platform, which is located in the bow area of ​​the hull and above both the left and right floating hulls. The garbage cage is installed between the left and right floating hulls, and the end of the forward electric push rod structure is rotatably connected to the lower end face of the deck platform.

[0022] Optionally, the hull includes a left guide vane and a right guide vane, the left guide vane being connected to the bow of the left floating hull and the right guide vane being connected to the bow of the right floating hull, the left guide vane and the right guide vane being arranged in an outward expansion manner.

[0023] Optionally, it also includes a background monitoring platform, which is wirelessly connected to the control processor.

[0024] This invention provides a catamaran unmanned surface vessel (USV) with intelligent garbage storage capacity sensing. Using a force sensor, it collects the axial load force borne by the rear electric push rod structure in real time when the rear garbage door is closed. This force directly corresponds to the dynamic pressure generated by the water flow pushing the garbage and squeezing the garbage door. The control processor compares this pressure signal with a preset threshold to accurately determine the actual loading level of the garbage cage. This solution adapts to different garbage densities in different water areas, avoiding situations of "returning without full loading" or "garbage overflow," significantly improving the efficiency and automation level of garbage collection operations, and ensuring the USV returns to dump garbage at the optimal time. Furthermore, this solution utilizes the mechanical signal generated by fluid-structure coupling, completely unaffected by environmental factors such as lighting conditions, lens contamination, and water mist inside the cabin, solving the problem of unstable accuracy in image recognition methods. It also avoids the significant errors of ultrasonic / infrared ranging methods when measuring loose or stacked garbage, accurately and stably reflecting the actual loading capacity of the garbage cage, significantly improving the reliability and robustness of the monitoring results. This invention only requires the force sensor to be hinged between the end of the rear electric push rod structure and the stern area, simplifying the structural modification and reducing overall cost. Furthermore, the force sensor does not need to directly contact debris or be immersed in complex aquatic environments, and its requirements for waterproofing and corrosion resistance are far lower than those for weight sensors, greatly reducing the difficulty of manufacturing and maintenance. It is also more easily adapted to the operational characteristics of catamaran unmanned floating platforms and has broad market prospects. This solution innovatively extracts dynamic load information during operation from a fluid dynamics perspective, realizing a shift from "static measurement" to "dynamic real-time monitoring."

[0025] The preferred technical solution of this utility model can also produce at least the following technical effects:

[0026] The sensing method is novel and reliable: for the first time, the reverse pressure of garbage on the back door under the action of water flow is used as the measurement basis, turning "interference force" into "useful signal" and realizing low-cost and high-efficiency monitoring;

[0027] No additional weighing equipment required: Functional upgrades can be achieved simply by integrating a force sensor into an existing actuator (electric push rod structure), without relying on traditional weighing sensors or complex imaging systems.

[0028] High real-time performance and fast response: Pressure signals can be continuously measured, updated in seconds, and support dynamic adjustment of operating strategies;

[0029] Strong anti-interference capability: The signal is obtained based on the structural force transmission path and is not affected by environmental factors such as light, water mist, and oil.

[0030] Good structural compatibility: It is easy to integrate into existing catamaran cleaning unmanned vessel platforms, with low modification costs and convenient promotion;

[0031] High level of intelligence: Combined with algorithm models, it can realize full load prediction and autonomous return decision-making, promoting the clean unmanned ship towards fully autonomous operation;

[0032] Energy saving and environmental protection: reduce unnecessary voyages, optimize energy use, and extend the endurance of a single mission;

[0033] Supports big data analytics: Long-term accumulated stress data can be used to analyze regional waste distribution patterns and assist in environmental governance decisions. Attached Figure Description

[0034] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0035] Figure 1 This is a schematic diagram of the structure of a catamaran unmanned vessel with intelligent sensing function for waste storage capacity provided by an embodiment of this utility model;

[0036] Figure 2 This is a schematic diagram of the structure of a catamaran unmanned vessel with intelligent sensing function for waste storage capacity provided in this embodiment of the utility model;

[0037] Figure 3 This is a schematic diagram of the structure of a catamaran unmanned vessel with intelligent sensing function for waste storage capacity provided in this embodiment of the utility model;

[0038] Figure 4 This is a schematic diagram of the structure of a catamaran unmanned vessel with intelligent sensing function for garbage storage capacity provided in this embodiment of the utility model;

[0039] Figure 5 yes Figure 4 A partial view of A.

[0040] In the diagram: 1. Garbage cage; 11. Rear garbage door; 111. First support frame; 12. Rear electric push rod structure; 13. Front garbage door; 14. Front electric push rod structure; 15. Extension frame;

[0041] 2. Left floating hull;

[0042] 3. Right floating hull;

[0043] 4. Deck platform;

[0044] 5. Left air deflector;

[0045] 6. Right air deflector;

[0046] 7. Force sensor. Detailed Implementation

[0047] To make the objectives, technical solutions, and advantages of this utility model clearer, the technical solutions of this utility model will be described in detail below. Obviously, the described embodiments are only a part of the embodiments of this utility model, and not all of them. Based on the embodiments of this utility model, all other implementation methods obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0048] In the description of this utility model, it should be noted that, unless otherwise stated, "a plurality of" means two or more; the terms "upper," "lower," "left," "right," "inner," "outer," "front end," "rear end," "head," "tail," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first," "second," "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0049] In the description of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0050] This utility model provides a catamaran unmanned vessel with intelligent sensing function of garbage storage volume, including a hull, a garbage cage 1, a force sensor 7 and a control processor. The garbage cage 1 is installed in the hull, and the control processor is configured on the hull. The garbage cage 1 is used to collect or temporarily store floating objects on the water surface.

[0051] The rear end of the garbage cage 1 is rotatably provided with a rear garbage door 11. A rear electric push rod structure 12 is provided between the stern area of ​​the hull and the rear garbage door 11. The extended end of the rear electric push rod structure 12 is rotatably connected to the rear garbage door 11. A force sensor 7 is connected in series in the axial force path of the rear electric push rod structure 12.

[0052] Both the rear electric push rod structure 12 and the force sensor 7 are connected to the control processor.

[0053] The control processor controls the extension and retraction of the rear electric push rod structure 12, thereby controlling the opening and closing of the rear garbage door 11. During operation, the rear garbage door 11 is closed to block garbage; when dumping garbage, it is opened to allow for dumping. The force sensor 7 monitors the axial load force on the rear electric push rod structure 12 in real time when the rear garbage door 11 is closed, and transmits the pressure signal to the control processor. The control processor determines whether to issue a return command based on the comparison between the pressure signal and a preset threshold. This invention provides a catamaran unmanned surface vessel with intelligent garbage storage capacity sensing. The force sensor 7 collects the axial load force on the rear electric push rod structure 12 in real time when the rear garbage door 11 is closed. This force directly corresponds to the dynamic pressure generated by water flow pushing garbage and squeezing the rear garbage door 11. The control processor can accurately determine the actual loading level of the garbage cage 1 based on the comparison between this pressure signal and a preset threshold. This solution adapts to varying garbage densities in different water areas, preventing situations like "returning without full loading" or "garbage overflow," significantly improving the efficiency and automation of garbage collection operations and ensuring the unmanned vessel returns to dump at the optimal time. Furthermore, this solution utilizes mechanical signals generated by fluid-structure coupling, completely unaffected by environmental factors such as lighting conditions, camera lens contamination, and water mist inside the cabin, solving the problem of unstable accuracy in image recognition methods. It also avoids the significant errors of ultrasonic / infrared ranging methods when measuring loose or stacked garbage, accurately and stably reflecting the actual loading state of the garbage cage 1, significantly improving the reliability and robustness of the monitoring results. This invention only requires the force sensor 7 to be hinged between the end of the rear electric push rod structure 12 and the stern area, simplifying structural modifications and reducing overall cost. Moreover, the force sensor 7 does not need to directly contact garbage or be immersed in complex aquatic environments, requiring far less waterproofing and corrosion resistance than a load cell, greatly reducing the difficulty of manufacturing and maintaining the equipment, making it easier to adapt to the operational characteristics of catamaran unmanned vessels, and possessing broad market prospects. This innovative approach extracts dynamic load information during operation from a fluid dynamics perspective, enabling a shift from "static measurement" to "dynamic real-time monitoring."

[0054] As an optional implementation, there are two force sensors 7 and two rear electric push rod structures 12, symmetrically arranged, with each force sensor 7 and rear electric push rod structure 12 connected in a one-to-one correspondence. This enables real-time synchronous monitoring of pressure on both sides, reducing equipment wear caused by uneven force on one side, extending the service life of the rear garbage door 11 and the rear electric push rod structure 12, and reducing equipment operation and maintenance costs. The two rear electric push rod structures 12 are located close to the inner sides of the left floating hull 2 ​​and the right floating hull 3, respectively. This improves the smoothness and load-bearing capacity of the rear garbage door 11 during opening and closing, and by comparing the pressure differences on both sides, it can determine the eccentric accumulation of garbage, further improving the accuracy of loading status judgment. It can achieve load balancing and dual-channel data acquisition, supporting abnormal off-center load identification. The control processor has a self-learning function, which can use historical data from multiple operations to optimize the estimation model, effectively improving the adaptability of the equipment to different operating scenarios and further ensuring the stability of monitoring and operation. By combining eccentricity detection and self-learning functions, the unmanned vessel's operating attitude can be dynamically adjusted, reducing the impact of eccentric garbage accumulation on the vessel's navigation stability and further improving the safety and reliability of the unmanned vessel during operation.

[0055] As an optional implementation, a first bracket 111 is provided on the side of the rear garbage door 11, and the extended end of the rear electric push rod structure 12 is hinged to the first bracket 111. It can be further connected by a pin to rotate, which can optimize the force transmission path of the rear electric push rod structure 12, so that the force is more even when the rear garbage door 11 is opened and closed, further improving the stability and smoothness of the opening and closing action, and avoiding problems such as jamming and wear.

[0056] An extension frame 15 is provided on the side of the garbage cage 1. The end of the rear electric push rod structure 12 is hinged to the force sensor 7. The extension frame 15 and the force sensor 7 are hinged to provide stable installation support for the rear electric push rod structure 12 and the force sensor 7, avoiding loosening of the installation caused by the hull shaking and water flow impact during operation, ensuring the monitoring accuracy of the force sensor 7, and enhancing the firmness of the connection between the rear electric push rod structure 12 and the rear garbage door 11 and the garbage cage, thereby improving the overall structural stability and service life of the equipment.

[0057] As an optional implementation, a front garbage door 13 is rotatably provided at the front end of the garbage cage 1. A front electric push rod structure 14 is provided between the bow area of ​​the hull and the front garbage door 13. The extended end of the front electric push rod structure 14 is rotatably connected to the front garbage door 13, and the end of the front electric push rod structure 14 is rotatably connected to the bow area of ​​the hull. The front electric push rod structure 14 is communicatively connected to the control processor and is located in the front middle area of ​​the front garbage door 13. The front garbage door 13 can be automatically opened and closed by the control processor, flexibly controlling the garbage entry channel. It can be opened during operation to allow garbage to enter with the water flow, and closed when returning or dumping garbage to prevent garbage from falling in midway, further improving the automation and reliability of the operation.

[0058] As an optional implementation, the front garbage door 13, the rear garbage door 11, and the bottom plate of the garbage cage 1 are all mesh structures. This allows for smooth water flow, reduces water resistance to the hull during operation, and improves the stability and efficiency of the unmanned vessel. At the same time, it can filter excess water, reduce the overall weight of the garbage cage, reduce equipment energy consumption, and facilitate observation of garbage accumulation, thus combining practicality and convenience.

[0059] As an optional implementation, the hull includes a left floating hull 2, a right floating hull 3, and a deck platform 4. The left floating hull 2 ​​and the right floating hull 3 are connected by the deck platform 4, which is located in the bow area of ​​the hull and above both the left floating hull 2 ​​and the right floating hull 3. The garbage cage 1 is installed between the left floating hull 2 ​​and the right floating hull 3. The end of the front electric push rod structure 14 is rotatably connected to the lower end face of the deck platform 4. By making reasonable use of the structural space of the deck platform, the layout of the front electric push rod structure 14 is more reasonable and the force is more balanced. This ensures the smooth opening and closing of the front garbage door 13 and avoids interference with the garbage cage 1 and other structures of the hull, thereby improving the structural coordination and operational reliability of the equipment. The structural design of the left floating hull 2, the right floating hull 3, and the deck platform 4 can further improve the overall stability and wind and wave resistance of the hull, adapting to different water operation environments; at the same time, it makes the garbage cage 1 more evenly stressed, avoiding structural deformation caused by unilateral stress, while optimizing the distribution of the ship's center of gravity, reducing the impact of center of gravity shift on navigation stability during garbage accumulation, and further improving the safety of unmanned vessel operations.

[0060] As an optional implementation, the hull includes a left guide plate 5 and a right guide plate 6. The left guide plate 5 is connected to the bow of the left floating hull 2, and the right guide plate 6 is connected to the bow of the right floating hull 3. The left guide plate 5 and the right guide plate 6 are arranged in an outward expansion manner, which can effectively widen the garbage collection range at the bow, guide floating garbage in the water to converge towards the garbage cage 1 in the middle of the hull, reduce garbage escape, and significantly improve garbage collection efficiency.

[0061] As an optional implementation, a back-end monitoring platform is also included, which is wirelessly connected to the control processor. This enables remote real-time monitoring of the unmanned vessel's operational status, allowing staff to remotely view the loading status of the garbage cages, vessel navigation parameters, and equipment operating conditions, eliminating the need for on-site supervision and significantly reducing labor costs. The platform can remotely receive pressure signals and equipment fault signals transmitted by the control processor, facilitating timely detection and remote dispatching of equipment anomalies. It can also store operational data, providing data support for subsequent operation optimization, equipment maintenance, and model iteration, further improving equipment operation and maintenance efficiency and the level of operational intelligence.

[0062] The working process of this invention, a catamaran unmanned surface vessel with intelligent waste storage capacity sensing function, is as follows:

[0063] 1. When the unmanned vessel is sailing forward, the front garbage door 13 is open and the rear garbage door 11 is closed, and the water flow carries the garbage into the garbage cage 1;

[0064] 2. As the garbage continues to accumulate, the water flow continues to impact the garbage pile, forming a backward pressure transmission path: water flow → front garbage → middle garbage group → rear garbage door 11 → rear electric push rod structure 12 → force sensor 7;

[0065] 3. Force sensor 7 continuously collects the pressure values ​​of the two rear electric push rod structures 12 and transmits the data to the control processor;

[0066] 4. The control processor dynamically estimates the actual load in garbage cage 1 based on a pre-calibrated "pressure-garbage filling rate" relationship model (typical pressure curves under conditions of no garbage, half load, and full load can be obtained through experiments), combined with environmental parameters such as current speed and water flow speed.

[0067] 5. When the estimated value reaches the preset threshold (such as 85% capacity), the system automatically triggers the return command, closes the front garbage door 13, and plans a path to return to the unloading point.

[0068] This application mainly utilizes the mechanical characteristics of the reverse resistance generated by the water flow acting on the garbage cage 1 and the garbage inside, which is transmitted to the rear garbage door 11. It collects the force data of the rear electric push rod structure 12 in real time, establishes a mapping relationship between "pressure feedback - garbage accumulation degree", thereby realizing intelligent estimation of garbage loading capacity, and making autonomous decisions on whether to return to port for unloading based on this, effectively improving the intelligence level and operational efficiency of unmanned vessel operations.

[0069] Method for constructing a dynamic pressure-garbage volume correlation model: Establish the mapping relationship between pressure signal and garbage filling rate under different operating conditions (ship speed, garbage type, and accumulation pattern) as the basis for automatic fullness judgment.

[0070] Closed-loop control logic: The force sensor 7 data is connected to the unmanned vessel's autonomous control processor to realize an integrated process of "perception-estimation-decision-execution" and support automatic triggering of return-to-base actions;

[0071] Non-contact, maintenance-free sensing mechanism: Status monitoring can be completed without opening the cabin or directly contacting the waste, avoiding contamination of the sensors and improving system reliability;

[0072] Versatile design suitable for various types of waste: It can generate an effective pressure response to common floating objects such as plastic bottles, foam, and dead leaves, and has good adaptability.

[0073] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this utility model should be included within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the protection scope of the claims.

Claims

1. A catamaran unmanned surface vessel with intelligent sensing function for waste storage capacity, characterized in that, Includes the hull, garbage cage (1), force sensor (7), and control processor, among which, The garbage cage (1) is installed in the hull of the ship, and the control processor is configured on the hull; The rear end of the garbage cage (1) is rotatably provided with a rear garbage door (11), and a rear electric push rod structure (12) is provided between the stern area of ​​the hull and the rear garbage door (11). The extended end of the rear electric push rod structure (12) is rotatably connected to the rear garbage door (11), and the force sensor (7) is connected in series in the axial force path of the rear electric push rod structure (12). Both the rear electric push rod structure (12) and the force sensor (7) are communicatively connected to the control processor; The control processor is used to control the extension and retraction of the rear electric push rod structure (12). The force sensor (7) is used to monitor the axial load force borne by the rear electric push rod structure (12) in real time when the rear garbage door (11) is closed, and transmit the pressure signal to the control processor. The control processor determines whether to issue a return command based on the comparison result of the pressure signal and the preset threshold.

2. The catamaran unmanned surface vessel with intelligent waste storage capacity sensing function according to claim 1, characterized in that, There are two force sensors (7) and two rear electric push rod structures (12). The two rear electric push rod structures (12) are symmetrically arranged, and the force sensors (7) and the rear electric push rod structures (12) are connected in a one-to-one correspondence.

3. The catamaran unmanned surface vessel with intelligent waste storage capacity sensing function according to claim 1, characterized in that, The rear garbage door (11) is provided with a first bracket (111) on its side end, and the extended end of the rear electric push rod structure (12) is hinged to the first bracket (111). The garbage cage (1) is provided with an extension frame (15) on its side end. The end of the rear electric push rod structure (12) is hinged to the force sensor (7). The extension frame (15) is hinged to the force sensor (7).

4. The catamaran unmanned surface vessel with intelligent waste storage capacity sensing function according to claim 1, characterized in that, The front end of the garbage cage (1) is rotatably provided with a front garbage door (13). A front electric push rod structure (14) is provided between the bow area of ​​the hull and the front garbage door (13). The extended end of the front electric push rod structure (14) is rotatably connected to the front garbage door (13), and the end of the front electric push rod structure (14) is rotatably connected to the bow area of ​​the hull. The front electric push rod structure (14) is communicatively connected to the control processor.

5. The catamaran unmanned surface vessel with intelligent waste storage capacity sensing function according to claim 4, characterized in that, The bottom plates of the front garbage door (13), the rear garbage door (11), and the garbage cage (1) are all mesh structures.

6. The catamaran unmanned surface vessel with intelligent waste storage capacity sensing function according to claim 4, characterized in that, The hull includes a left floating hull (2), a right floating hull (3), and a deck platform (4). The left floating hull (2) and the right floating hull (3) are connected by the deck platform (4). The deck platform (4) is located in the bow area of ​​the hull and is located above both the left floating hull (2) and the right floating hull (3). The garbage cage (1) is installed between the left floating hull (2) and the right floating hull (3). The end of the front electric push rod structure (14) is rotatably connected to the lower end face of the deck platform (4).

7. The catamaran unmanned surface vessel with intelligent waste storage capacity sensing function according to claim 6, characterized in that, The hull includes a left guide plate (5) and a right guide plate (6). The left guide plate (5) is connected to the bow of the left floating hull (2), and the right guide plate (6) is connected to the bow of the right floating hull (3). The left guide plate (5) and the right guide plate (6) are arranged in an outward expansion manner.

8. The catamaran unmanned surface vessel with intelligent waste storage capacity sensing function according to claim 1, characterized in that, It also includes a background monitoring platform, which is wirelessly connected to the control processor.

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