CN107100152A - A kind of water surface cleaning systems and method - Google Patents

Abstract

The invention discloses a water surface cleaning system, comprising a salvage box, a precursor salvage module is fixedly arranged on the front side of the salvage box, a power supply module is fixedly arranged on the precursor salvage module, a power supply module is fixedly arranged at the tail of the salvage box, two The rear body aeration module is installed near the tail of the salvage box, the installation box is fixedly installed inside the salvage box, the control module is fixedly installed on the installation box, and the signal acquisition module and communication module are also fixedly installed on the installation box. The power supply module, the signal acquisition module and the communication module are respectively connected to the control module through wires, the control module is connected to the power module through wires, and the communication module is connected to a remote controller through a wireless connection. The invention solves the problem in the prior art that the work of manual salvage of small river basins, small lakes or artificial lake floating objects is large in cleaning workload. The present invention also provides a method for cleaning the water surface using the above-mentioned water surface cleaning system.

Description

A water surface cleaning system and method

technical field

The invention belongs to the technical field of water surface garbage salvage equipment, relates to a water surface cleaning system, and also relates to a method for using the above system to clean the water surface.

Background technique

According to statistics, more than 70% of the lakes in the country have been polluted to varying degrees, and have also caused serious ecological damage. At present, there are two main methods of water cleaning: manual salvage ships and large professional cleaning ships. The former is time-consuming, labor-intensive and inefficient; while the latter is costly and difficult to maintain. It is mainly aimed at salvage of solid floating waste on rivers and lakes. However, for small river basins, small lakes in colleges and parks or artificial lakes, the treatment of floating objects on the water surface is mainly manual salvage, with heavy cleaning workload and low degree of mechanization. In addition, dissolved oxygen in the water environment is an important condition for the survival of organisms. Low dissolved oxygen in water will lead to the death of organisms and affect biodiversity and ecological balance. In terms of oxygenation, special equipment is generally used to increase the dissolved oxygen in water, and the cost is relatively high.

Contents of the invention

The purpose of the present invention is to provide a water surface cleaning system, which solves the problem in the prior art that the manual salvage of small river basins, small lakes or artificial lakes has a large workload for cleaning floating objects.

Another object of the present invention is to provide a water surface cleaning method.

The first technical solution adopted in the present invention is a water surface cleaning system, including a salvage box, a precursor salvage module is fixedly installed on the front side of the salvage box, a power supply module is fixedly installed on the precursor salvage module, and the tail of the salvage box is fixedly installed There is a power supply module, rear body aeration modules are installed on both sides of the salvage box near the tail of the salvage box, an installation box is fixed inside the salvage box, a control module is fixed on the installation box, and a signal acquisition module is also fixed on the installation box And the communication module, the precursor salvage module, the power supply module, the signal acquisition module and the communication module are respectively connected to the control module through wires, the control module is connected to the power module through wires, and the communication module is connected to a remote controller through a wireless connection.

The feature of the first technical solution of the present invention is also that,

The front body salvage module includes a support frame and a garbage collection box. The support frame is hinged on the salvage box. The support frame is hinged on the side walls of the salvage box near the upper surface. The traction rope, the traction motor is fixed on the upper surface of the installation box, the other end of the traction rope is wound on the main shaft of the traction motor, the garbage collection box is fixed on the front side of the salvage box, the garbage collection box is flush with the bottom surface of the salvage box and is in line with the salvage box Connected as a whole, the upper surface of the garbage collection box and the side away from the salvage box are set as openings, the two side walls of the garbage collection box are jointly hinged with a salvage net, and the salvage net is also hinged with the support frame.

The rear body aeration module includes a rotating shaft that is rotatably installed on the two side walls of the salvage box near the tail of the salvage box. An aeration head is fixedly installed on the rotating shaft, and holes are symmetrically arranged in each vane of the aeration head.

The support frame is set as a connecting rod structure, and the support frame includes two hinged support rods with the two side walls of the salvage box. The two support rods are jointly hinged with a support surface. Two fishing rods are hinged on the other side of the supporting surface, and the two fishing rods are respectively connected by bolts and fishing nets.

The power supply module includes a right propeller motor and a left propeller motor fixed on the right side wall and the left side wall of the installation box respectively, and the first connecting rod and the second connecting rod are fixedly connected to the main shafts of the right propeller motor and the left propeller motor respectively. Rods, the other ends of the first connecting rod and the second connecting rod extend outside the rear side wall of the salvage box, and the first connecting rod and the second connecting rod are respectively fixedly connected with a right propeller and a left propeller.

The control module includes a host computer, the host computer is connected with the lower computer through wires, the lower computer is connected with the first DC motor drive module, the second DC motor drive module and the third DC motor drive module through wires, the first DC motor drive module and the second DC motor drive module The second DC motor drive module and the third DC motor drive module are respectively connected to the right propeller motor, the left propeller motor, and the traction motor through wires. PC.

The signal acquisition module includes a first infrared sensor fixed on the upper surface of the salvage box, the first infrared sensor is close to the side of the support surface away from the front side of the salvage box, and the second infrared sensor is fixedly arranged on both sides of the salvage net respectively, and the fixed installation Two third infrared sensors on the connecting surface of the garbage collection box and the salvage box, the two third infrared sensors are respectively located on the left and right sides of the connecting surface of the garbage collection box and the salvage box, and are fixed on the upper surface of the installation box near the The fourth infrared sensor of the traction motor, the first infrared sensor, the second infrared sensor, the third infrared sensor and the fourth infrared sensor are all connected to the host computer through wires, and the steering gear cloud platform fixed on the front side of the installation box, the steering gear cloud An image collector is fixedly installed on the platform, the steering gear gimbal is connected to the power module and the lower computer through wires, and the image collector is connected to the upper computer through wires.

The second technical solution adopted in the present invention is a water surface cleaning method, which adopts a water surface cleaning system, and is specifically implemented according to the following steps:

Step 1, turn on the power switch, the buzzer will sound a prompt, and choose automatic control or manual control according to the situation of the water area;

Step 2, if human control is selected, the signal acquisition module is turned off, and then a water surface cleaning system is placed in the water area to be salvaged, and the remote control is used to send a wireless signal to the communication module, which converts the signal and transmits it to the control module. The control module makes a judgment after processing the signal and then transmits the signal to the precursor salvage module and the power supply module to realize salvage;

Step 3, if automatic control is selected, a water surface cleaning system is placed in the water area to be salvaged, the signal acquisition module collects image signals of the water surface, and sends the signal to the control module, the control module processes the signal and makes a judgment before passing it on The signal is sent to the precursor salvage module and the power supply module to realize salvage.

The feature of the second technical solution of the present invention is also that,

The human control in step 2 is implemented according to the following steps:

Step 2.1, close the signal acquisition module, and then put a water surface cleaning system into the water area to be salvaged;

Step 2.2, use the remote control to send a signal to the communication module, the communication module converts the signal and transmits it to the upper computer, the upper computer processes the signal and makes a judgment to the lower computer, and the lower computer controls the first DC motor drive module and the second DC motor The drive module drives the right propeller motor and the left propeller motor to realize the advancement of a water surface cleaning system;

Step 2.3, when a water surface cleaning system is manually operated to go to the place to be salvaged, the remote control is used to send a signal to the communication module, the communication module converts the signal and sends it to the host computer, and the host computer processes the signal and makes a judgment before sending it to the lower computer , the lower computer controls the third DC motor drive module, thereby driving the traction motor, the salvage net rotates, and the garbage is salvaged into the garbage collection box.

The automatic control of step 3 is specifically implemented according to the following steps:

Step 3.1, put a water surface cleaning system into the water area to be salvaged, and the image collector fixedly installed on the steering gear pan/tilt collects the image signal of the water surface in real time, and sends the image signal to the host computer;

In step 3.2, the upper computer uses the Canny algorithm to process the image signal and then gives it to the lower computer after making a judgment. The lower computer controls the first DC motor drive module and the second DC motor drive module, thereby driving the right propeller motor and the left propeller motor to realize Progress of a water surface cleaning system;

Step 3.3, when the second infrared sensor detects a signal, there is rubbish on the salvage net at this time, the second infrared sensor transmits the detected signal to the upper computer, and the upper computer processes the signal and makes a judgment to the lower computer, and the lower computer controls the first The three DC motors drive the module, thereby driving the traction motor, the fishing net rotates, and the garbage is salvaged into the garbage collection box.

The beneficial effect of the present invention is that, aiming at the current situation of large cleaning workload and low efficiency in small water areas, shortage of fast automatic cleaning equipment and low dissolved oxygen in water, a set of image processing and recognition methods, decision-making algorithms and other methods is designed. A water surface cleaning system and method. The system uses the Canny algorithm to realize object recognition, and uses the SIFT algorithm to perform real-time tracking feedback on the object to be measured according to the position of the object to determine the best route map of the salvage system, so that the common solid floating objects on the water surface can be cleaned accurately in the shortest time , and at the same time aerate the water to improve the self-purification ability of the water body. The image acquisition device used in the system can send the water surface signal to the upper computer in real time, with a large detection range and a high guarantee rate of system work. At the same time, the invention realizes the flexible conversion between the automatic mode and the manual control mode, performs intelligent mode salvage in general waters, and realizes manual control mode salvage in complex waters.

Description of drawings

Fig. 1 is the structural representation of a kind of water surface cleaning system of the present invention;

Fig. 2 is the front view of Fig. 1;

Fig. 3 is a control diagram of a water surface cleaning system of the present invention;

Fig. 4 is the structural representation of the aeration head of a kind of water surface cleaning system of the present invention;

Fig. 5 is a schematic structural view of a power supply module of a water surface cleaning system of the present invention;

Fig. 6 is a schematic diagram of an embodiment of a water surface cleaning system of the present invention;

Fig. 7 is a flowchart of image recognition and algorithm feedback in an embodiment of a water surface cleaning system of the present invention.

In the figure, 1. First infrared sensor, 2. Power module, 3. Support frame, 4. Second infrared sensor, 5. Salvage net, 6. Garbage collection box, 7. Aeration head, 8. First DC motor Drive module, 9. Communication module, 10. Right propeller motor, 11. Right propeller, 12. Rubber tire, 13. Lower computer, 14. Traction motor, 15. Second DC motor drive module, 16. Traction rope, 17. Shaft, 18. The third infrared sensor, 19. The fourth infrared sensor, 20. The first connecting rod, 21. Power switch, 22. Buzzer, 23. Image collector, 24. Servo gimbal, 25. Left Propeller, 26. Second connecting rod, 27. Left propeller motor, 28. Salvage box, 29. Front body salvage module, 30. Power supply module, 31. Rear body aeration module, 32. Installation box, 33. Control module , 34. Signal acquisition module, 35. Remote controller, 36. Host computer, 37. The third DC motor drive module;

3-1. Support rod, 3-2. Support surface, 3-3. Salvage rod;

7-1, hole.

detailed description

The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

A water surface cleaning system according to the present invention has a structure as shown in Figures 1 and 2, including a salvage box 28, a precursor salvage module 29 is fixedly arranged on the front side of the salvage box 28, and a power supply module is fixedly arranged on the precursor salvage module 29 2. The tail of the salvage box 28 is fixedly equipped with a power supply module 30, and the rear body aeration module 31 is arranged on both sides of the salvage box 28 close to the tail of the salvage box. The installation box 32 is fixedly installed inside the salvage box, and the installation box 32 is fixedly installed with Control module 33, also fixedly be provided with signal acquisition module 34 and communication module 9 on the installation box 32, precursor salvage module 29, power supply module 30, signal acquisition module 34 and communication module 9 are connected control module 33 by wire respectively, control module 33 is connected to the power supply module 2 through wires. As shown in FIG. 3 , the communication module 9 is connected to a remote controller 35 through a wireless connection.

The precursor salvage module 29 includes a support frame 3 and a garbage collection box 6, the support frame 3 is hinged on the salvage box 28, the support frame 3 is hinged on the side walls of the salvage box 28 close to the upper surface, and the power supply module 2 is fixed on the support frame 3, a traction rope 16 is fixedly bound on the support frame 3, a traction motor 14 is fixed on the upper surface of the installation box 32, the other end of the traction rope 16 is wound on the main shaft of the traction motor 14, and the garbage collection box 6 is fixedly arranged on the salvage box 28 On the front side, the garbage collection box 6 is flush with the bottom surface of the salvage box 28 and is integrated with the salvage box 28. The upper surface of the garbage collection box 6 and the side away from the salvage box 28 are set as openings, and the garbage collection box 6 two side walls are hinged together Salvage net 5 is arranged, and salvage net 5 is also hinged with bracing frame 3.

As shown in Figure 4, the rear body aeration module 31 includes a rotating shaft 17 that is rotatably installed on the two side walls of the salvage box 28 near the tail of the salvage box. The aeration head 7 is fixedly installed on the rotating shaft 17. There are four holes 7-1 symmetrically arranged in the leaves.

Bracing frame 3 is arranged as connecting rod structure, and bracing frame 3 comprises two and salvage box 28 two side walls hinged supporting rods 3-1, and two supporting rods 3-1 are jointly hinged with supporting surface 3-2, and traction rope 16 is connected on The support surface 3-2 is away from the middle part of one side of the front side of the salvage box 28, and the other side of the support surface 3-2 is hinged with two salvage rods 3-3, and the two salvage rods 3-3 are respectively connected by bolts and the salvage net 5 .

As shown in Figure 5, the power supply module 30 includes fixedly arranged on the right side wall and the left side wall of the installation box 32 respectively fixed with the right propeller motor 10 and the left propeller motor 27, on the main shaft of the right propeller motor 10 and the left propeller motor 27 A first connecting rod 20 and a second connecting rod 26 are fixedly connected respectively, and the other ends of the first connecting rod 20 and the second connecting rod 26 extend outside the rear side wall of the salvage box 28, and the first connecting rod 20 and the second connecting rod 26 is fixedly connected with right propeller 11 and left propeller 25 respectively.

Control module comprises host computer 36, and host computer 36 is connected with lower computer 13 by wire, and lower computer 13 is connected with first DC motor driver module 8 and second DC motor driver module 15 and the 3rd DC motor driver module 37 by wire, the first A DC motor drive module 8, the second DC motor drive module 15 and the third DC motor drive module 37 are respectively connected to the right propeller motor 10, the left propeller motor 27, and the traction motor 14 by wires, and the host computer 36 is also connected to the power supply in turn by wires. The module 2, the power switch 21 and the buzzer 22, and the communication module 9 are connected to the upper computer 36 through wires.

The signal acquisition module 34 includes the first infrared sensor 1 fixed on the upper surface of the salvage box 28, the first infrared sensor 1 is close to the side of the support surface 3-2 away from the front side of the salvage box 28, and is fixedly arranged on both sides of the salvage net 5 respectively. The second infrared sensor 4, and two third infrared sensors 18 that are fixedly installed on the connecting surface of the garbage collection box 6 and the salvage box 28, the two third infrared sensors 18 are respectively located at the garbage collection box 6 and the salvage box 28 phases On the left and right sides of the connection surface, there are also the fourth infrared sensor 19 fixed on the upper surface of the installation box 32 close to the traction motor 14, the first infrared sensor 1, the second infrared sensor 4, the third infrared sensor 18 and the fourth infrared sensor 19 All are connected to the host computer 36 by wires, and the steering gear pan/tilt 24 fixed on the front side of the installation box 32, the steering gear pan/tilt 24 is fixedly installed with the image collector 23, and the steering gear pan/tilt 24 is connected to the power supply module 2 and the upper position by wires. Machine 36, the image collector 23 is connected to the upper computer 36 by wires.

The power module 2 of the present invention is a solar panel.

Two rubber tires 12 are installed on both sides of the afterbody of the salvage box 28 of the present invention and are used to protect the salvage box 28 to prevent collision damage.

The salvage net 5 of the present invention is an arc-shaped steel wire mesh structure, and the traction motor 14 controls the elongation and contraction of the traction rope 16 through forward and reverse rotation, and then drives the support frame 3 and the salvage net 5 to rotate around their axes to achieve Salvage of garbage. The salvage net 5 adopts the principle of leverage, and the arc device only needs to turn up about 50 degrees at most, and the floating objects slide into the garbage collection box 6 by their own gravity, which greatly reduces the workload of the motor.

The steering gear pan-tilt 24 of the present invention is a steering gear pan-tilt that rotates 90 degrees, and the angle is obtained by the number of pulses sent. The image collector 23 used is a monocular camera, which rotates with the steering gear pan/tilt 24, and collects images in the distance. In the front, at this time, determine the angle of the steering gear pan/tilt 24, and feed back the angle signal to the host computer 36. The host computer 36 processes the signal and makes a judgment to the lower computer 13. The lower computer 13 controls the first DC motor drive module 8 And the second DC motor drive module 15, to the right propeller motor 10 and the left propeller motor 27, two drive motors, different speed signals, to realize the turning and advancing of a water surface cleaning system. The camera is used to collect the image signal of the object, the third infrared sensor is used to detect whether there is an obstacle in front of the device, the second infrared sensor is used to detect whether there is garbage on the salvage net, the first and fourth infrared sensors are used to detect the support frame and the salvage net The angle of rotation.

A water surface cleaning method of the present invention adopts a water surface cleaning system, which is specifically implemented according to the following steps:

Step 1, turn on the power switch 21, the buzzer 22 sends a prompt sound, and the human judges to select automatic control or artificial control according to the situation of the water area;

Step 2, if human control is selected, then close the signal acquisition module 34, then put a water surface cleaning system into the waters to be salvaged, use the remote controller 35 to send wireless signals to the communication module 9, and the communication module will convert the signals and send them to The control module 33, the control module 33 makes a judgment after processing the signal and then transmits the signal to the precursor salvage module 29 and the power supply module 30 to realize salvage;

Step 3, if automatic control is selected, a water surface cleaning system is placed in the water area to be salvaged, and the signal acquisition module 34 collects image signals of the water surface, and sends the signals to the control module 33, and the control module 33 processes the signals to make After judging, transmit the signal to the precursor salvage module 29 and the power supply module 30 to realize salvage.

The human control in step 2 is implemented according to the following steps:

Step 2.1, close the signal acquisition module 34, and then put a water surface cleaning system into the water area to be salvaged;

Step 2.2, use the remote controller 35 to send a signal to the communication module 9, the communication module 9 converts the signal and transmits it to the upper computer 36, the upper computer 36 processes the signal and makes a judgment to the lower computer 13, and the lower computer 13 controls the first DC motor The drive module 8 and the second DC motor drive module 15, thereby driving the right propeller motor 10 and the left propeller motor 27, to realize the advancement of a water surface cleaning system;

Step 2.3, when a water surface cleaning system is manually operated to go to the place to be salvaged, the remote control 35 is used to send a signal to the communication module 9, and the communication module 9 converts the signal and sends it to the host computer 36, and the host computer 36 processes the signal and makes a Give the lower computer 13 after the judgment, the lower computer 13 controls the third DC motor drive module 37, thereby drives the traction motor 14, the salvage net 5 rotates, and rubbish is salvaged in the garbage collection box 6.

The automatic control of step 3 is specifically implemented according to the following steps:

Step 3.1, put a water surface cleaning system into the water area to be salvaged, and the image collector 23 fixedly installed on the steering gear pan/tilt 24 collects the water surface image signal in real time, and sends the image signal to the host computer 36;

In step 3.2, the upper computer 36 uses the Canny algorithm to process the image signal to make a judgment and give it to the lower computer 13, and the lower computer 13 controls the first DC motor drive module 8 and the second DC motor drive module 15, thereby driving the right propeller motor 10 And left propeller motor 27, realizes the advancement of a kind of water surface cleaning system;

Step 3.3, when the second infrared sensor 4 detects the signal, there is rubbish on the salvage net at this time, the second infrared sensor 4 transmits the detected signal to the upper computer 36, and the upper computer 36 makes a judgment after processing the signal and sends it to the lower computer 13 , the lower computer 13 controls the third DC motor drive module 37, thereby driving the traction motor 14, the fishing net 5 rotates, and the garbage is salvaged into the garbage collection box 6.

Example

As shown in Figure 6, taking automatic control as an example, the operating mode of a water surface cleaning system of the present invention is as follows:

1. Start up: turn on the power switch 21, the system is initialized, the buzzer 22 sends out a prompt sound, and the system starts to enter the working mode.

2. Signal collection: the image collector 23 collects image signals of the water surface in real time, and sends the image signals to the host computer 36 .

3. Image recognition and algorithm feedback: As shown in Figure 7, the upper computer 36 starts to work after receiving the image signal to extract the edge of the canny image. is red, if there is garbage, then the garbage is black, and then the edge detection map is obtained according to the threshold conversion map. Host computer 36 judges whether it is a normal environment according to the threshold value conversion result figure, that is, no garbage environment, and it is a normal environment when there is no black area in the threshold value conversion result figure, and the host computer 36 makes a judgment after signal processing to the lower computer 13, and the lower computer 13 Control the first DC motor drive module 8 and the second DC motor drive module 15, thereby driving the right propeller motor 10 and the left propeller motor 27 to rotate at the same speed, and the salvage system moves forward; when it is not a normal environment, then switch the threshold Edge detection is performed on the black area in the figure to extract the inner contour of the image. When there are many inner contours in the image, the SIFT algorithm is used to track and feed back the direction and speed of the salvage system in real time.

4. Garbage salvage: when there is rubbish on the salvage net, the second infrared sensors 4 on both sides of the salvage net send the received signal to the upper computer 36, and the upper computer 36 processes the signal and makes a judgment to the lower computer 13, and the lower computer 13 feed back the signal to the first DC motor drive module 8, the second DC motor drive module 15, and the third DC motor drive module 37, thereby controlling the right propeller motor 10 and the left propeller motor 27 to stop working, and controlling the traction motor 14 to be Turn, the traction rope 16 shortens and drives the support frame 3 and the salvage net 5 to rotate upwards. When the salvage net rotates over 50 degrees, the fourth infrared sensor 19 will receive the signal and transmit the signal to the host computer 36, and the host computer 36 will process the signal. Give the lower computer 13 after making a judgment, the lower computer 13 feeds back to the traction motor 14 after the signal processing, and the traction motor 14 stops rotating, thereby the float on the salvage net 5 slides in the garbage collection box 6. After the rubbish on the salvage net 5 falls, the second infrared sensor 4 on both sides of the salvage net sends the signal received to the upper computer 36, and the upper computer 36 makes a judgment after processing the signal to the lower computer 13, and the lower computer 13 Feedback the signal to the third DC motor drive module 37 after signal processing, the traction motor reverses, the traction rope is extended, and when the support frame 3 and the salvage net 5 rotate down to the original position under the action of gravity, when the first infrared sensor 1 and After the fourth infrared sensor 19 detects that the support frame 3 and the salvage net 5 are reset, the received signal is transmitted to the upper computer 36, and the upper computer 36 processes the signal and makes a judgment to the lower computer 13, and the lower computer 13 feeds back the signal after processing For the third DC motor drive module 37, control the traction motor 14 to stop working, the support frame stops rotating, and the salvage ends.

5. Moving forward: the lower computer 13 feeds back the signal to the third DC motor drive module 37, controls the traction motor 14 to stop working, and controls the first DC motor drive module 8 and the second DC motor drive module 15, thereby driving The right propeller motor 10 and the left propeller motor 27 rotate at the same speed, driving the right propeller 11 and the left propeller 25 to rotate, and the salvage system moves on;

6. Aeration: The forward power of the device drives the aeration head 7 to rotate around the rotating shaft 17, and each blade of the aeration head 7 is symmetrically provided with four small holes 7-1, and part of the water will pass through during operation. The small holes are brought out of the water surface, and the water and air fully contact to achieve the effect of increasing oxygen in the water.

7. Recognize that there is an obstacle on the left and the device turns right: When there is an obstacle on the left within 80cm in front of the device, the third infrared sensor 18 on the left will receive the signal and send the signal to the host computer 36, when the third infrared sensor on the left When the infrared sensor 18 receives the signal, it indicates that there is an obstacle on the left side within the range of 80 cm in front of the device. The upper computer 36 processes the signal and makes a judgment to the lower computer 13. The lower computer 13 feeds back the signal to the second DC motor drive The module 15 controls the left propeller motor 27 to rotate, thereby driving the left propeller 25 to rotate through the second connecting rod 26, and the right propeller 11 stops working, so that the whole device turns right.

8. Recognize that there is an obstacle on the right and the device turns left: when the third infrared sensor 18 on the right receives a signal, it means that there is an obstacle on the right within 80cm in front of the device, and the third infrared sensor 18 on the right will receive the signal and The signal is sent to the upper computer 36, and the upper computer 36 processes the signal and makes a judgment to the lower computer 13, and the lower computer 13 feeds back the signal to the first DC motor drive module 8 to control the rotation of the right propeller motor 10, thereby passing the first Connecting rod 20 drives right propeller 11 to rotate, and left propeller 25 stops working, and realizes that whole device turns left.

As shown in Figure 6, taking the manual control mode as an example, the operation mode of the device is as follows:

For example, the remote controller of a TV controls the volume of the TV to change channels, the remote controller 35 is provided with corresponding buttons to emit different infrared signals, the button "1" means forward, the button "2" means turn left, and the button "3" It means turn right, button "4" means garbage salvage, button "5" means recovery of salvage net,

1. Start up: turn on the power switch 21, the system is initialized, the buzzer 22 emits a prompt sound, and the device starts to enter the working mode.

2. Forward: When you need to move forward, press the key "1", the remote controller 35 will send the signal to the communication module 9, the communication module 9 will send the signal to the upper computer 36, and the upper computer 36 will make a judgment after processing the signal and send it to the lower machine 13, the lower computer 13 controls the first DC motor drive module 8 and the second DC motor drive module 15, thereby driving the right propeller motor 10 and the left propeller motor 27 to rotate at the same speed, and the device advances.

3. Garbage salvage: when there is garbage on the salvage net, press the key "4", the remote controller 35 sends the signal to the communication module 9, the communication module 9 sends the signal to the upper computer 36, and the upper computer 36 makes a judgment after processing the signal Back to the lower computer 13, the lower computer 13 controls the third DC motor drive module 37 to drive the traction motor 14 to rotate forward, and the traction rope 16 shortens to drive the support frame 3 and the salvage net 5 to rotate upwards. When the fourth infrared sensor detects that the salvage net turns When crossing 50 degrees, the signal is fed back to the upper computer 36, and the upper computer 36 makes a judgment after processing the signal and gives it to the lower computer 13, and the lower computer 13 controls the third DC motor drive module 37 to stop the rotation of the traction motor 14, and the salvage net 5 The floating objects slipped into the garbage collection box 6, at this time, the key "5" is pressed, and the lower computer 13 controls the third DC motor drive module 37 to drive the traction motor 14 to reverse, the traction rope 16 is extended, and the support frame 3 and the salvage net 5 rotates downward under the action of gravity, and when salvage net 5 returns to original position, this salvage finishes.

4. Turn left: when the device needs to turn left, press the "2" key, the remote controller 35 will send the signal to the communication module 9, the communication module 9 will send the signal to the host computer 36, and the host computer 36 will make a judgment after processing the signal Back to the lower computer 13, the lower computer 13 controls the first DC motor drive module 8 to only drive the right propeller motor 10 to rotate, thereby driving the right propeller 11 to rotate through the first connecting rod 20, and the device turns left.

5. Turn right: when the device needs to turn right, press the "3" key, the remote controller 35 will send the signal to the communication module 9, the communication module 9 will send the signal to the host computer 36, and the host computer 36 will make a judgment after processing the signal Back to the lower computer 13, the lower computer 13 controls the second DC motor drive module 15 to only drive the left propeller motor 27 to rotate, thereby driving the left propeller 25 to rotate through the second connecting rod 26, and the device turns right.

Claims (10)

1. A water surface cleaning system, characterized in that it comprises a salvage box (28), the front side of the salvage box (28) is fixedly provided with a precursor salvage module (29), and the precursor salvage module (29) is fixed A power supply module (2) is provided, a power supply module (30) is fixedly arranged at the tail of the salvage box (28), and rear body aeration modules (31) are arranged on both sides of the salvage box (28) close to the tail of the salvage box , the installation box (32) is fixedly arranged inside the salvage box, the control module (33) is fixedly arranged on the installation box (32), and the signal acquisition module (34) is also fixedly arranged on the installation box (32) And communication module (9), described precursor salvage module (29), power supply module (30), signal acquisition module (34) and communication module (9) are connected control module (33) by wire respectively, and described control module (33) Connect the power supply module (2) through a wire, and the communication module (9) is connected with a remote controller (35) through a wireless connection. 2. A water surface cleaning system according to claim 1, characterized in that the precursor salvage module (29) includes a support frame (3) and a garbage collection box (6), and the support frame (3) is hinged On the salvage box (28), the support frame (3) is hinged at the position where the two side walls of the salvage box (28) are close to the upper surface, and the power module (2) is fixedly arranged on the support frame (3), and the A traction rope (16) is fixedly bound on the support frame (3), a traction motor (14) is fixed on the upper surface of the installation box (32), and the other end of the traction rope (16) is wound around the traction motor (14). On the main shaft, the garbage collection box (6) is fixedly arranged on the front side of the salvage box (28), and the garbage collection box (6) is flush with the bottom surface of the salvage box (28) and is integrated with the salvage box (28) , the upper surface of the garbage collection box (6) and the side away from the salvage box (28) are set as openings, the two side walls of the garbage collection box (6) are jointly hinged with a salvage net (5), and the salvage net (5 ) is also hinged with the support frame (3). 3. A water surface cleaning system according to claim 1, characterized in that, the rear body aeration module (31) includes a rotating shaft (17) that is rotatably installed on both side walls of the salvage box (28) near the tail of the salvage box ), an aerator head (7) is fixedly installed on the rotating shaft (17), and four holes (7-1) are symmetrically arranged in each vane of the aerator head (7). 4. A kind of water surface cleaning system according to claim 2, characterized in that, the support frame (3) is arranged as a connecting rod structure, and the support frame (3) includes two The wall hinges the support rod (3-1), the two support rods (3-1) are jointly hinged with a support surface (3-2), and the traction rope (16) is connected to the support surface (3-2) away from the fishing In the middle of one side of the front side of the box (28), two fishing rods (3-3) are hinged on the other side of the support surface (3-2), and the two fishing rods (3-3) are respectively connected by bolts. Connect with the fishing net (5). 5. A kind of water surface cleaning system according to claim 4, it is characterized in that, described power supply module (30) comprises and is fixedly arranged on the right side wall and the left side wall of installation box (32) and is respectively fixed with right propeller motor (10) and the left propeller motor (27), the main shafts of the right propeller motor (10) and the left propeller motor (27) are respectively fixedly connected with the first connecting rod (20) and the second connecting rod (26), so The other end of the first connecting rod (20) and the second connecting rod (26) extends to the outside of the rear side wall of the salvage box (28), and the first connecting rod (20) and the second connecting rod (26) A right propeller (11) and a left propeller (25) are fixedly connected respectively. 6. A kind of water surface cleaning system according to claim 5, is characterized in that, described control module comprises upper computer (36), and described upper computer (36) is connected with lower computer (13) by wire, and described lower The machine (13) is connected with a first DC motor drive module (8) and a second DC motor drive module (15) and a third DC motor drive module (37) by wires, and the first DC motor drive module (8) and The second DC motor drive module (15) and the third DC motor drive module (37) are respectively connected to the right propeller motor (10), the left propeller motor (27), and the traction motor (14) by wires, and the host computer (36) A power supply module (2), a power switch (21) and a buzzer (22) are also connected in sequence through wires, and the communication module (9) is connected to an upper computer (36) through wires. 7. A kind of water surface cleaning system according to claim 6, is characterized in that, described signal collection module (34) comprises the first infrared sensor (1) that is fixed on salvage box (28) upper surface, and described first The infrared sensor (1) is close to the side of the support surface (3-2) away from the front side of the salvage box (28), and the second infrared sensor (4) fixedly arranged on both sides of the salvage net (5) respectively, and the fixed Two third infrared sensors (18) installed on the connecting surface of the garbage collection box (6) and the salvage box (28), two of the third infrared sensors (18) are located at the garbage collection box (6) and the salvage box respectively. On the left and right sides of the connecting surface of the box (28), there is also a fourth infrared sensor (19) fixed on the upper surface of the installation box (32) close to the traction motor (14), the first infrared sensor (1), the second Infrared sensor (4), the 3rd infrared sensor (18) and the 4th infrared sensor (19) are all connected host computer (36) by wire, and the steering gear cloud platform (24) that is fixed on the front side of installation box (32), An image collector (23) is fixedly installed on the steering gear cloud platform (24), and the steering gear cloud platform (24) is connected to a power supply module (2) and an upper computer (13) by a wire, and the image collector ( 23) connect the upper computer (36) by wire. 8. A water surface cleaning method, characterized in that, adopting a kind of water surface cleaning system according to claim 7, specifically implemented according to the following steps: Step 1, turn on the power switch (21), the buzzer (22) sends a prompt sound, and the human judges to select automatic control or artificial control according to the situation of the water area; Step 2, if human control is selected, then close the signal acquisition module (34), then put a water surface cleaning system into the waters to be salvaged, use the remote controller (35) to send wireless signals to the communication module (9), the communication module After the signal is converted, it is transmitted to the control module (33), and the control module (33) makes a judgment after processing the signal, and then transmits the signal to the precursor salvage module (29) and the power supply module (30), so as to realize salvage; Step 3, if automatic control is selected, a water surface cleaning system is put into the water area to be salvaged, and the signal acquisition module (34) collects image signals of the water surface, and sends the signal to the control module (33), and the control module (33 ) make a judgment after processing the signal and then transmit the signal to the precursor salvage module (29) and the power supply module (30) to realize salvage. 9. A kind of water surface cleaning method according to claim 8, is characterized in that, the artificial control described in step 2 is specifically implemented according to the following steps: Step 2.1, close the signal acquisition module (34), and then put a water surface cleaning system into the water area to be salvaged; Step 2.2, use the remote controller (35) to send a signal to the communication module (9), the communication module (9) converts the signal and transmits it to the upper computer (36), and the upper computer (36) processes the signal and makes a judgment to the lower computer (13), the lower computer (13) controls the first DC motor drive module (8) and the second DC motor drive module (15), thereby driving the right propeller motor (10) and the left propeller motor (27), realizing a water surface the movement of the cleaning system; Step 2.3, when a water surface cleaning system is manually operated to go to the place to be salvaged, the remote control (35) is used to send a signal to the communication module (9), and the communication module (9) converts the signal and transmits it to the host computer (36), The upper computer (36) gives the lower computer (13) after signal processing to make a judgment, and the lower computer (13) controls the third DC motor drive module (37), thereby driving the traction motor (14), and the salvage net (5) rotates, Take out the garbage into the garbage collection box (6). 10. A kind of water surface cleaning method according to claim 8, is characterized in that, the automatic control described in step 3 is specifically implemented according to the following steps: Step 3.1, a kind of water surface cleaning system is placed in the water area that needs to salvage, and the image acquisition device (23) that is fixedly installed on the steering wheel platform (24) collects water surface image signals in real time, and sends the image signals to the host computer ( 36); Step 3.2, the upper computer (36) uses the Canny algorithm to process the image signal and then makes a judgment to the lower computer (13), and the lower computer (13) controls the first DC motor drive module (8) and the second DC motor drive module (15), thereby driving the right propeller motor (10) and the left propeller motor (27), realizing the advancement of a kind of water surface cleaning system; Step 3.3, when the second infrared sensor (4) detects the signal, there is rubbish on the salvage net at this moment, the second infrared sensor (4) transmits the detected signal to the host computer (36), and the host computer (36) processes the signal Give the lower computer (13) after making a judgment, the lower computer (13) controls the third DC motor drive module (37), thereby drives the traction motor (14), the salvage net (5) rotates, and rubbish is salvaged to the garbage collection box ( 6) in.