CN108860487B - An intelligent water surface cleaning robot - Google Patents

Abstract

The invention discloses an intelligent water surface trash cleaning robot which comprises a ship body, a pontoon, a garbage collection device system, a garbage storage bin, a power system, a power supply system and a main control system, wherein the garbage collection device system comprises a garbage collection device and a garbage collection device mounting mechanism; the pontoons are respectively clamped on the two pontoon fastening devices, a turning plate is arranged at the rear side or the inner side of the garbage collection device, a garbage storage bin is arranged in the middle of the ship body, and a power system is arranged behind the garbage storage bin; the power system comprises a motor, a transmission mechanism and a water spraying propeller in the hull, and a steering device is arranged above the power system; the power supply system comprises a storage battery and a charge-discharge protection device; the main control system comprises a Bluetooth control system, a dirt recognition device, a visual image recognition system and a GPS navigation system. The invention can replace manual work to carry out autonomous cleaning work on various water surfaces, improves the cleaning efficiency, reduces the labor cost and enhances the safety.

Description

An intelligent water surface cleaning robot

technical field

The invention relates to the field of mechanical devices and transportation, in particular to equipment for collecting water surface garbage, in particular to an intelligent water surface cleaning robot.

Background technique

my country has a vast territory, and the waters must be diverse. In actual production and life, many water sources, such as rivers, artificial lakes, shoals, hot springs, bathing beaches, etc., are inevitably floating with plastic bags, foam and other artificial garbage, as well as fallen leaves and excessive water. Algae and other natural waste. Especially along the main river of the city, along the coast of the coastal city, the domestic garbage of residents and the garbage in the water body of tourist attractions, all of which affect people's living health and environmental beauty.

In China, there are mainly commercial salvage boats to clean up water surface garbage, which need to hire professionals to clean up the water surface; there are also small salvage devices such as: slipping nets, forks, etc. to assist in cleaning the river, and there are also salvage personnel sitting on the boat to operate the machine Carry out surface cleaning operations. Generally speaking, the current commercial salvage ships are large in size, high in cost, and require several people to work together. There are also many small areas that cannot be salvaged and cleaned, and can only be allowed to become dead ends for urban waters greening. Relying entirely on manual cleaning, personal safety cannot be guaranteed, and the work is very difficult and intensive.

At present, the technical level of domestic water surface cleaning equipment is relatively low, basically using human as the main tool as a supplementary form, and the cleaning efficiency is relatively low. It is rare to see a cleaning robot with a high degree of automation and intelligence that combines the cleaning device with the hull.

Contents of the invention

The purpose of the present invention is to provide an intelligent water surface cleaning robot to solve the problems raised in the above background technology.

To achieve the above object, the present invention provides the following technical solutions:

An intelligent water surface cleaning robot includes a hull, a buoy, a garbage collection device system, a garbage storage bin, a power system, a power supply system, and a main control system. The garbage collection device system includes a garbage collection device and a garbage collection device installation mechanism. The garbage collection device is arranged in front of the hull, a part of the garbage collection device is below the water level, the garbage collection device is installed above the installation mechanism of the garbage collection device, and the installation mechanism of the garbage collection device is fixed in front of the hull; On the two buoy fastening devices, the two buoy fastening devices are installed on both sides of the hull according to a suitable distance. The buoy fastening device has an adjustment device, and the buoy is below the buoy fastening device. When the weight exceeds the set value, the buoy fastening device adjusts the distance between the hull and the water surface; the hull is provided with a crossbeam, and a monitoring camera is fixedly installed on one side of the crossbeam, and a visual processing camera is fixedly installed on the other side; The rear side or inner side of the garbage collection device is provided with a flap that is level with the bottom of the hull, and the flap is connected to the shaft motor through the flap shaft; a garbage storage bin is arranged in the middle of the hull, and a power system is arranged behind the garbage storage bin , when the hull is close to the garbage, the garbage collection device will automatically rotate, and the garbage will be transferred to the flap in the hull. When the weight of the garbage on the flap reaches a certain level, the turning shaft and the rotating shaft motor will start to rotate, and the garbage will flow along the belt. The flat surface with an inclined angle automatically falls into the garbage storage bin, and the garbage storage bin is close to the side of the flap; the power system includes the motor inside the hull, the transmission mechanism and the water jet propeller, and the top of the power system is equipped with Steering device; the power supply system includes a storage battery and a charge and discharge protection device; the main control system includes a bluetooth control system, a dirt recognition device, a visual image recognition system and a GPS navigation system, and the steering device, a power supply system and a main control system All are arranged at the stern of the hull.

As a further solution of the present invention: the hull is a single hull structure composed of double buoys.

As a further solution of the present invention: the garbage collection device is composed of multiple groups of smooth hooks, and different types of garbage collection devices are installed on the installation mechanism of the garbage collection device.

As a further solution of the present invention: the water jet propulsion device is a pump jet power propulsion type water jet propulsion device, which adopts a double row design, and adopts a double row type pump jet power propulsion type water jet propulsion device as the power system, through the main The control system allows the robot to work and realize the functions of synchronous steering, forward and reverse.

As a further solution of the present invention: the steering device is arranged on the water jet propeller at the rear of the power system. When the steering device opens, it realizes the forward action. When the steering device is closed, it realizes the reverse/boat action. When the steering device When you perform a motion to the left or right, it is a steering maneuver.

As a further solution of the present invention: the bluetooth control system realizes the remote assistance of humans to the robot; the dirt recognition device is composed of an infrared sensor and an ultrasonic sensor to complete the recognition of the dirt on the water surface and the robot to avoid obstacles; The sensor is arranged in front of the garbage collection device, and the ultrasonic sensor is arranged on both sides of the hull; the visual image recognition system can assist the dirt recognition device to work and the remote assistance and observation of the situation near the robot. Auxiliary detection of dirt on the water surface improves the identification and collection efficiency of dirt on the water surface. In places that are inaccessible to the human eye or relatively hidden, manual assisted operations can be performed through the visual image recognition system; the GPS navigation system can locate in real time Send the working position of the robot and enable the robot to automatically dock.

As a further solution of the present invention: the garbage collection device is detachable and replaceable, and the garbage storage bin is detachable.

As a further solution of the present invention: both the buoy fastening device and the water jet propeller in the power system are 3D printed.

As a further solution of the present invention: the method for using the intelligent water surface cleaning robot comprises the following steps:

Step 1: Seek and Turn

The console or system preset positioning message is sent to the robot, and the robot sends out work instructions. The sensor detects the information near the robot in real time and sends it to the main control system. The main control system calculates whether it is the shore. If not, the system continues to search and repeat the above steps. Step; if yes, the main control system sends an instruction to change the direction to the steering device, the steering device turns to continue searching, and repeats the above steps;

Step 2: Dirt identification and collection

The console or system preset positioning message is sent to the robot, and the robot issues work instructions. The sensor detects in real time, and the visual image recognition system assists in detecting the obstacle information near the robot, and sends it to the main control system. The main control system calculates/recognizes whether it is pollution. If not, the system continues to identify and repeat the above steps; if yes, the main control system sends an instruction to collect dirt to the garbage collection device, the garbage collection device works, the system continues to identify, and repeats the above steps;

Step Three: Dirt Storage

The console or system preset positioning message is sent to the robot, the robot sends out a work command, the pressure sensor works in real time, and sends the dirt weight information on the flap to the main control system, and the main control system calculates whether the weight exceeds the preset weight, if not, The system continues to work and repeats the above steps; if yes, send an instruction to rotate the shaft motor to the shaft motor, and the shaft motor rotates so that the retained dirt on the turning plate enters the garbage storage bin, the system continues to work, and repeats the above steps;

Step 4: Adjust the distance between the hull and the water surface

The console or system preset positioning message is sent to the robot, the robot sends out a work command, the water level detection device detects the distance between the hull and the water surface and sends it to the main control system, the main control system calculates whether it exceeds the preset line, if not, the system continues to work , repeat the above steps; if yes, issue an adjustment to adjust the distance between the hull and the water surface to the buoy fastening device, the buoy fastening device works, the system continues to work, and repeat the above steps.

As a further solution of the present invention: for special areas, it also includes step five: remote assistance: the console sends actual messages to the robot, the robot sends work instructions to the main control system, and the main control system sends actual instructions to each component, each joint.

Compared with the prior art, the beneficial effect of the present invention is that the intelligent water surface cleaning robot of the present invention can replace manual cleaning on various water surfaces, improve cleaning efficiency, reduce labor costs, and enhance safety. Compared with traditional water surface cleaning devices, it has the following advantages:

(1) The intelligent water surface cleaning robot realizes intelligent cruise through the GPS system. In the case of unattended, the working time period of the intelligent water surface cleaning robot can be set according to the needs. During this time period, the intelligent water surface cleaning robot can automatically start , Cleaning up, berthing and other operations.

(2) In the process of cleaning the water surface, the intelligent water surface cleaning robot uses ultrasonic sensors and infrared sensors to identify water surface garbage and obstacles and avoid collisions between the intelligent water surface cleaning robot and the shore, and can detect places that cannot be observed by human eyes. At the same time, with the assistance of the image recognition system, the recognition rate of water surface garbage is improved, and the cleaning efficiency is increased.

(3) In the special case that the intelligent water surface cleaning robot cannot be identified, the working status of the intelligent water surface cleaning robot can be remotely controlled through the video transmission system, and the garbage cleaning can be remotely assisted.

(4) The intelligent water surface cleaning robot uses a chelating device to fix the buoy. According to the complexity of the water surface, it automatically adjusts the orientation and strength of the chelating parts, balances the hull, and enhances stability. Combined with the intelligent water jet power system, in complex waters, it is easy to realize the movement of the boat such as walking and turning. Compared with the propeller propulsion system, it can avoid the entanglement of foreign objects in the water, and the robot has stronger passability.

(5) During the cleaning process of the intelligent water surface cleaning robot, due to the load of garbage, it monitors the distance between the intelligent water surface cleaning robot and the water surface in real time through the liquid level measurement system, and communicates with the buoy-hull lifting system to maintain the intelligent water surface The relative distance between the cleaning robot and the water surface ensures the safety of the working environment of the intelligent water surface cleaning robot. When the buoy exceeds the draft warning line, the liquid level measurement system can make the intelligent water surface cleaning robot return to the voyage immediately through the GPS system.

(6) According to the actual situation of the water surface, the cleaning device can be replaced for the intelligent water surface cleaning robot to cope with different water areas and different seasons, so as to increase the application range and practicability of the intelligent water surface robot.

Description of drawings

Figure 1 is the front view of the intelligent water surface cleaning robot.

Figure 2 is a top view of the intelligent water surface cleaning robot.

Fig. 3 is a schematic structural diagram of another garbage collection device in the intelligent water surface cleaning robot.

Fig. 4 is a schematic structural diagram of another garbage collection device in the intelligent water surface cleaning robot.

Fig. 5 is a schematic structural diagram of the pump-jet power propulsion type water jet propulsion device in the intelligent water surface cleaning robot.

Fig. 6 is a flow chart of Step 1 of the method for using the intelligent water surface cleaning robot.

Fig. 7 is a flow chart of Step 2 of the method for using the intelligent water surface cleaning robot.

Fig. 8 is a flow chart of Step 3 of the method for using the intelligent water surface cleaning robot.

Fig. 9 is a flow chart of Step 4 of the method for using the intelligent water surface cleaning robot.

Fig. 10 is a flow chart of Step 5 of the method for using the intelligent water surface cleaning robot.

In the figure: 1-garbage collection device; 2-garbage collection device installation mechanism; 3-pontoon fastening device; 4-pontoon; 5-motor; 6-beam; 9-garbage storage bin; 10-power system; 11-steering device; 12-power supply system; 13-main control system; 4-infrared sensor; 15-ultrasonic sensor.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

Please refer to FIGS. 1-5. In an embodiment of the present invention, an intelligent water surface cleaning robot includes a hull, a buoy 4, a garbage collection device system, a garbage storage bin 9, a power system 10, a power supply system 12, and a main control system 13. The hull is a single-hull structure composed of double buoys, the hull is relatively small, and can work in areas out of reach of people, reducing work accidents; the garbage collection device system includes a garbage collection device 1 and a garbage collection device installation mechanism 2. The garbage collection device 1 is composed of multiple sets of smooth hooks. The garbage collection device 1 is arranged in front of the hull. Part of the garbage collection device 1 is below the water level. The garbage collection device 1 is installed on the installation mechanism of the garbage collection device 2, the garbage collection device installation mechanism 2 is fixed on the front of the hull, and different types of garbage collection devices 1 can be installed on the garbage collection device installation mechanism 2 (as shown in Figure 3-4); Located on two buoy fastening devices 3, the two buoy fastening devices 3 are installed on both sides of the hull according to a suitable distance, and the buoy fastening device 3 has an adjusting device, which can adjust the distance between the hull and the water surface 4 Under the buoy fastening device 3, the chelating ability of the hull to the buoy 4 can be increased, and the stability of the ship can be improved. At the same time, compared with the traditional water surface cleaning ship, the buoy 4 can reduce the working resistance of the water surface cleaning robot, It can also reduce the impact stress when the water surface cleaning robot collides with obstacles. When the weight of the garbage storage bin 9 in the hull exceeds the set value, the buoy fastening device 3 can intelligently adjust the distance between the hull and the water surface to prevent the hull from being too submerged. The water surface affects the operation of the power system 10; the hull is provided with a beam 6, a monitoring camera is fixed on one side of the beam 6, and a visual processing camera is fixed on the other side, and the height of the camera can be adjusted according to the needs The rear side or inboard of the garbage collection device 1 is provided with a flap 7 that is flat with the bottom of the hull, and the flap 7 works through the flap rotating shaft and the rotating shaft motor 8; when the hull is close to the garbage, the garbage collection device 1 automatically Rotate to turn the garbage to the flap 7 in the hull. When the weight of the garbage on the flap 7 reaches a certain value, the turning shaft and the shaft motor 8 start to rotate, and the garbage will automatically fall down along the flat surface with an inclination angle. In the garbage storage bin 9, the garbage storage bin 9 is close to the side of the flap, and the height of the panel is low, which is convenient for the flap to dump garbage; a garbage storage bin 9 with a larger capacity is set in the middle of the hull, and the garbage storage bin 9 The rear is provided with a power system 10, and the power system 10 includes a motor 5 inside the hull, a transmission mechanism and a water jet propeller, as shown in Figure 5, the water jet propulsion device is a pump jet propulsion type water jet propulsion device, adopting Double-row design, using double-row pump jet propulsion type water jet propulsion device as the power system, through the main control system 13 to make the robot work, can realize synchronous steering, forward, reverse and other functions, compared with the traditional surface cleaning ship The propeller propulsion device can avoid the problems of aquatic weeds entanglement to the propeller and sundries blocking the water spraying device, and the power is relatively large. When there is too much garbage in the garbage storage bin 9, garbage can still be collected flexibly, which increases the cleaning of the water surface. The scope of action prolongs the service life; the top of the power system 10 is provided with a steering device 11, and the steering device 11 relies on the water jet propeller behind the power system 10. When the steering device 11 opens, it can Realize the forward action, when the steering device 11 is closed, the reversing (ship) action can be realized, when the steering device 11 performs a leftward (or rightward) action, it is a steering operation; the power supply system 12 includes a battery and a charging and discharging Protective device; the main control system 13 includes a bluetooth control system, a dirt recognition device, a visual image recognition system and a GPS navigation system, the bluetooth control system can realize remote assistance from humans to robots, and the dirt recognition device is controlled by infrared Composed of sensor 14 and ultrasonic sensor 15, it can complete the identification of dirt on the water surface and avoid obstacles for the robot. The infrared sensor 14 is arranged in front of the garbage collection device 1, and the ultrasonic sensor 15 is arranged on both sides of the hull. The visual image recognition The system can assist the work of the dirt recognition device and the remote assistance and observation of the situation near the robot. The visual image recognition system can assist in the detection of dirt on the water surface while the sensor is working, improving the recognition of dirt on the water surface and collection efficiency, in places that are inaccessible to human eyes or relatively hidden, manual assisted operations can be performed through the visual image recognition system, and the GPS navigation system can locate and send the working position of the robot in real time, as well as the automatic docking of the robot; The steering device 11, the power supply system 12 and the main control system 13 are all arranged at the stern of the hull.

The design of the garbage collection device 1 is simple and ingenious. Compared with the garbage collection device of the traditional water surface cleaning ship, when the dirt is detected, the garbage collection device 1 starts to work and then stops to reduce energy consumption. The garbage collection device 1 The action area of the rotation is large, and the resistance to the hull is less affected, and the collection efficiency is greatly improved. The garbage collection device 1 can be disassembled and replaced, which is convenient to meet the needs of different situations, and the garbage storage bin 9 can be disassembled, which is convenient for cleaning out the garbage.

The intelligent water surface cleaning robot of the present invention can intelligently, efficiently, and energy-savingly clean water surface garbage under the condition of unmanned remote control and unattended; under the GPS navigation system, functions such as intelligent navigation and return can be realized; Under the action of the infrared sensor and the visual recognition system, the water surface dirt can be accurately identified and collected, and the existence and location of the garbage can be accurately judged, so that the garbage collection device 1 can rotate and collect the garbage into the garbage storage bin 9, while avoiding the robot Collision with obstacles or river banks; compared with traditional water surface cleaning devices, its efficiency is significantly improved; with the assistance of surveillance cameras, manual remote assistance can be performed to clean dirt.

Both the buoy fastening device 3 and the water jet propeller in the power system 10 are 3D printed.

The battery of this robot can be assembled by itself according to the needs. During the working process, when the power exceeds the set value, the robot will stop the current work, automatically return to the flight, and wait for the staff to charge. When the robot is in the standby state and the battery is too low, it will send a signal to the console through the Bluetooth control system.

The working principle of the present invention is: according to the situation of the water body to be cleaned, the water body positioning information is sent to the robot, and the route of the robot starts from the initial area of the cleaning area, and first automatically drives along the shore from one side of the shore to the shore The other side of the side, and then the sensor detects the shore, and the boat will automatically turn around and drive to the adjacent side, so that the entire decontamination area will be searched for one side in this cycle. When the boat is close to the garbage, the dirt recognition device can quickly detect the presence of dirt, and at the same time, the visual image recognition system can quickly and accurately judge whether the thing in front is garbage or an obstacle, and then control the garbage collection device 1 through the main control system 13 Collect the garbage. When dirt accumulates to a certain extent in the garbage storage bin 9, the buoy fastening device 3 can intelligently adjust the distance of the water surface of the hull to ensure work safety. When the garbage on the turnover panel 7 was stranded, the turnover panel rotating shaft and the rotating shaft motor 8 could control the rotation of the turnover panel 7, so that the retained dirt entered the garbage storage bin 9 smoothly. In addition, in order to solve the problem of special areas that cannot be searched by robots, remote assistance control can be used to collect garbage in fixed areas. When the cleaning of the robot is finished, it will automatically return to the dock through the position positioning system.

Please refer to Figure 6-10, the method of using the intelligent water surface cleaning robot includes the following steps:

Step 1: Seek and Turn

The console or system preset positioning message is sent to the robot, and the robot sends out a work instruction. The sensor detects the information near the robot in real time and sends it to the main control system 13. The main control system 13 calculates whether it is the shore. If not, the system continues to search. Repeat the above steps; if so, the main control system 13 sends an instruction to change direction to the steering device 11, and the steering device 11 turns to continue searching, repeating the above steps;

Step 2: Dirt identification and collection

The console or system preset positioning message is sent to the robot, and the robot sends out a work instruction, the sensor detects in real time, and the visual image recognition system assists in detecting the obstacle information near the robot, and sends it to the main control system 13, and the main control system 13 calculates/recognizes whether It is dirt, if not, the system continues to identify, repeat the above steps; if yes, the main control system 13 sends an instruction to collect dirt to the garbage collection device 1, the garbage collection device 1 works, the system continues to identify, repeat the above steps;

Step Three: Dirt Storage

The console or system preset positioning message is sent to the robot, and the robot sends a work instruction, the pressure sensor works in real time, and sends the weight information of the dirt on the flap 7 to the main control system 13, and the main control system 13 calculates whether the preset weight is exceeded, If not, the system continues to work and repeats the above steps; if yes, send an instruction to rotate the rotating shaft motor 8 to the rotating shaft motor 8, and the rotating shaft motor 8 rotates so that the retained dirt on the turning plate 7 enters the garbage storage bin 9, and the system continues to work , repeat the above steps;

Step 4: Adjust the distance between the hull and the water surface

The console or system preset positioning message is sent to the robot, and the robot sends a work instruction, and the water level detection device detects the distance information between the hull and the water surface and sends it to the main control system 13. The main control system 13 calculates whether the preset line is exceeded, and if not, the system Continue to work and repeat the above steps; if yes, issue an adjustment to adjust the distance between the hull and the water surface to the buoy fastening device 3, the buoy fastening device 3 will work, the system will continue to work, and repeat the above steps;

Step 5 (this step is used in special areas): remote assistance

The console sends actual messages to the robot, the robot sends work instructions to the main control system 13, and the main control system 13 sends actual instructions to each component and each joint.

It will be apparent to those skilled in the art that the invention is not limited to the details of the above-described exemplary embodiments, but that the invention can be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. Accordingly, the embodiments should be regarded in all points of view as exemplary and not restrictive, the scope of the invention being defined by the appended claims rather than the foregoing description, and it is therefore intended that the scope of the invention be defined by the appended claims rather than by the foregoing description. All changes within the meaning and range of equivalents of the elements are embraced in the present invention. Any reference sign in a claim should not be construed as limiting the claim concerned.

In addition, it should be understood that although this specification is described according to implementation modes, not each implementation mode only includes an independent technical solution, and this description in the specification is only for clarity, and those skilled in the art should take the specification as a whole , the technical solutions in the various embodiments can also be properly combined to form other implementations that can be understood by those skilled in the art.

Claims (10)

1. The intelligent water surface trash cleaning robot comprises a ship body, a pontoon (4), a garbage collection device system, a garbage storage bin (9), a power system (10), a power supply system (12) and a main control system (13), and is characterized in that the garbage collection device system comprises a garbage collection device (1) and a garbage collection device mounting mechanism (2), the garbage collection device (1) is arranged in front of the ship body, a part of the garbage collection device (1) is below a horizontal plane, the garbage collection device (1) is mounted above the garbage collection device mounting mechanism (2), and the garbage collection device mounting mechanism (2) is fixed in front of the ship body; the pontoons (4) are respectively clamped on the two pontoon fastening devices (3), the two pontoon fastening devices (3) are arranged at two sides of the ship body according to proper intervals, the pontoon fastening devices (3) are provided with adjusting devices, the pontoons (4) are arranged below the pontoon fastening devices (3), and when the weight of a garbage storage bin (9) in the ship body exceeds a set value, the pontoon fastening devices (3) adjust the distance between the ship body and the water surface; the ship body is provided with a cross beam (6), a monitoring camera is fixedly arranged on a vertical rod at one side of the cross beam (6), and a vision processing camera is fixedly arranged at the other side of the cross beam; the rear side or the inner side of the garbage collection device (1) is provided with a turning plate (7) which is flat with the bottom of the ship body, and the turning plate (7) is connected with a rotating shaft motor (8) through a turning plate rotating shaft; the garbage collection device is characterized in that a garbage storage bin (9) is arranged in the middle of the ship body, a power system (10) is arranged behind the garbage storage bin (9), when the ship body is close to garbage, the garbage collection device (1) automatically rotates to drive the garbage to a turning plate (7) in the ship body, when the weight of the garbage on the turning plate (7) reaches a certain value, a turning plate rotating shaft and a rotating shaft motor (8) start to rotate, the garbage automatically falls into the garbage storage bin (9) along a flat plate surface with an inclined angle, and the garbage storage bin (9) is close to one side of the turning plate (7); the power system (10) comprises a motor (5), a transmission mechanism and a water spraying propeller in the hull, and a steering device (11) is arranged above the power system (10); the power supply system (12) comprises a storage battery and a charge-discharge protection device; the main control system (13) comprises a Bluetooth control system, a dirt recognition device, a visual image recognition system and a GPS navigation system, and the steering device (11), the power supply system (12) and the main control system (13) are all arranged at the tail of the ship body.

2. The intelligent water surface cleaning robot of claim 1, wherein the hull is a single hull structure consisting of double pontoons.

3. The intelligent water surface trash cleaning robot of claim 1, wherein the trash collection device (1) is composed of a plurality of groups of smooth hooks, and the trash collection device mounting mechanism (2) is provided with trash collection devices (1) of different types.

4. The intelligent water surface trash cleaning robot of claim 1, wherein the water spraying propeller is a pump spraying power propelling type water spraying propulsion device, a double-row design is adopted, the double-row pump spraying power propelling type water spraying propulsion device is adopted as a power system, and the robot is enabled to work through a main control system (13) to realize synchronous steering, advancing and reversing functions.

5. The intelligent water surface cleaning robot according to claim 1, wherein the steering device (11) is arranged on a water jet propeller behind the power system (10), forward motion is achieved when the steering device (11) is opened, reverse/ship motion is achieved when the steering device (11) is closed, and steering operation is achieved when the steering device (11) performs leftward or rightward motion.

6. The intelligent water surface decontamination robot of claim 1, wherein the bluetooth control system enables remote assistance of the robot by a person; the sewage identifying device consists of an infrared sensor (14) and an ultrasonic sensor (15), so as to identify sewage on the water surface and avoid obstacles by a robot, wherein the infrared sensor (14) is arranged in front of the garbage collecting device (1), and the ultrasonic sensor (15) is arranged on two sides of the ship body; the visual image recognition system can assist the dirt recognition device to work and a person to assist and observe the situation near the robot remotely, the sensor works and detects dirt on the water surface in an auxiliary manner, the recognition and collection efficiency of the dirt on the water surface is improved, and the visual image recognition system can perform manual auxiliary operation in places which are not accessible or are hidden by eyes; the GPS navigation system can position and send the working position of the robot in real time, and realizes automatic cruising and automatic landing of the robot.

7. The intelligent water surface cleaning robot according to claim 1, characterized in that the garbage collection device (1) is detachable and replaceable, and the garbage storage bin (9) is detachable.

8. The intelligent water surface cleaning robot according to claim 1, characterized in that the pontoon fastening device (3) and the water jet propulsion in the power system (10) are both 3D printed.

9. A method of using the intelligent water surface decontamination robot as claimed in any one of claims 1-8, comprising the steps of:

step one: searching and steering

The control console or the system presets a positioning message and sends the positioning message to the robot, the robot sends out a working instruction, the sensor detects information nearby the robot in real time and sends the information to the main control system (13), the main control system (13) calculates whether the information is on the shore, if not, the system continues searching, and the steps are repeated; if yes, the main control system (13) sends a direction changing instruction to the steering device (11), the steering device (11) continuously searches by steering, and the steps are repeated;

step two: dirt identification and collection

The control console or the system presets a positioning message and sends the positioning message to the robot, the robot sends out a working instruction, the sensor detects in real time, the visual image recognition system assists in detecting obstacle information near the robot and sends the obstacle information to the main control system (13), the main control system (13) calculates/recognizes whether the obstacle is dirt, if not, the system continues to recognize, and the steps are repeated; if yes, the main control system (13) sends out a dirt collecting instruction to the garbage collection device (1), the garbage collection device (1) works, the system continues to identify, and the steps are repeated;

step three: dirt storage

The control console or the system presets a positioning message and sends the positioning message to the robot, the robot sends a working instruction, the pressure sensor works in real time, the dirt weight information on the turning plate (7) is sent to the main control system (13), the main control system (13) calculates whether the dirt weight information exceeds the preset weight, if not, the system continues to work, and the steps are repeated; if the dirt on the turning plate (7) enters the garbage storage bin (9), the system continues to work, and the steps are repeated;

step four: adjusting the distance between the hull and the water surface

The control console or the system preset positioning message is sent to the robot, the robot sends out a working instruction, the water level detection device detects the distance information between the ship body and the water surface and sends the distance information to the main control system (13), the main control system (13) calculates whether the distance information exceeds a preset line, if not, the system continues to work, and the steps are repeated; if so, sending an adjusting instruction to adjust the distance between the ship body and the water surface to the pontoon fastening device (3), and enabling the pontoon fastening device (3) to work, and enabling the system to continue to work, so that the steps are repeated.

10. The method of using an intelligent water surface cleaning robot as claimed in claim 9, wherein the method is used for a special area, and further comprising the steps of: remote assistance: the control console sends an actual message to the robot, the robot sends a working instruction to the main control system (13), and the main control system (13) sends the actual instruction to each component and each joint.