CN109533211B

CN109533211B - Pump suction filtering type intelligent robot for cleaning water body garbage and control method

Info

Publication number: CN109533211B
Application number: CN201811260033.4A
Authority: CN
Inventors: 曾铮; 和家平; 杨明辉; 周赫雄
Original assignee: Shanghai Aoshen Ocean Engineering Technology Co ltd; Shanghai Jiaotong University
Current assignee: Shanghai Aoshen Ocean Engineering Technology Co ltd; Shanghai Jiaotong University
Priority date: 2018-10-26
Filing date: 2018-10-26
Publication date: 2021-04-02
Anticipated expiration: 2038-10-26
Also published as: CN109533211A

Abstract

The invention provides a pump suction filtering type water body garbage cleaning intelligent robot and a control method. The invention abandons the structure of the traditional garbage cleaning robot such as a brush, a suction port and the like or the crawler belt structure adopted by the water body garbage cleaning ship, adopts a pump suction and filtration method, is more suitable for the requirements of water body garbage cleaning and oil stain treatment, and solves the problems that part of garbage and oil stain can not be sucked and treated and the garbage is wound on the crawler belt; and a power assembly is added, and two modes of manual remote control operation and automatic cruise are developed. The robot can be controlled by a remote controller to freely move in a water body, can also be similar to a land sweeping robot to realize autonomous cruising on the water surface and collect garbage, and solves the problems that the traditional sweeping robot has a small working area, low efficiency and high requirement on the water environment.

Description

Pump suction filtering type intelligent robot for cleaning water body garbage and control method

Technical Field

The invention relates to the field of underwater robots, in particular to a pump suction filtering type intelligent robot for cleaning water body garbage. In particular to a self-tracking pump-suction filtering type water body garbage cleaning robot and an operation method thereof.

Background

The water pollution problem is increasingly serious, and the method has important influence on the sustainable development of the human society. Domestic water body garbage cleaning methods mainly comprise two methods, namely a manual cleaning method, but the manual cleaning method needs a large amount of manpower, is low in efficiency and has certain danger, so that the manual cleaning method is not a proper choice; secondly, the mechanical device driven by fuel oil and driven by manpower, for example, a water floating object salvage ship developed by Shanghai municipal waste disposal company, adopts a double-hull design, and the salvage device adopts a conveyor belt form, so that the defects of manual salvage and grab bucket clearance salvage in the past are overcome, the salvage speed is high, and the labor intensity is low. However, the salvage ship body is large in size, not suitable for narrow water areas, and harsh in requirements on working environment, and environment pollution is caused by gasoline combustion of the salvage ship, so that the salvage ship body is not an optimal choice.

At present, some advanced water body garbage cleaning devices are developed at home and abroad, but the cleaning devices cannot move and can only work at fixed points, and if the position needs to be changed, the cleaning devices need to be moved manually, so that the cleaning devices consume manpower and are troublesome, and therefore, the cleaning devices can only work under the conditions of a small range and simple water area landform; some devices can autonomously cruise through a navigation assembly design route, but garbage is collected by mechanisms such as a rolling brush, and the like, so that the efficiency is low and the maintenance cost is high.

In view of this, it is necessary to design a water body garbage cleaning robot which can not only autonomously cruise but also be finely controlled by remote control on the basis of keeping high efficiency, and has a wide working range and high water area environment adaptability.

Disclosure of Invention

Aiming at the defects in the prior art, the invention aims to provide a pump-suction filtering type water body garbage cleaning intelligent robot and a control method.

According to the invention, the pump suction filtering type intelligent robot for cleaning the garbage in the water body comprises: the garbage collecting device comprises a shell assembly, a power assembly, a garbage collecting assembly, a water pumping and draining assembly and a buoyancy adjusting assembly;

the power component, the garbage collection component, the buoyancy adjusting component and the power component are arranged outside the shell component;

the bottom of the shell component is provided with a water pumping and draining component;

the shell component comprises a barrel body and a barrel cover; when the barrel cover is opened, water outside the shell component can enter the barrel body through the opening at the top of the barrel body and is discharged out of the barrel body under the driving of the water pumping and discharging component after passing through the garbage collecting component;

the power assembly provides moving capability;

the buoyancy adjusting assembly adjusts the depth of the barrel body in the water body, so that the external water body can enter the barrel body through the top opening of the barrel body.

Preferably, the power assembly comprises a propeller assembly, a rudder assembly;

the rudder assembly comprises a rudder assembly connecting rod, an L-shaped acrylic plate, a steering engine, an aluminum plate and a trapezoidal rudder sheet; the rudder assembly connecting rod is positioned on the aluminum plate and controls the trapezoidal rudder sheet to rotate so as to adjust the moving direction; the L-shaped acrylic plate is fixed on the barrel body through screws and provides support for the aluminum plate;

the paddle component comprises a propeller and an electric speed regulator; the propeller is installed outside the barrel body.

Preferably, the waste collection assembly comprises a clip and a collection bag;

the upper part of the collection bag is a mesh bag, and the garbage is left in the bag and the water is filtered out;

the collecting bag is arranged at the opening of the barrel through the clamp.

Preferably, the water pumping and draining assembly comprises a water separator, a right-angle water outlet elbow, a rubber hose and a water pump;

the water pump is fixed at the bottom of the bucket, and the delivery port of water pump is connected the water knockout drum, the water knockout drum passes through the rubber hose leads water to a plurality of right angle delivery elbow, discharges water through right angle delivery elbow.

Preferably, the buoyancy regulating assembly comprises a body of buoyancy material and a flexible rope;

the buoyancy material body is fixed outside the barrel body through a soft rope and used for adjusting buoyancy force borne by the barrel body so as to keep balance and enable the lower edge of the garbage inlet channel to be slightly lower than or flush with the water body, and therefore garbage can enter the barrel body.

Preferably, the water pumping and drainage device further comprises an annular wave-preventing plate, wherein the annular wave-preventing plate blocks water drained by a right-angle water outlet elbow of the water pumping and drainage assembly.

Preferably, the electronic component box is mounted on the barrel cover; a GPS module, a data transmission module, a receiver, a battery, a decoder, a controller, a relay and a control panel are arranged in the electronic element box;

in the remote controller control mode, the receiver sends a signal from the remote controller to the decoder for decoding and then transmits the signal to the controller; the controller controls the working states of the propeller and the trapezoidal rudder sheet of the power assembly through the motion control module;

and in the autonomous cruise mode, the controller is connected with the computer through the data transmission module, and receives an instruction sent by the computer by means of the positioning of the GPS module, so that the working states of the propeller and the trapezoidal rudder of the power assembly are controlled.

Preferably, the control board is written with instruction codes for controlling the water pump switch of the water pumping and draining assembly in advance and is connected with the controller;

in a remote control mode, the receiver receives an instruction sent by a remote controller, the instruction is decoded by a decoder and sent to the control board, and then the control board judges a signal sent by the decoder according to a written code and sends a corresponding signal to the relay to control the water pump switch;

under the autonomous cruise mode, the controller replaces a remote controller, the controller is positioned by means of the GPS module, and after the controller reaches a specified place, the controller sends an instruction to the control panel to complete the operation of switching on and off the water pump.

According to the control method of the pump suction filtering type water body garbage cleaning intelligent robot provided by the invention, the method comprises the following steps:

the preparation work step: placing the main body part of the shell component under water to enable the lower edge of the garbage entering the garbage channel to be slightly lower than or level with the water body;

the working steps are started: adopting a remote control mode or an autonomous cruise mode; in the remote control mode, the movement assembly and the water pump are controlled to be opened through a remote controller, and the movement assembly and the water pump start to move and collect garbage; in the autonomous cruise mode, planning a route in advance through a computer, and putting the pump-suction filtering type water body garbage cleaning intelligent robot into a preset water area after the route is planned;

a step of collecting garbage: stopping the pump suction filtering type water body garbage cleaning intelligent robot to the bank side, closing the water pump and the moving assembly, opening the barrel cover, taking out the containing bag in the barrel body, cleaning and repairing the containing bag after treating the garbage in the containing bag, and returning the containing bag into the barrel body; wherein the computer will automatically park and shut down in the autonomous cruise mode.

Preferably, in the remote control mode, the method further comprises: controlling a propeller and a trapezoidal rudder sheet of a power assembly by using a remote controller, enabling a pump suction filtration type water body garbage cleaning intelligent robot to move to a working water area, closing the power assembly, opening a knob on the remote controller for controlling a water pump to start pumping water, collecting garbage, restarting the power assembly after cleaning is finished, and moving to the next working water area;

in the autonomous cruise mode, further comprising: setting an initial position, namely a position of a return point of the pumping filtering type water body garbage cleaning intelligent robot; and inputting waypoints and waiting time, wherein the waiting time is the time for staying and working at the waypoints.

Compared with the prior art, the invention has the following beneficial effects:

1. the water body garbage collection device collects garbage in a pumping and filtering mode. This kind of mode is better to the less garbage collection effect of volume on the one hand, and on the other hand has avoided the winding problem of track, and collection efficiency is higher.

2. The invention sets two modes of manual remote control and automatic cruise. The power assembly is the core of manual remote control operation, and the design of the navigation assembly enables the robot to automatically cruise according to a pre-planned route under the condition of no operation. Therefore, the robot can manually control the moving work in a narrow water area through the remote controller, and can plan a path in advance in a wide water area and automatically move the work according to the path. Through the two modes, the water body garbage cleaning robot realizes no dead angle cleaning under various water area environments, not only solves the problem that an artificial cleaning ship cannot reach a narrow water area for cleaning, but also solves the problem that a common garbage cleaning robot can only work at fixed points and cannot clean in a large range.

3. The invention can be applied to the field of water body cleaning equipment.

Drawings

Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:

FIG. 1 is a side schematic view of the right and left equiangular shafts of the present invention;

FIG. 2 is a schematic view of the electronic components within the electronic component cartridge of the present invention;

fig. 3 is a side view schematic of the present invention.

The figures show that:

Detailed Description

The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.

In order to solve the problems that the working area of the traditional water body garbage cleaning machine is too small and needs to be fixed, the invention provides an autonomous sailing water body garbage cleaning robot based on a pump suction and filtration design, which is a device for sucking garbage into a barrel by using a pump for collection. The cleaning device has the advantages of strong flexibility, good cleaning effect and the like, can work in wide water areas such as offshore areas, ports and the like, and can complete cleaning tasks in narrow water areas such as urban landscape rivers and lakes and the like, so that the urban sanitation condition is improved, and the urban image is improved.

As shown in fig. 1 to 3, the pump-suction filtering type water body garbage cleaning intelligent robot provided by the invention comprises a shell component, a power component, a garbage collection component, a water pumping and draining component and a buoyancy adjusting component.

The shell assembly comprises a barrel body 10, a barrel handle 2 and a barrel cover 20. The garbage can is characterized in that a power assembly is fixed outside the can body 10, a water pumping and draining assembly is fixed at the bottom of the can body 10, and a garbage collecting assembly and a buoyancy adjusting assembly are further arranged inside and outside the can body 10. The electronic component box 1, the GPS module 21, the data transmission module 22, the receiver 23, the battery 24, the decoder 25, the controller 26, the relay 27 and the control board 28 are fixed on the top of the bucket and fixed in the electronic component box 1.

The power assembly comprises a propeller assembly and a rudder assembly. The rudder assembly comprises a rudder assembly connecting rod 5, an L-shaped acrylic plate 6, a steering engine 7, an aluminum plate 8 and a trapezoidal rudder sheet 9. The rudder assembly connecting rod 5 is positioned on the aluminum plate 8 and controls the trapezoidal rudder sheet 9 to rotate so as to adjust the moving direction of the robot. The L-shaped acrylic plate 6 is fixed to the tub 10 by screws and provides support for the aluminum plate 8. The trapezoidal rudder sheet 9 is made of acrylic plates. The paddle assembly includes a propeller 17 and an electrical trim. In the remote controller operation mode, the receiver 23 sends a signal from the remote controller to the decoder 25 for decoding and then transmitting to the controller 26. The controller 26 controls the working state of the propeller 17 and the trapezoidal rudder sheet 9 through a motion control module. In the autonomous cruise mode, the controller 26 is connected with a computer through the data transmission module 22, and receives instructions sent by the computer through the positioning of the GPS module 21, so that the working states of the propeller 17 and the trapezoidal rudder sheet 9 are controlled.

The waste collection assembly includes a clip 18 and a collection bag 16. The collection bag 16 is a mesh bag that allows the waste to be retained in the bag and the water to be filtered out.

The water pumping and draining component comprises a water separator 12, a right-angle water outlet elbow 13, a rubber hose 14 and a water pump 15. The water pump 15 is fixed at the bottom of the barrel, the water outlet is connected with the water separator 12, the water separator 12 guides water to the four right-angle water outlet elbows 13 through the rubber hoses 14, and the water is discharged through the elbows. The control board 28 is written with instruction codes for controlling the switch of the water pump 15 in advance and is connected with the controller, in the remote control mode, the instruction sent by the remote controller and received by the receiver 23 is decoded by the decoder 25 and sent to the control board 28, and then the control board 28 judges the signal sent by the decoder 25 according to the written codes and sends corresponding signals to the relay 27 to control the switch of the water pump 15. In the autonomous cruise mode, the controller 26 replaces a remote controller, the controller 26 is positioned by the GPS module 21, and after reaching a specified place, the controller sends an instruction to the control board 28 to complete the operation of switching on and off the water pump.

The buoyancy regulating assembly comprises a body of buoyancy material 4 and a flexible line. The buoyancy material body 4 is fixed outside the barrel body 10 through a soft rope and used for adjusting buoyancy force applied to the barrel body 10 to keep the robot balance and enable the lower edge of the garbage inlet channel to be slightly lower than a water body, so that garbage can smoothly enter the barrel.

In addition, in order to prevent the water discharged from the right-angle water outlet elbow 13 from dispersing the garbage in the water body and influencing the garbage to enter the barrel, the invention is additionally provided with an anti-wave device, namely an annular anti-wave plate 11, and the influence of the impulsive force of the water on the garbage in the water body is avoided by blocking the water discharged from the right-angle water outlet elbow 13.

The present invention will be described in more detail below by way of preferred examples.

An accommodating space is formed inside the shell component, and part or the whole of the drainage structure is positioned in the accommodating space; the wave-preventing structure is positioned in the middle of the shell component. The buoyancy material bodies 4 are fixed on the upper edge of the shell component, and the distribution of the buoyancy material bodies 4 is determined according to the actual weight of different sides of the robot. The side wall of the upper end of the main body of the barrel body 10 is provided with a water inlet and a garbage channel 3, handles 2 are arranged on two sides, and the handles 2 are used for supporting a barrel cover 20 on the top of the shell component. The propellers 17 are symmetrically distributed on both sides of the housing assembly and are connected with a controller 26 through signal lines. The electric adjusting and the propeller 17 are fixed on the side wall of the plastic barrel body 10 through screws; the aluminum plate 8 is provided with a groove and is fixed with the steering engine 7 through screws and nuts; the two L-shaped acrylic plates 6 are fixed on the shell component, and a gap is reserved in the middle for fixing the aluminum plate 8; the steering engine 7, the connecting rod and connecting device 5 and the trapezoidal rudder piece 9 are connected in sequence; the steering engine 7 is connected with the controller 26 through a signal line. The meshed bag 16 is fixed by the clip 18 during operation, receives the garbage sucked into the barrel, can be detached after operation, and is taken out to dump the garbage. The water separator 12 is connected with a water outlet of the water pump 15, and divides water pumped by the water pump 15 into a plurality of water flows; one end of each of the rubber hoses 14 is connected with the corresponding outlet of the water separator 12, and the other end is connected with the right-angled elbow 13; the right-angle bends 13 are uniformly distributed at the bottom of the side end of the shell component in a circumferential shape, one part of the right-angle bends is positioned in the inner space of the shell component and is parallel to the bottom of the barrel body 10 and connected with the hose 14, the other part of the right-angle bends is positioned outside the barrel body 10 and guides water flow vertically upwards, and the right-angle bends 13 are fixed with the barrel body 10 through glue; the water pump 15 is connected to the controller 26 via a signal line. The wave-proof structure is a circular ring-shaped plastic plate or iron plate 11 and is fixed in the middle of the shell component.

The electronic components can be divided into the following components according to their functions:

a battery pack: the solar energy power generation device comprises a lithium battery 24, and can further adopt solar energy, wind energy or mixed energy to supply power;

a navigation component: is composed of a GPS module 21 and a controller 26. The GPS satellite positioning sensor, the electronic compass and the inertial measurement module are integrated on the controller 26, and a GPS port on the controller 26 is connected with the GPS module 21;

the water pump control assembly: the device mainly comprises a receiver 23, a decoder 25, a data transmission module 22, a controller 26, a relay 27 and a board 28;

a movement control component: mainly comprises a receiver 23, a decoder 25, a data transmission module 22 and a controller 26;

the controller includes the following modules:

a signal acquisition module: acquiring a path travelling signal, a position signal and a remote control signal;

a motion control module: controlling operation of the power assembly;

a water pump control module: controlling the operation of the water pump.

The signal wires and the electric wires of each part and each component are connected with each part and each component at one end, and the other ends of the signal wires and the electric wires are collected and fixed on the upper part of the shell component through the wiring tube 19, finally enter the electronic component box 1 at the top end of the shell component and are connected with the controller 26.

The invention provides a specific control method for operating the water body garbage cleaning robot, which comprises the following steps:

firstly, a manual remote control mode:

step 1: slowly putting the pumping filtering type water body garbage cleaning intelligent robot into water, and keeping the pumping filtering type water body garbage cleaning intelligent robot stable as a whole;

step 2: controlling a propeller and a trapezoidal rudder sheet of a power assembly by using a remote controller, enabling a pump suction filtration type water body garbage cleaning intelligent robot to move to a working water area, closing the power assembly, opening a knob on the remote controller for controlling a water pump to start pumping water, collecting garbage, restarting the power assembly after cleaning is finished, and moving to the next working water area;

and step 3: the intelligent robot for cleaning the garbage in the water body is controlled to pump up and filter, stops to the bank side, closes the water pump and the power assembly, opens the barrel cover, takes the clamp down, takes out the containing bag in the barrel, pours out the garbage, cleans the collecting bag, and puts in the barrel again.

Two, autonomous cruise mode

Step 1: setting an initial position, namely a position of a return point of the pumping filtering type water body garbage cleaning intelligent robot;

step 2: inputting waypoints and waiting time, wherein the waiting time is the time for staying and working at the waypoints;

and step 3: slowly putting the pump suction filtering type water body garbage cleaning intelligent robot into water to keep the whole robot stable;

and 4, step 4: and (3) stopping the intelligent pumping filtration type water body garbage cleaning robot to a return point, opening the barrel cover, taking the hook down, taking out the containing bag in the barrel, pouring out the garbage, cleaning the collecting bag, and putting the collecting bag into the barrel again.

The invention abandons the structure of the traditional garbage cleaning robot such as a brush, a suction port and the like or the crawler belt structure adopted by the water body garbage cleaning ship, adopts a pump suction and filtration method, is more suitable for the requirements of water body garbage cleaning and oil stain treatment, and solves the problems that part of garbage and oil stain can not be sucked and treated and the garbage is wound on the crawler belt; and a power assembly is added, and two modes of manual remote control operation and automatic cruise are developed. The robot can be controlled by a remote controller to freely move in a water body, can also be similar to a land sweeping robot to realize autonomous cruising on the water surface and collect garbage, and solves the problems that the traditional sweeping robot has a small working area, low efficiency and high requirement on the water environment.

In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.

The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.

Claims

1. The utility model provides a pump suction filters formula water rubbish clearance intelligent robot which characterized in that includes: the garbage collecting device comprises a shell assembly, a power assembly, a garbage collecting assembly, a water pumping and draining assembly and a buoyancy adjusting assembly;

the shell assembly comprises a barrel body (10) and a barrel cover (20); when the barrel cover (20) is opened, water outside the shell component can enter the barrel body (10) through the opening at the top of the barrel body (10), and is discharged out of the barrel body (10) under the driving of the water pumping and discharging component after passing through the garbage collecting component;

the power assembly provides moving capability;

the buoyancy regulating assembly regulates the depth of the barrel body (10) in the water body, so that the external water body can enter the barrel body (10) through the top opening of the barrel body (10);

a water inlet and a garbage channel (3) are reserved on the side wall of the upper end of the main body of the barrel body (10), handles (2) are arranged on two sides of the main body, and the handles (2) are used for supporting a barrel cover (20) on the top of the shell component;

the water pumping and draining component comprises a water separator (12), a right-angle water outlet elbow (13), a rubber hose (14) and a water pump (15);

the water pump (15) is fixed at the bottom of the barrel, the water outlet of the water pump (15) is connected with the water separator (12), the water separator (12) guides water to the plurality of right-angle water outlet elbows (13) through the rubber hose (14), and the water is discharged through the right-angle water outlet elbows (13);

the buoyancy regulating component comprises a buoyancy material body (4) and a soft rope;

the buoyancy material body (4) is fixed outside the barrel body (10) through a soft rope and is used for adjusting buoyancy force borne by the barrel body (10) to keep balance and enabling the lower edge of the garbage inlet channel to be slightly lower than or flush with a water body, so that garbage can enter the barrel body (10);

an electronic element box (1) is arranged on the barrel cover (20); a GPS module (21), a data transmission module (22), a receiver (23), a battery (24), a decoder (25), a controller (26), a relay (27) and a control panel (28) are arranged in the electronic element box (1);

in the remote controller control mode, the receiver (23) sends a signal from a remote controller to the decoder (25) for decoding and then transmitting the signal to the controller (26); the controller (26) controls the working states of a propeller (17) and a trapezoidal rudder (9) of the power assembly through a motion control module;

in the autonomous cruise mode, the controller (26) is connected with a computer through the data transmission module (22), and receives instructions sent by the computer through the positioning of the GPS module (21), so that the working states of a propeller (17) and a trapezoidal rudder sheet (9) of the power assembly are controlled.

2. The pump-pumping filtering type water body garbage cleaning intelligent robot according to claim 1, wherein the power assembly comprises a propeller assembly and a rudder assembly;

the rudder component comprises a rudder component connecting rod (5), an L-shaped acrylic plate (6), a steering engine (7), an aluminum plate (8) and a trapezoidal rudder sheet (9); the rudder assembly connecting rod (5) is positioned on the aluminum plate (8) and controls the rotation of the trapezoidal rudder sheet (9) so as to adjust the moving direction; the L-shaped acrylic plate (6) is fixed on the barrel body (10) through screws and provides support for the aluminum plate (8);

the paddle component comprises a propeller (17) and an electric regulator; the propeller (17) is installed outside the barrel body (10).

3. The pump-pumping, filtering, water body waste cleaning intelligent robot of claim 1, wherein the waste collection assembly comprises a clip (18) and a collection bag (16);

the collection bag (16) is provided with a mesh bag, garbage is left in the bag, and water is filtered out;

the collecting bag (16) is arranged at the opening of the barrel body (10) through a clamp (18).

4. The intelligent robot for cleaning up garbage in pumping filtering type water body according to claim 1, further comprising an annular wave-preventing plate (11), wherein the annular wave-preventing plate (11) blocks water discharged from a right-angle water outlet elbow (13) of the water pumping and draining assembly.

5. The intelligent robot for cleaning garbage in pumping and filtering water body according to claim 1, wherein the control board (28) is pre-written with instruction codes for controlling the on-off of the water pump (15) of the water pumping and draining assembly and is connected with a controller;

in a remote control mode, the receiver (23) receives a command sent by a remote controller, the command is decoded by a decoder (25) and sent to the control board (28), and then the control board (28) judges a signal sent by the decoder (25) according to a written code and sends a corresponding signal to the relay (27) to control the water pump (15) to be switched on and off;

in the autonomous cruise mode, the controller (26) replaces a remote controller, the controller (26) is positioned by means of the GPS module (21), and after the controller reaches a specified place, an instruction is sent to the control board (28) to complete the operation of switching on and off the water pump (15).

6. The control method of the pumping filtering type water body garbage cleaning intelligent robot as claimed in any one of claims 1 to 5, characterized by comprising the following steps:

7. The method for controlling a pumping filtration type water body garbage cleaning intelligent robot according to claim 6, further comprising, in the remote control mode: controlling a propeller and a trapezoidal rudder sheet of a power assembly by using a remote controller, enabling a pump suction filtration type water body garbage cleaning intelligent robot to move to a working water area, closing the power assembly, opening a knob on the remote controller for controlling a water pump to start pumping water, collecting garbage, restarting the power assembly after cleaning is finished, and moving to the next working water area;