CN115817739A - Adsorption type water surface cleaning robot based on intelligent recognition - Google Patents

Abstract

The invention provides an adsorption type water surface cleaning robot based on intelligent identification, which comprises a ship body, wherein a camera, a scanning laser radar, a wind speed sensor, a gyroscope and an acceleration sensor are respectively installed on the upper surface of the ship body, a water pump, a motor and a plc controller are respectively installed on the bottom wall of the inner side of the ship body, an adsorption component is installed at a water inlet of the water pump, a transmission mechanism is installed at an output shaft of the motor, a vortex winding mechanism is rotatably connected to the lower surface of the ship body through a bearing, and one end of the vortex winding mechanism is installed on one side of the transmission mechanism. The invention has the characteristics of long-time navigation, high collection efficiency, low standard working environment, wide garbage collection range, pure electric drive, convenient operation and control, small size, attractive appearance, stable navigation, wide adaptability, labor saving, high efficiency and the like, greatly solves the problems of the existing manual salvage operation, and has better practical value and popularization value.

Description

Adsorption type water surface cleaning robot based on intelligent recognition

Technical Field

The invention relates to the technical field of water surface cleaning equipment, in particular to an adsorption type water surface cleaning robot based on intelligent identification.

Background

In the process of rapid development of economy in China, the protection of water resources is also gradually a hot point of current research. Especially, in recent years, the tourism industry is rapidly developed, the problem that scenic spot garbage is difficult to treat is generally existed in a plurality of water areas such as ports, rivers, lakes and the like, and for the existing water surface garbage cleaning technology, two methods of manually driving a mechanical ship and manually remotely controlling a garbage collecting device are basically adopted for fishing at present;

nowadays, fishing by using some intelligent water navigation machines is also attempted, and the technology of the water surface floating garbage collecting robot can realize the treatment of garbage at dead corners of the water surface, but the fishing principle is too complicated in manual work and too high in manufacturing cost, so that the water surface floating garbage collecting robot is difficult to popularize and apply for a long time;

although the operation equipment is simple and easy to obtain, the method for salvaging by manually driving the mechanical ship has a plurality of limitations, and in dead corners of small rivers and ports, areas with narrow water surfaces or shallow water depths often exist, so that ships carrying salvaging personnel are difficult to pass through, and the salvaging is difficult;

meanwhile, in some water areas with serious pollution, the working environment is too severe and is not suitable for people to salvage. Generally speaking, for landscape lakes and rivers which need to be salvaged in time to maintain beautiful appearance, salvage greatly affects the beautiful appearance of the environment of the scenic region, and is not beneficial to the development of the tourism industry, while a manual remote control type garbage collection device, a water surface floating garbage collection device, although the volume of the device is smaller than that of a ship carrying salvage personnel, the device can treat a dead corner region where garbage exists, fixed-point salvage work is carried out in a complicated and variable environment such as the water surface, and the efficiency of manual remote control is too low;

in summary, the two existing common methods of manual direct salvage and remote salvage for cleaning the water surface garbage not only have the problems of high cleaning difficulty and high comprehensive cost, but also generally cannot efficiently help solve the increasingly serious regional large water area pollution problems of water hyacinth and the like frequently occurring in typhoon heavy rain seasons, and for the above conditions, the water surface garbage in places such as scenic areas and rivers and the like are cleaned, and the water plants caused by the increasingly frequent water eutrophication are overflowed, so that the adsorption type water surface cleaning robot based on intelligent identification is provided.

Disclosure of Invention

In view of the above, the present invention is to provide an adsorption type water surface cleaning robot based on intelligent identification, so as to solve or alleviate the technical problems in the prior art, and at least provide a useful choice.

The technical scheme of the embodiment of the invention is realized as follows: the utility model provides an absorption type surface of water clearance robot based on intelligent recognition, includes the hull, camera, scanning laser radar, air velocity transducer, gyroscope and acceleration sensor are installed respectively to the upper surface of hull, water pump, motor and plc controller are equipped with respectively to the inboard diapire ann of hull, adsorption component is installed to the water inlet of water pump, drive mechanism is installed to the output shaft of motor, the lower surface of hull rotates through the bearing and is connected with and is drawn into swirl mechanism, the one end of drawing into swirl mechanism install in one side of drive mechanism, the lower surface mounting of hull has the debris collecting box, infrared ray transmitting device and infrared ray receiving arrangement are installed respectively to the inner wall of debris collecting box.

Further preferably, the transmission mechanism comprises a first belt pulley, a second belt pulley and a belt body;

the output shaft of the motor runs through the inner side wall of the ship body and is installed on one side of the second belt pulley, and the outer wall of the second belt pulley and the outer wall of the first belt pulley are attached to the inner wall of the belt body.

Further preferably, the vortex winding mechanism comprises an inner blade, an outer blade and a rotating shaft;

the inner wall of hull pass through the bearing rotate connect in the one end of pivot, the other end of pivot run through in the inner wall of hull just installs in one side of first belt pulley, inner leaf and outer leaf are evenly installed respectively to the outer wall of pivot.

Further preferably, the adsorption component comprises an adsorption pipe and a suction head, the water outlet of the water pump is installed at one end of the adsorption pipe, and the other end of the adsorption pipe penetrates through the inner side wall of the ship body and is installed at one side of the suction head.

Further preferably, the rear surface of the hull is uniformly provided with propellers.

Further preferably, a built-in box is mounted on the bottom wall of the inner side of the ship body, and a storage battery is mounted on the inner wall of the built-in box.

Further preferably, a solar photovoltaic power generation board is mounted on the upper surface of the ship body.

Due to the adoption of the technical scheme, the embodiment of the invention has the following advantages:

1. the invention has the characteristics of long-time navigation, high collection efficiency, low standard working environment, wide garbage collection range, pure electric drive, convenient operation and control, small size, attractive appearance, stable navigation, wide adaptability, labor saving, high efficiency and the like, greatly solves the problems of the existing manual salvage operation, and has better practical value and popularization value.

2. According to the invention, when the second belt pulley of the output shaft of the motor rotates, the second belt pulley drives the belt body and the first belt pulley to rotate, the first belt pulley drives the rotating shaft to rotate, the rotating shaft drives the inner leaf and the outer leaf to rotate, the outer leaf mainly provides power, the inner leaf mainly assists the sundries collecting box to collect sundries, when the garbage in the sundries collecting box is collected to the heights of the infrared transmitting device and the infrared receiving device, a signal received by the infrared receiving device changes, information is fed back to the plc controller after amplification and signal processing, when feedback information exceeds 30 seconds, the content in the sundries collecting box is insufficient, the plc controller sends a return navigation instruction, the intelligent integration is realized, the floating garbage and the garbage which is difficult to collect in shoals and stone seams can be effectively absorbed through water flow, and the garbage on the water surface can be deeply cleaned.

3. According to the invention, a binocular vision system is adopted by the camera, so that the stability of the system can be ensured, enough information can be obtained, the binocular vision system can be used for collecting image characteristic information, the processed target image characteristic is compared with the expected image characteristic, if a difference value exists between the target image characteristic and the expected image characteristic, the plc controller can convert the difference value into a device motion value, the plc controller can send out a control device to move, the task of the vision servo system is finished when the image characteristic error is zero, when the ship body is difficult to normally drive out of the terrain, the information can be transmitted to the plc controller, and the plc controller sends corresponding commands of backward motion or turning and the like to realize autonomous escaping from the ship after analysis.

The foregoing summary is provided for the purpose of description only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features of the present invention will be readily apparent by reference to the drawings and following detailed description.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the embodiments or technical descriptions will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a block diagram of the present invention;

FIG. 2 is a bottom view of the present invention;

FIG. 3 is a view showing the internal structure of the sundries collecting box of the present invention;

FIG. 4 is an internal structural view of the present invention;

FIG. 5 is a structural view of an acceleration sensor of the present invention;

FIG. 6 is a schematic view of an adsorbent assembly of the present invention;

FIG. 7 is a structural view of a vortex winding mechanism of the present invention;

FIG. 8 is a block diagram of a gyroscope of the present invention;

fig. 9 is a diagram of the plc controller according to the present invention.

Reference numerals: 1. a hull; 2. an adsorption component; 3. an adsorption tube; 4. a suction head; 5. a camera; 6. a water pump; 7. a vortex winding mechanism; 8. inner leaf; 9. outer leaves; 10. a rotating shaft; 11. a propeller; 12. a solar photovoltaic power generation panel; 13. a sundry collecting box; 14. scanning a laser radar; 15. a wind speed sensor; 16. a motor; 17. a transmission mechanism; 18. a built-in box; 19. a storage battery; 20. an infrared transmitting device; 21. an infrared ray receiving device; 22. a gyroscope; 23. an acceleration sensor; 24. a plc controller; 25. a first pulley; 26. a second pulley; 27. a belt body.

Detailed Description

In the following, only certain exemplary embodiments are briefly described. As those skilled in the art would realize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present invention. Accordingly, the drawings and description are to be regarded as illustrative in nature, and not as restrictive.

Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

As shown in fig. 1-9, an embodiment of the present invention provides an adsorption type water surface cleaning robot based on intelligent identification, including a hull 1, a camera 5, a scanning laser radar 14, a wind speed sensor 15, a gyroscope 22 and an acceleration sensor 23 are respectively installed on an upper surface of the hull 1, a water pump 6, a motor 16 and a plc controller 24 are respectively installed on an inner bottom wall of the hull 1, an adsorption component 2 is installed at a water inlet of the water pump 6, a transmission mechanism 17 is installed on an output shaft of the motor 16, a vortex winding mechanism 7 is rotatably connected to a lower surface of the hull 1 through a bearing, one end of the vortex winding mechanism 7 is installed on one side of the transmission mechanism 17, a debris collection box 13 is installed on a lower surface of the hull 1, and an infrared ray transmitting device 20 and an infrared ray receiving device 21 are respectively installed on an inner wall of the debris collection box 13.

In one embodiment, the transmission mechanism 17 includes a first pulley 25, a second pulley 26, and a belt body 27;

the output shaft of motor 16 runs through in the inside wall of hull 1 and installs in one side of second belt pulley 26, and the outer wall laminating of second belt pulley 26 and first belt pulley 25 is in the inner wall of belt body 27, starts through starter motor 16 and drive mechanism 17, and the output shaft of motor 16 drives second belt pulley 26 and rotates, and second belt pulley 26 drives belt body 27 and transmits to first belt pulley 25 on, and first belt pulley 25 drives pivot 10 and rotates.

In one embodiment, the swirl-entraining mechanism 7 comprises an inner vane 8, an outer vane 9, and a rotating shaft 10;

the inner wall of hull 1 passes through the bearing and rotates the one end of connecting in pivot 10, the other end of pivot 10 runs through in the inner wall of hull 1 and installs in one side of first belt pulley 25, inner leaf 8 and outer leaf 9 are evenly installed respectively to the outer wall of pivot 10, drive inner leaf 8 and outer leaf 9 respectively through pivot 10 and rotate, outer leaf 9 uses the ya keli board to come as drainage power system, inner leaf 8 adopts network structure to collect water surface rubbish, and then is drawn into the debris collecting box 13 that can load and unload of hull 1 afterbody with rubbish on the water surface.

In one embodiment, the adsorption component 2 comprises an adsorption pipe 3 and a suction head 4, a water outlet of the water pump 6 is installed at one end of the adsorption pipe 3, the other end of the adsorption pipe 3 runs through the inner side wall of the ship body 1 and is installed at one side of the suction head 4, a horn structure is adopted through the suction head 4, the suction area is more, floating garbage on the water surface can enter conveniently, the adsorption pipe 3 adopts a suction pipe folding structure, the adsorption pipe 3 is enabled to be integrally and more portable to use, and the disassembly and the stacking are convenient.

In one embodiment, propellers 11 are uniformly installed on the rear surface of the hull 1, and the plc controller 24 controls the respective activation of the propellers 11 through the arrangement of the propellers 11, thereby facilitating the control of the direction of rotation and advance of the hull 1.

In one embodiment, the built-in box 18 is installed on the bottom wall of the inner side of the ship body 1, the storage battery 19 is installed on the inner wall of the built-in box 18, and the installation position of the storage battery 19 is protected through the arrangement of the built-in box 18, wherein the storage battery 19 is respectively supplied with power to the camera 5, the water pump 6, the scanning laser radar 14, the wind speed sensor 15, the motor 16, the gyroscope 22, the acceleration sensor 23 and the plc controller 24.

In one embodiment, the upper surface of the hull 1 is provided with a solar photovoltaic panel 12, and the solar photovoltaic panel 12 is arranged to facilitate the conversion of the sun into electric energy, and then the electric energy is stored in the storage battery 19.

In one embodiment, the debris collection box 13 is a soft mesh design that provides a cushioning effect while reducing buoyancy and reducing the damage of debris to the hull 1.

In one embodiment, the scanning lidar 14 may obtain the range position of the target by measuring the time spent by the laser emission to the reflection, and then multiplying by the speed of light;

the gyroscope 22 acquires the horizontal, vertical, pitch, course and angular velocity of the hull 1;

the acceleration sensor 23 measures acceleration;

therefore, more reliable environment information can be obtained, and then SLAM mapping is carried out by using the information, and the SLAM mapping is firstly preprocessed by the scanning laser radar 14: optimizing point cloud original data formed by a radar, eliminating problematic data, or filtering, and performing preliminary position determination on water surface garbage; secondly, matching by utilizing an SLAM3.0 software system, and searching the corresponding garbage position of the point cloud data of the current local environment on the established map for matching. And finally, map fusion: splicing the new round of data from the scanning laser radar 14 into the original map, and finally completing the updating of the map;

after the positioning and mapping are established, the next problem of movement is solved, namely the navigation planning capability between the ship body 1A and the target garbage point B;

the route planning aims at the position where the passing sundries are located on the premise of avoiding the edge of a water area;

the SLAM system divides path planning into: global planning and local planning are adopted, when the distance between target points is too far, the SLAM system plans a path to the target points, when the distance between the target points is too close, the local planning is adopted, the ship body 1 is controlled to collect surrounding garbage to achieve the cleaning effect, but sundries are definitely distributed in multiple points in the water body, and tens of thousands of expected paths can appear on the basis of the sundries;

and classifying the multiple paths, analyzing a genetic algorithm by using plant simulation software, and analyzing the model parameter fitness to obtain an optimization result required by people. In the operation process, referring to wind speed information collected by a wind speed sensor 15 (when the wind speed exceeds 7 meters per second within ten minutes, the path planning direction is the same as the wind direction until garbage collection in the area is finished, when the wind speed exceeds 14.5 meters per second within ten minutes, the path planning self-return sails until the wind speed is continuously less than 14.5 meters per second), an infrared transmitting device 20 is installed at the position, perpendicular to the wall of a sundry collecting box 13, of the box wall, an infrared receiving device 21 is installed at the position parallel to the infrared transmitting device, when the garbage in the sundry collecting box 13 is collected to the height, signals received by the infrared receiving device 21 change, information feedback is carried out after amplification and signal processing, when the feedback information exceeds 30 seconds, the insufficient content of the sundry collecting box 13 can be shown, the return sailing information is output, the optimal solution in a plurality of paths is calculated on the premise of least energy consumption, and the robot finally realizes the self-planning of the paths;

after the path planning is finished, the plc controller 24 is used for controlling and is respectively and electrically connected with the camera 5, the water pump 6, the scanning laser radar 14, the wind speed sensor 15, the motor 16, the gyroscope 22 and the acceleration sensor 23, so that the control and the use are convenient.

The invention is in operation: the method comprises the steps that a camera 5 is used as a main part, a scanning laser radar 14, an air velocity sensor 15, a gyroscope 22 and an acceleration sensor 23 are used as auxiliary parts for collecting information, the collected information is transmitted to a plc controller 24, large garbage information is stored in the plc controller 24, the collected information is compared with the large garbage information stored in the plc controller 24, the similarity is larger than 80% and is large garbage, otherwise, the large garbage information is small, the size of the impurities can be identified, when the camera 5, the scanning laser radar 14, the air velocity sensor 15, the gyroscope 22, the acceleration sensor 23 and the plc controller 24 are combined to identify small garbage, the plc controller 24 controls an adsorption component 2 of a water pump 6 to be opened, water is sucked by a water pump 6, the garbage and water are sucked into a impurity collecting box 13 through the adsorption component 2 and a suction head 4, the garbage is filtered by using the impurity collecting box 13, tiny garbage is left in the impurity collecting box 13, water is discharged from a loading and unloading water pump, when the camera 5, the scanning laser radar 14, the air velocity sensor 15, the gyroscope 22 and the suction head 4 are sucked into the impurity collecting box 13, the impurity collecting box 13 is driven by a mesh belt wheel 13, a rotating belt wheel 13 is driven by a rotating belt wheel 8, a first belt wheel 8 is driven by a rotating motor, a rotating belt wheel 25 is driven by a rotating belt wheel 16, a second belt wheel 16 is driven by a first belt wheel 8 and a second belt wheel 16, the rotating motor is driven by a rotating belt wheel 2, the rotating belt wheel 8, a rotating belt wheel 16 is driven by a rotating mechanism which drives a rotating mechanism which drives a rotating belt wheel 2, a second belt wheel 2, a rotating belt wheel 16, four propellers 11 extending into the water are arranged at the tail parts of the floats at the two sides of the boat body 1, the propellers are used for conveniently controlling the rotation and advancing directions of the boat body 1, a solar photovoltaic power generation plate 12 is arranged on the upper layer of the boat body 1, the solar photovoltaic power generation plate can charge a storage battery 19, and electronic equipment can be protected from being exposed to the sun when the boat body works on the water, so that components are aged or damaged.

(II solar photovoltaic power generation board power continuing design

In the design of the invention, in order to more reasonably utilize the design of clean energy, the solar photovoltaic power generation board 12 is arranged on the top of the ship body 1, and the ship body 1 is effectively utilized to provide power for the operation of the ship body 1, so that the theme of environmental protection is powerfully embodied. Most of the current water garbage collection ships use lithium batteries for operation, so that long-time charging is needed before use, and the service time is limited. And long-time water operation can be realized by using the solar photovoltaic power generation plate 12 to carry out power supply. The installation of the solar photovoltaic panel 12 applied to the hull 1 largely affects the power generation amount of the solar photovoltaic panel 12, and in addition to the position facing the sun where sunlight is received, the shielding effect of the covering on the solar photovoltaic panel 12 is also considered. Based on the existing solar photovoltaic technology, the solar photovoltaic power generation board 12 carried by the product is arranged at the topmost part of the ship body 1, so that a solar photovoltaic system is utilized to the maximum extent. The converter and the storage battery 19 connected with the solar photovoltaic power generation board 12 are arranged in a built-in box (18) and are subjected to waterproof treatment to ensure the normal operation of the ship body 1. The three sundries collecting box

The sundries collecting box 13 is designed in a soft net mode, the soft net is designed to have a buffering effect, meanwhile, buoyancy is reduced, and damage of garbage to the ship body 1 is reduced. The method for collecting the garbage in the sundries collecting box 13 is a dragging method, so that the collected garbage still floats by self buoyancy, the bearing capacity of the ship body 1 is increased, the requirement on power is reduced, and the functionality of the invention is greatly improved. The characteristic that the sundries collecting box 13 is detachable enables garbage collection to be more convenient. In order to realize intelligent operation, an infrared transmitting device 20 is arranged at the position of the vertical box wall of the sundries collecting box 13, an infrared receiving device 21 is arranged at the position parallel to the infrared transmitting device, when the height of the garbage in the sundries collecting box 13 is collected, signals received by the infrared receiving device 21 are changed, information feedback is carried out after amplification and signal processing, when the feedback information exceeds 30 seconds, the fact that the content of the sundries collecting box 13 is insufficient can be shown, and return navigation information is output.

Four differential steering applications

The direction control of the invention is realized by controlling the rotating speed of the four underwater propellers. Different rotational speeds are used to compensate for the difference in distance. So that the underwater propeller on which side is slower and the hull 1 turns to which side. If the ship needs to turn around in situ, the underwater propeller on one side is completely stopped to generate zero power, and the ship body 1 can be driven to turn in situ by the operation of the underwater propeller on the other side. The current is controlled by controlling the electric speed controller so as to drive the underwater propeller to complete related instructions, so that the steering of the ship body 1 is realized. In the initial steering design, two schemes, namely a differential steering device and a steering engine steering device, are proposed, and the two steering designs have respective advantages and disadvantages. In subsequent design, the factor that the ship body 1 needs to travel at a low speed when garbage is collected is considered, and the differential steering has obvious advantages compared with steering engine steering after two steering devices are analyzed. In summary, we choose differential steering as the steering device of the present invention.

The five middle part whirlpool winding mechanism is of an innovative design

During the operation of the ship body 1, the rubbish is likely to cause damage to the sundries collecting box 13 of the ship body 1, so that a rubbish collecting auxiliary device, namely a vortex winding mechanism 7 is designed. The design inspiration of the middle impeller comes from the waterwheel structure to realize that the power is provided for the ship body 1. In the operation of the mechanism, the impeller has a large diameter, so that the water flow can push the water wheel to operate with small force. Based on this principle, the outer blades 9 of the swirl mechanism 7 can function as an impeller to the maximum extent by providing power. The mechanism is driven by a motor 16 through a belt wheel to complete rotation, and partial power is provided for the ship body 1. In the rotating process of the impeller, the acrylic plate is partially immersed in water, and the position in contact with garbage on the water surface is an inner blade 8, namely a grid, and the grid can net the garbage into the grid under the washing of water flow so as to realize the efficient collection of the garbage. The rotating shaft 10 is connected in a net shape, so that the ship has the advantages of resistance reduction and weight reduction, and the requirement of the ship body 1 on the water surface environment is powerfully reduced. The vortex structure is a three-blade design, so that garbage can be conveniently rolled in, and the possibility that the garbage cannot be rolled in is reduced.

Six-resistance type wind direction sensor, gyroscope and accelerometer

The wind speed sensor 15 adopts a thermal wind speed sensor, and the robot finishes marking the optimal path and avoids risks by acquiring the wind speed information. Computer simulation and multiple on-site records of our team show that when the wind speed exceeds 7 meters per second, obvious fluctuation exists on the water surface, and garbage can gather in the same direction as the wind direction, so that a special phenomenon that garbage piles up on one position is caused, when the wind speed is higher than 14.5 meters per second, the movement of the ship body 1 is seriously influenced, and when the wind speed exceeds 20 meters per second, the ship body 1 has the possibility of being overturned. So, by synthesizing statistical rules in statistics, we specify: when the wind speed exceeds 7 meters per second within five minutes in ten minutes, the path planning direction is the same as the wind direction until the garbage collection in the area is finished. When the wind speed exceeds 14.5 meters per second for five minutes in ten minutes, the path plan autonomously navigates back until the wind speed continues to be less than 14.5 meters per second.

The sensing gyroscope and the acceleration sensor in the built-in box 18 can acquire various parameters of the robot. The sensing gyroscopes 22 can reflect the horizontal, vertical, pitch, heading and angular velocity of the hull 1 in real time. The acceleration sensor 23 can measure acceleration. The acquired data are transmitted to the brain of the robot, which is the basis for realizing full intellectualization.

When the adsorption device 2 is opened, the garbage can automatically flow into the automatic garbage collection ship from the water surface by means of the water mobility. And we have still configured intelligent automatic identification system 5, and its effect is that can the size classification of automated inspection rubbish, when facing small-size rubbish, to leaf planktonic algae and plastic bag, can absorb rubbish with adsorption equipment 2. When large garbage is detected, the adsorption device 2 is automatically closed, and garbage such as water bottles, foams and the like is collected by adopting the rolling turbine structure 7. The two are mutually matched.

The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive various changes or substitutions within the technical scope of the present invention, and these should be covered by the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.

Claims (7)

1. The utility model provides an absorption type surface of water clearance robot based on intelligent recognition, includes hull (1), its characterized in that: camera (5), scanning laser radar (14), air velocity transducer (15), gyroscope (22) and acceleration sensor (23) are installed respectively to the upper surface of hull (1), water pump (6), motor (16) and plc controller (24) are equipped with respectively to the inboard diapire ann of hull (1), adsorption component (2) are installed to the water inlet of water pump (6), drive mechanism (17) are installed to the output shaft of motor (16), the lower surface of hull (1) is connected with through the bearing rotation and is drawn into swirl mechanism (7), the one end of drawing into swirl mechanism (7) install in one side of drive mechanism (17), the lower surface mounting of hull (1) has debris collecting box (13), infrared ray transmitting device (20) and infrared ray receiving device (21) are installed respectively to the inner wall of debris collecting box (13).

2. The intelligent recognition-based adsorption type water surface cleaning robot according to claim 1, wherein: the transmission mechanism (17) comprises a first belt pulley (25), a second belt pulley (26) and a belt body (27);

an output shaft of the motor (16) penetrates through the inner side wall of the ship body (1) and is installed on one side of the second belt pulley (26), and the outer walls of the second belt pulley (26) and the first belt pulley (25) are attached to the inner wall of the belt body (27).

3. The intelligent recognition-based adsorption type water surface cleaning robot according to claim 1, wherein: the vortex winding mechanism (7) comprises an inner blade (8), an outer blade (9) and a rotating shaft (10);

the inner wall of hull (1) pass through the bearing rotate connect in the one end of pivot (10), the other end of pivot (10) run through in the inner wall of hull (1) and install in one side of first belt pulley (25), inner leaf (8) and outer leaf (9) are evenly installed respectively to the outer wall of pivot (10).

4. The intelligent recognition-based adsorption type water surface cleaning robot according to claim 1, wherein: adsorption component (2) include adsorption tube (3) and suction head (4), the delivery port of water pump (6) install in the one end of adsorption tube (3), the other end of adsorption tube (3) run through in the inside wall of hull (1) and install in one side of suction head (4).

5. The intelligent recognition-based adsorption type water surface cleaning robot according to claim 1, wherein: the rear surface of the ship body (1) is uniformly provided with propellers (11).

6. The intelligent recognition-based adsorption type water surface cleaning robot according to claim 1, wherein: the inner side bottom wall of the ship body (1) is provided with a built-in box (18), and the inner wall of the built-in box (18) is provided with a storage battery (19).

7. The intelligent recognition-based adsorption type water surface cleaning robot according to claim 1, wherein: the solar photovoltaic power generation board (12) is installed on the upper surface of the ship body (1).

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