CN108275250A - A kind of automatically cleaning unmanned boat and its self cleaning method - Google Patents

Abstract

The invention provides a self-cleaning unmanned ship, which includes an unmanned ship body, a controller, a water inlet device arranged on the unmanned ship body, and an automatic cleaning device. The buoy, the high-pressure nozzle located near the buoy, the buoy lifting device connected to the buoy, the water inlet device is used to pump water from the water body where the unmanned ship body is located to the high-pressure nozzle of the automatic cleaning device, and the controller is used to Control the buoy lifting device to lower the buoy to lift the unmanned ship out of the water, or raise the buoy to float the unmanned ship on the water surface, and also to control the high-pressure nozzle to clean the unmanned ship body and buoy. The invention also provides a self-cleaning method for the self-cleaning unmanned ship. The invention can automatically control and clean the unmanned ship, replaces the traditional manual cleaning operation, is convenient to use, has high reliability and thorough cleaning, and can clean the hull of the ship many times before the end of the water collection task, with high cleaning efficiency.

Description

A self-cleaning unmanned ship and its self-cleaning method

technical field

The invention relates to the field of automatic cleaning of unmanned ships, in particular to a self-cleaning unmanned ship and a self-cleaning method thereof.

Background technique

Unmanned ships for field water collection work in wild waters for a long time, especially in polluted waters. Often, after working at several sampling points, the pollutants in the water body will pollute the hull, and in severe cases, it will also affect the unmanned ships. Normal sailing. At the same time, field water collection requires that the water samples at each collection point be relatively independent, and cross-contamination cannot occur. After working in a polluted area, the pollutants on the hull of the unmanned ship will affect the accuracy of the water samples. Needs to be cleaned up promptly. The current common practice is to manually lift the unmanned ship ashore after recalling the unmanned ship working in polluted waters to the shore, and manually clean the hull. There are water samples collected in the unmanned ship, which are heavy and need to prevent water sample leakage. It is very difficult to manually lift the unmanned ship ashore, and it is very inconvenient to clean the unmanned ship manually in the field. Back-and-forth cleaning also seriously affects water collection efficiency.

Therefore, designing an automatic cleaning device mounted on an unmanned ship has important practical significance for water harvesting in polluted waters.

Contents of the invention

The invention provides a self-cleaning unmanned ship and a self-cleaning method thereof, which can realize the cleaning of the unmanned ship by automatic control, and the cleaning process can be operated automatically, which can replace manual work, and can clean the hull of the ship many times before the end of the water collection task. Cleaning, easy to use, high cleaning efficiency.

A self-cleaning unmanned ship, comprising a main body of the unmanned ship, a controller, a water inlet device arranged on the main body of the unmanned ship, and an automatic cleaning device, the automatic cleaning device includes buoys arranged on both sides of the main body of the unmanned ship, The high-pressure nozzle near the buoy, the buoy lifting device connected to the buoy, the water inlet device is used to pump water from the water body where the unmanned ship body is located to the high-pressure nozzle of the automatic cleaning device, and the controller is used to control the lifting of the buoy The device lowers the buoy to lift the unmanned boat out of the water, or raises the buoy to float the unmanned boat on the water, and is also used to control the high-pressure nozzle to clean the unmanned boat body and buoy.

Further, the buoy lifting device includes a hydraulic strut and a mounting bracket, the hydraulic strut is controlled by a controller to realize the shrinkage and extension of the hydraulic strut, the buoy is mounted on the mounting bracket, and the lower end of the mounting bracket is in contact with the unmanned The ship body is connected, and the upper end is connected with the unmanned ship body through a hydraulic strut. The rise and fall of the mounting bracket is realized through the shrinkage and extension of the hydraulic strut, and then the rise and fall of the buoy is realized.

Further, it also includes driving the high-pressure nozzle to move forward and backward along the unmanned ship body. The displacement mechanism includes a hydraulic rod connected to the controller. The hydraulic rod is arranged in parallel with the buoy. The controller drives the high-pressure nozzle to move back and forth, so as to move back and forth along the body of the unmanned ship.

Further, it also includes a deflection mechanism that drives the deflection of the high-pressure spray head, and the deflection mechanism is driven by the drive mechanism to realize the rotation of the hydraulic rod, so as to realize the cleaning of the upper and lower parts of the hull.

Further, the deflection mechanism includes a high-pressure nozzle driving gear, and the driving mechanism includes a driving motor and a driving gear connected to the driving motor. The high-pressure nozzle driving gear is sleeved on the hydraulic rod. When the driving gear meshes with the high-pressure nozzle driving gear , the driving motor drives the driving gear to rotate, the driving gear drives the driving gear of the high-pressure nozzle to rotate, and then drives the hydraulic rod to rotate, thereby driving the high-pressure nozzle to rotate.

Further, a buoy turning device is also included, and the buoy turning device is driven by the driving mechanism to realize the self-rotation of the buoy.

Further, the buoy turning device includes a buoy driving gear and a buoy bearing seat, the driving mechanism includes a driving motor and a driving gear connected to the driving motor, the buoy is installed on the buoy bearing seat through a rotating shaft, and the buoy driving gear is installed on the rotating shaft , when the driving gear meshes with the buoy drive gear, the drive motor drives the buoy to rotate together.

Further, the water inlet device includes a water pump, a water quality filter, a booster pump, and a heater connected in sequence, the water quality filter is used to filter the water drawn by the water pump, and the booster pump is used to filter the filtered clean water Secondary pressurization is carried out, and the heater is used to heat the water body to effectively clean the oil stains on the hull.

Further, the water inlet device also includes a three-way valve and a water storage chamber, the outlet of the water pump is connected to the water inlet of the three-way valve, and the two water outlets of the three-way valve are respectively connected to the water storage chamber and the water quality filter, The three-way valve is controlled by the controller to realize the communication between the water pump, the water storage chamber and the water quality filter.

A self-cleaning unmanned ship self-cleaning method, which utilizes the above-mentioned self-cleaning unmanned ship, comprising the following steps:

Step 1. According to the route preset in the controller of the unmanned ship, the unmanned ship sails to the sampling point, controls the pump and the three-way valve to start water collection, and the collected water samples enter the water storage chamber;

Step 2: After completing the water harvesting operation in the polluted water area and leaving the polluted water area, start the cleaning mode, the controller sends a control signal to the water pump and the three-way valve, the water pump starts to pump water, and the water is introduced into the water through the three-way valve Go to the water quality filter for filtration, and after the filtration is completed, enter the booster pump;

Step 3, the controller sends a control signal to the booster pump, and the booster pump starts to work to pressurize the filtered clean water twice, and enter the heater after the pressurization is completed;

Step 4, the controller sends a control signal to the heater, and the heater starts to work to heat the cleaning water. After the heating is completed, it enters the high-pressure nozzle, and the high-pressure nozzle ejects to clean the unmanned ship and the buoy;

Step 5, the controller sends a control signal to the hydraulic strut, the hydraulic strut is extended, and the control mounting bracket and the buoy begin to descend. When the buoy drops below the water level, the unmanned ship body begins to leave the water due to buoyancy. When out of the water, the unmanned boat can be fully cleaned;

Step 6. After the cleaning of the unmanned ship is completed, the controller sends a control signal to the control hydraulic strut, the hydraulic strut shrinks, and the control installation bracket and the buoy begin to rise. When the buoy rises above the water surface, the hull of the unmanned ship falls again. When entering the water, control the high-pressure nozzle to clean the buoy at this time;

Step 7. After all cleaning is completed, the controller controls the unmanned ship to sail to the next sampling point, and returns to step 1 until the water sample collection of all sampling points is completed.

Further, during the cleaning process of the buoy in step six, the controller controls the buoy turning device to rotate itself, so as to thoroughly clean the buoy.

Compared with the prior art, the present invention has the following characteristics:

1. Considering the cost of design, production and installation, the present invention adopts an open-loop control method for the entire cleaning process, and only needs to preset the start time, duration and motor speed of each cleaning link before cleaning, without additional arrangements Sensors reduce the cost of automatic cleaning devices and make them easy to use and highly reliable.

2. The invention considers the inconvenience of cleaning the hull of the unmanned ship, and creatively adds buoys on both sides of the unmanned ship. By controlling the lifting of the buoys, the unmanned ship can be lifted out of the water. After the unmanned ship is completely out of the water, it can The hull of the unmanned ship is thoroughly cleaned.

3. The present invention considers the cleaning of the buoy, and the buoy can be driven to rotate 360° by the flipping structure of the buoy, and the same set of automatic cleaning device can also be used to clean the buoy.

4. The present invention considers the problem that it is difficult to completely remove pollutants after contaminating the hull, and a heater is connected in series in the automatic cleaning device to heat the high-pressure water to improve the cleaning ability.

5. In order to simplify the structure of the present invention, the driving motor is not fixed on the mounting bracket, but can slide in the motor chute to realize different meshing modes, and can drive the buoy or high-pressure nozzle to rotate respectively, which saves cost and is easy to install.

Description of drawings

Fig. 1 is a schematic structural view of one embodiment of the self-cleaning unmanned ship of the present invention;

Fig. 2 is the structural representation of water inlet device among the present invention;

Fig. 3 is the schematic diagram of automatic cleaning device among the present invention;

Fig. 4 is the structural representation of gear transmission among the present invention;

Fig. 5 is the schematic diagram of buoy lifting in the present invention;

Fig. 6 is the schematic diagram that buoy is put down among the present invention;

Fig. 7 is a working principle diagram of the automatic cleaning of the self-cleaning unmanned ship in the present invention.

In the figure: 1—water pump, 2—water storage chamber, 3—three-way valve, 4—water quality filter, 5—boosting pump, 6—heater, 7—hydraulic support rod, 8—installation bracket, 9— Float, 10—float drive gear, 11—pontoon bearing seat, 12—drive motor chute, 13—drive motor, 14—high pressure nozzle drive gear, 15—driving gear, 16—high pressure nozzle, 17—hydraulic rod, 100— Unmanned ship body, 200—water inlet device, 300—automatic cleaning device.

Detailed ways

The technical solutions in the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the present invention.

Please refer to FIG. 1 , an embodiment of the present invention provides a self-cleaning unmanned ship, including an unmanned ship body 100 , a controller, a water inlet device 200 and an automatic cleaning device 300 provided on the unmanned ship body 100 .

Please refer to Fig. 2 in conjunction with, described water inlet device comprises water pump 1, water storage room 2, three-way valve 3, water quality filter 4, pressurizing pump 5, heater 6 (for example PTC heater), water pump 1 from Its water inlet pumps water samples into the water storage chamber 2 to realize the water collection function, and its water outlet is connected with the water inlet of the three-way valve 3 with a water pipe, and the two water outlets of the three-way valve 3 are respectively connected to the water storage chamber 2 and the water quality The filter 4 is connected with a water pipe. When the unmanned ship needs to collect water samples, the waterway connecting the three-way valve 3 and the water storage chamber 2 is connected, and the water is drawn directly into the water storage chamber 2 for water sample collection. When the unmanned ship needs to be cleaned, the waterway connecting the three-way valve 3 and the water quality filter 4 is connected, and the water body is drawn into the water quality filter 4 to filter impurities in the water and prepare for subsequent heating and spray washing. The inside of the water quality filter 4 is mainly cotton net and activated carbon, and the water quality filter 4 is connected in series in the system to prevent impurities in the water body from blocking the high-pressure cleaning nozzle 16.

After the water body is filtered through the water quality filter 4, the water outlet of the water quality filter 4 is connected with the water inlet of the booster pump 5 with a water pipe, and the water body is introduced into the booster pump 5, and the water quality filter 4 has produced a large pressure on the inlet water. It can no longer meet the pressure requirements of high-pressure cleaning, and the filtered cleaning water is pressurized twice through the booster pump 5 to increase the water flow pressure and prepare for subsequent high-pressure cleaning.

After the water body is pressurized by the booster pump 5, the water outlet of the booster pump 5 is connected with the water inlet of the heater 6, and the water body is introduced into the heater 6, and the water body is heated by the heater 6, and the water temperature after heating can be Reaching above 80°C can greatly improve the cleaning ability, maximize the cleaning of residual pollutants, and avoid affecting the accuracy of water collection.

Please refer to Fig. 3 and Fig. 4 together, the automatic cleaning device 300 includes buoys 9 arranged on both sides of the unmanned ship body 100, a high-pressure nozzle 16 located near the buoy 9, and a buoy lifting device connected to the buoy 9, The controller is used to control the buoy lifting device to lower the buoy 9 so that the unmanned ship is lifted off the water surface, or raise the buoy 9 to make the unmanned ship float on the water surface, and is also used to control the high-pressure nozzle 16 on the unmanned ship body 100 and the buoy. 9 for cleaning.

The buoy lifting device includes a hydraulic strut 7 and a mounting bracket 8, and the hydraulic strut 7 is controlled by a controller to realize shrinkage and extension of the hydraulic strut 7. The buoy 9 is installed on the mounting bracket 8, the mounting bracket 8 is an L-shaped bracket structure, and has 4 support points with the unmanned ship body 100, the two support points below are hinged with the unmanned ship body 100, and the upper The two support points are connected with the unmanned ship body 100 through the hydraulic strut 7, and the installation bracket 8 can be raised and lowered by shrinking and extending the hydraulic strut 7.

In another embodiment, there is also a displacement mechanism that drives the high-pressure nozzle 16 to move back and forth along the unmanned ship body 100, the displacement mechanism includes a hydraulic rod 17 connected to the controller, and the hydraulic rod 17 is arranged in parallel with the buoy 9, The high-pressure nozzle 16 is set on the hydraulic rod 17, and the hydraulic rod 17 can drive the high-pressure nozzle 16 to move back and forth, so as to move forward and backward along the unmanned ship body 100, so as to clean the front and rear of the hull.

In another embodiment, a deflection mechanism for driving the high-pressure nozzle 16 to deflect is also provided, and the deflection mechanism is driven by the drive mechanism to realize the rotation of the hydraulic rod 17 to realize the cleaning of the upper and lower parts of the hull. The deflection mechanism includes a high-pressure nozzle driving gear 14, the driving mechanism includes a driving motor 13, and a driving gear 15 connected to the driving motor 13. The high-pressure nozzle driving gear 14 is sleeved on the hydraulic rod 17. When the driving gear 15 and the high-pressure nozzle When the driving gear 14 is engaged, the driving motor 13 drives the driving gear 15 to rotate, and the driving gear 15 drives the high-pressure nozzle driving gear 14 to rotate, and then drives the hydraulic rod 17 to rotate, thereby driving the high-pressure nozzle 16 to rotate.

In another embodiment, a buoy turning device is also provided, and the buoy turning device is driven by the driving mechanism (the driving motor 13 and the driving gear 15 ) to realize the autorotation of the buoy 9 around its axis. As shown in FIG. 3 , the buoy turning device includes a buoy driving gear 10 and a buoy bearing seat 11 , the buoy 9 is mounted on the buoy bearing seat 11 through a rotating shaft, and the buoy driving gear 10 is installed on the rotating shaft. When the driving gear 15 meshes with the buoy drive gear 10, the drive motor 13 can drive the buoy 9 to rotate together, and the buoy 9 can rotate 360° around its own axis.

In another embodiment, a motor moving device is also provided, which is used to control the drive motor 13 to move back and forth between the deflection mechanism for driving the high-pressure spray head 16 and the float turning device, so that the driving gear 15 is connected with the high-pressure spray head drive gear 14 and the buoy turning device respectively. The float drive gear 10 is engaged. As shown in Figure 4, described motor moving device is drive motor chute 12, and drive motor 13 is inserted in drive motor chute 12, and drive motor 13 can slide in drive motor chute 12, when sliding to the upper and lower ends, The drive gear 15 sleeved on the drive motor 13 can mesh with the buoy drive gear 10 and the high pressure nozzle drive gear 14 respectively. When the driving gear 15 meshes with the buoy drive gear 10, the driving motor 13 can drive the buoy 9 to rotate together, and when the driving gear 15 meshes with the high pressure nozzle driving gear 14, the driving motor 13 can drive the hydraulic rod 17 to rotate together.

After the water body is heated by the heater 6 , the water outlet of the heater 6 is connected to the high-pressure shower head 16 with a water pipe, and the water body is introduced into the high-pressure shower head 16 .

The working principle of the present invention is as follows (please refer to Fig. 7):

When starting to work, the controller controls the hydraulic strut 7 to shrink, the buoy 9 is lifted, and the unmanned ship is in contact with the water surface. At this time, the unmanned ship is in the sailing mode, as shown in Figure 5. According to the route preset in the controller of the unmanned ship, the unmanned ship will sail to the sampling point. After the controller receives the signal that the controller of the unmanned ship reaches the sampling point, the controller sends a working signal to the pump 1 to control the pumping. The water pump 1 starts to work, and pumps the water body into the three-way valve 3 through the water pipe. The controller controls the three-way valve 3 to open the valve leading to the water storage chamber 2, collects water samples into the water storage chamber 2, and completes the water collection process. After the unmanned ship arrives at the next preset sampling point, the water sample collection of the next sampling point is carried out until the water sample collection work of all sampling points in the area is completed.

If the unmanned ship passes through the polluted area during the water harvesting process and causes pollution to the hull, an automatic cleaning device is required to clean the unmanned ship. At this time, the controller controls the extension of the hydraulic strut 7, and the buoy 9 is put down. When the buoy falls to the lowest position, the buoys 9 on both sides of the unmanned ship enter the water, and the unmanned ship is lifted from the water surface under the action of buoyancy. When the unmanned ship is in the cleaning mode, refer to Figure 6. The controller controls the water pump 1 to start working, pumps the water body into the three-way valve 3 through the water pipe, the controller controls the three-way valve 3 to open the valve leading to the water quality filter 4, and guides the water body into the water quality filter 4 for impurity filtration, The filtered water quality meets the requirements for subsequent heating and high-pressure injection. Since the water pressure drops after passing through the water quality filter 4, it is not enough to meet the requirements of high-pressure flushing, so after the water body passes through the water quality filter 4, it enters the booster pump 5 through the water pipe, and the controller controls the booster pump 5 to start working. Carry out secondary pressurization, and the water sample after secondary pressurization meets the pressure requirements of high-pressure flushing. The pressurized water enters the heater 6 through the water pipe, and the controller controls the heater to start working to heat the water. The heated water has higher cleaning efficiency and better cleaning effect on pollutants. The heated water enters the high-pressure nozzle 16 through the water pipe, and is sprayed out through the high-pressure nozzle 16 to clean the unmanned ship and the buoy.

The high-pressure nozzle 16 is installed on the hydraulic rod 17, and the controller controls the hydraulic rod 17 to start working, driving the high-pressure nozzle 16 to move back and forth along the driving direction of the unmanned ship. meshing, the controller controls the driving motor 13 to start rotating, driving the driving gear 15 to rotate, and the driving gear 15 drives the high-pressure nozzle driving gear 14 to rotate, and then drives the high-pressure nozzle 16 to rotate.

During the process of cleaning the unmanned boat, the unmanned boat is lifted out of the water, and the high-pressure nozzle 16 is driven by the driving motor 13 to point to the unmanned boat. At this time, the high-pressure nozzle 16 starts to clean the unmanned boat, and moves from the boat to the The head moves to the stern, and after completing two cycles back and forth, an unmanned boat cleaning is completed. When the automatic cleaning device cleans the buoy 9, the unmanned ship floats on the water surface, the buoy 9 is lifted away from the water surface, and the high-pressure nozzle 16 is driven by the drive motor 13 to point to the buoy 9. At this time, the high-pressure nozzle 16 starts to clean the buoy 9. Driving gear 10 meshes with driving gear 15, controller controls driving motor 13 and starts to rotate, drives driving gear 15 to rotate, and driving gear 15 drives buoyancy drum driving gear 10 to rotate simultaneously, and then buoyant drum 9 rotates. After the buoy rotated 360 °, the high-pressure nozzle 16 moved from the bow to the stern according to the preset moving speed, and the high-pressure nozzle 16 completed the cleaning of the buoy 9 after completing two cycles back and forth.

The present invention can be divided into two working modes, one working mode is the water sampling mode, at this time the device is mainly responsible for extracting water samples from the water sampling point, and the other working mode is the cleaning mode, at this time the device is mainly responsible for cleaning the contaminated water on the hull pollutants. The adjustment of the working mode mainly relies on the controller to control the position of the three-way valve 3 to control the direction of the waterway. At the same time, it controls the automatic cleaning device 300, the buoy lifting device and the buoy turning device to perform linkage work to achieve the purpose of automatic water collection and automatic cleaning. When the buoy 9 leaves the water surface, the unmanned ship falls into the water and mainly performs navigation, water collection and buoy cleaning tasks. When the buoy 9 falls into the water, the unmanned ship leaves the water surface and mainly performs hull cleaning tasks.

Claims (11)

1. A self-cleaning unmanned ship, characterized in that: comprise an unmanned ship body, a controller, a water inlet device and an automatic cleaning device located on the unmanned ship body, and the automatic cleaning device includes a self-cleaning device located on the unmanned ship body The buoys on both sides, the high-pressure nozzles located near the buoys, and the buoy lifting device connected to the buoys, the water inlet device is used to pump water from the water body where the unmanned ship body is located to the high-pressure nozzles of the automatic cleaning device, the The controller is used to control the buoy lifting device to lower the buoy to lift the unmanned ship out of the water, or raise the buoy to make the unmanned ship float on the water, and also to control the high-pressure nozzle to clean the unmanned ship body and buoy. 2. The self-cleaning unmanned ship according to claim 1, characterized in that: the buoy lifting device comprises a hydraulic strut and a mounting bracket, and the hydraulic strut is controlled by a controller to realize shrinkage and elongation of the hydraulic strut, so The buoy is installed on the installation bracket, the lower end of the installation bracket is connected with the unmanned ship body, and the upper end is connected with the unmanned ship body through the hydraulic strut. The rise and fall of the buoy. 3. The self-cleaning unmanned ship according to claim 1, characterized in that: it also includes a displacement mechanism that drives the high-pressure nozzle to move back and forth along the unmanned ship body, the displacement mechanism includes a hydraulic rod connected to the controller, and the hydraulic rod Set parallel to the buoy, the high-pressure nozzle is set on the hydraulic rod, and the hydraulic rod is driven by the controller to move the high-pressure nozzle forward and backward, so as to realize the forward and backward movement along the unmanned ship body. 4. The self-cleaning unmanned ship according to claim 1, characterized in that: it also includes a deflection mechanism that drives the deflection of the high-pressure nozzle, and the deflection mechanism is driven by the drive mechanism to realize the rotation of the hydraulic rod to realize the upper and lower parts of the hull. cleaning. 5. The self-cleaning unmanned ship as claimed in claim 4, characterized in that: the deflection mechanism includes a high-pressure nozzle driving gear, the driving mechanism includes a driving motor, a driving gear connected with the driving motor, and the high-pressure nozzle driving gear sleeve Connected to the hydraulic rod, when the driving gear meshes with the driving gear of the high-pressure nozzle, the driving motor drives the driving gear to rotate, and the driving gear drives the driving gear of the high-pressure nozzle to rotate, which in turn drives the hydraulic rod to rotate, thereby driving the high-pressure nozzle to rotate. 6 . The self-cleaning unmanned ship according to claim 1 , further comprising a buoy turning device, the buoy turning device is driven by a driving mechanism to realize the rotation of the buoy. 7. The self-cleaning unmanned ship according to claim 6, characterized in that: the buoy turning device comprises a buoy driving gear and a buoy bearing seat, the driving mechanism includes a driving motor, a driving gear connected with the driving motor, and the buoy The rotating shaft is installed on the bearing seat of the buoy, and the driving gear of the buoy is installed on the rotating shaft. When the driving gear meshes with the driving gear of the buoy, the driving motor drives the buoy to rotate together. 8. The self-cleaning unmanned ship according to claim 1, characterized in that: the water inlet device includes a water pump, a water quality filter, a pressurized pump, and a heater connected in sequence, and the water quality filter is used to extract the water from the water pump The water is filtered, the booster pump is used to pressurize the filtered clean water twice, and the heater is used to heat the water body to effectively clean the oil stains on the hull. 9. The self-cleaning unmanned ship according to claim 8, characterized in that: the water inlet device also includes a three-way valve and a water storage chamber, the outlet of the water pump is connected to the water inlet of the three-way valve, and the three-way valve The two water outlets are respectively connected to the water storage chamber and the water quality filter, and the three-way valve is controlled by the controller to realize the communication between the water pump, the water storage chamber and the water quality filter. 10. A self-cleaning unmanned ship self-cleaning method, characterized in that the self-cleaning unmanned ship according to any one of claims 1-9 is used to carry out, comprising the steps of: Step 1. According to the route preset in the controller of the unmanned ship, the unmanned ship sails to the sampling point, controls the pump and the three-way valve to start water collection, and the collected water samples enter the water storage chamber; Step 2: After completing the water harvesting operation in the polluted water area and leaving the polluted water area, start the cleaning mode, the controller sends a control signal to the water pump and the three-way valve, the water pump starts to pump water, and the water is introduced into the water through the three-way valve Go to the water quality filter for filtration, and after the filtration is completed, enter the booster pump; Step 3, the controller sends a control signal to the booster pump, and the booster pump starts to work to pressurize the filtered clean water twice, and enter the heater after the pressurization is completed; Step 4, the controller sends a control signal to the heater, and the heater starts to work to heat the cleaning water. After the heating is completed, it enters the high-pressure nozzle, and the high-pressure nozzle ejects to clean the unmanned ship and the buoy; Step 5, the controller sends a control signal to the hydraulic strut, the hydraulic strut is extended, and the control mounting bracket and the buoy begin to descend. When the buoy drops below the water level, the unmanned ship body begins to leave the water due to buoyancy. When out of the water, the unmanned boat can be fully cleaned; Step 6. After the cleaning of the unmanned ship is completed, the controller sends a control signal to the control hydraulic strut, the hydraulic strut shrinks, and the control installation bracket and the buoy begin to rise. When the buoy rises above the water surface, the hull of the unmanned ship falls again. When entering the water, control the high-pressure nozzle to clean the buoy at this time; Step 7. After all cleaning is completed, the controller controls the unmanned ship to sail to the next sampling point, and returns to step 1 until the water sample collection of all sampling points is completed. 11. A method as claimed in claim 10, characterized in that: in step 6, during the process of cleaning the buoy, the controller controls the buoy turning device to rotate itself, so as to thoroughly clean the buoy.