A multi-functional split-type marine debris handling vessel

Abstract

This invention relates to a multi-functional, split-type marine waste treatment vessel, comprising: a main vessel for deploying auxiliary vessels and transporting waste; at least one auxiliary vessel for collecting soft waste; and at least one auxiliary vessel for collecting hard waste. The main vessel has multiple auxiliary vessel placement compartments (8) and multiple waste storage modules for storing different types of waste. The auxiliary vessels, each with different functions, are installed in their respective compartments on the main vessel. The auxiliary vessels are deployed via a multi-link docking module, which assists them in completing the waste dumping process. This treatment vessel integrates multiple functions, including waste sorting, waste collection, and waste transportation by land and water. To a certain extent, it avoids the location and environmental limitations of traditional surface plastic waste collection equipment, and solves problems such as low waste collection volume, low efficiency, and difficulty in sorting.

Description

Technical Field

[0001] This invention discloses a multifunctional split-type marine treatment vessel, which relates to facilities for the collection, transportation, and sorting of plastic waste in rivers and oceans. Background Technology

[0002] Currently, efforts to collect and clean up marine debris remain inefficient, unsystematic, and incomplete. For example, the SeaClear project, in which the Technical University of Munich participated in 2021, showcased a robotic system capable of autonomously collecting underwater debris. While this system solved the problem of autonomous marine debris collection, it still suffered from drawbacks such as small collection capacity, poor stability of the sorting system, high energy consumption, low efficiency, and inability to operate for extended periods.

[0003] The existing collection devices require dumping the waste at the shore after the collection bins are full, which wastes a lot of unnecessary manpower and resources and may also cause problems such as stranding. In addition, since the existing waste collection equipment collects soft and hard plastic waste together, it will increase the cost of subsequent waste treatment and reduce the recycling rate of plastics. Summary of the Invention

[0004] In view of the urgent need to address marine plastic pollution and the limitations of existing equipment, the technical problem to be solved by this invention is to provide a multi-functional, split-type marine waste treatment vessel. This vessel is equipped with multiple functions such as waste sorting, waste collection, and waste transportation by land and water. To a certain extent, it avoids the location and environmental limitations of traditional surface plastic waste collection equipment and solves problems such as small waste collection volume, low efficiency, and difficulty in sorting.

[0005] The technical solution adopted by the present invention to solve the aforementioned technical problem is as follows:

[0006] A multi-functional, modular marine waste disposal vessel, characterized in that it comprises:

[0007] The main ship used for dropping off auxiliary vessels and transporting garbage;

[0008] At least one auxiliary vessel for collecting soft waste;

[0009] At least one secondary vessel for collecting hard waste.

[0010] The main vessel is equipped with multiple auxiliary vessel storage compartments (8) and multiple waste storage modules for storing different types of waste.

[0011] The two types of auxiliary vessels are installed in the corresponding auxiliary vessel placement compartments on the main vessel. The auxiliary vessels are deployed through a multi-link docking module and assist the auxiliary vessels in completing the waste dumping work.

[0012] The sides of the auxiliary ship are all made of iron. The multi-link docking module (5) is fixed on the hull (1) of the main ship, one on each side behind the cockpit (6) of the main ship. The multi-link docking module includes a lead screw stepper motor (18), a crank stepper motor (19), a guide rail (20), a lead screw (21), a slider guide groove (22), an electromagnetic rod (23), an electromagnet (24), a crank (25), an upper rocker arm (26), a lower rocker arm (27), and an auxiliary rod (28). The slider guide groove is provided with a through hole along the length direction for the lead screw to pass through. The outer side of the slider guide groove is provided with a guide groove along the length direction. During installation, the lead screw passes through the through hole of the slider guide groove. The guide groove faces the inside of the main ship. The upper and lower surfaces of the slider guide groove are in direct contact with the guide rail. The slider guide groove moves back and forth in the guide rail.

[0013] One end of the lower rocker arm is slidably connected to the guide groove of the slider guide groove via a small slider, allowing the lower rocker arm to move back and forth within the guide groove. The lead screw stepper motor is connected to the lead screw, and the slider guide groove is fixed on the lead screw. The lead screw stepper motor drives the slider guide groove to move on the guide rail via the lead screw. The length of the guide rail is greater than the length of the hull located behind the cockpit. The output shaft of the crank stepper motor is connected to the crank, and the other end of the crank is connected to the middle of the lower rocker arm. The other end of the lower rocker arm is connected to the middle of the electromagnetic rod. An electromagnet is installed on the side of the electromagnetic rod facing the interior of the main ship. The upper end of the electromagnetic rod is hinged to one end of the upper rocker arm, and the other end of the upper rocker arm is hinged to the upper end of the auxiliary rod. The lower end of the auxiliary rod is connected to the end point of the lower rocker arm connected to the small slider. Under the combined action of the crank, upper rocker arm, lower rocker arm, and auxiliary rod, the electromagnetic rod is driven to move up and down.

[0014] The main vessel also includes a hull (1), an energy module (2), a hydro-land power module (4), a cockpit (6), and a control system (7);

[0015] The energy module (2) provides power to the entire main ship;

[0016] The waste storage module (3) is used to store marine plastic waste;

[0017] The amphibious propulsion module (4) is used for the main ship's water and land travel;

[0018] The cockpit (6) is used for manual control of the main ship's forward direction and power output;

[0019] The control system (7) is used to control the multi-link docking module to complete docking work including delivery, recycling and garbage dumping.

[0020] The waste sorting module (10) in the auxiliary vessel for collecting soft waste includes a pin roller (32), a roller DC motor (34), a bevel gear (35), a horizontal bearing support (36), and a plow-shaped scraper (37). Two pin rollers (32) are fixed in front of the collection basket (39). The plow-shaped scraper is welded to both sides in front of the collection basket along the height direction of the collection basket. Between the edge of the collection basket and the pin roller shaft, each blade of the plow-shaped scraper intersects with the pins of the pin roller. The upper and lower shaft ends of the pin roller are fixed by the horizontal bearing support. The output shaft of the roller DC motor is connected to a bevel gear. Another bevel gear is installed on the upper shaft of the pin roller. The two bevel gears mesh with each other to transmit the torque of the roller DC motor to the pin roller. The horizontal bearing support is placed on both sides of the pin roller to fix the pin roller.

[0021] When collecting soft plastic waste, the waste is moved into the collection basket (39) by rotation. The plow-shaped scraper (37) is located on the side where the needle roller rotates out, which can keep the soft plastic waste in the collection basket and prevent it from being carried out by the needle roller.

[0022] The waste sorting module (10) in the auxiliary vessel used for collecting hard waste includes a three-blade paddle, a roller DC motor (34), a bevel gear (35), a horizontal bearing support (36), and a plow-shaped scraper (37); two three-blade paddles are fixed in front of the collection basket (39) and are driven by the roller DC motor through the bevel gear.

[0023] Both types of auxiliary vessels include a GPS positioning and control module (9), a garbage collection module (11), a garbage ejection module (12), an energy and power module (13), and a troubleshooting module (14);

[0024] The GPS positioning control module (9) is used to determine the relative position of the main ship and the auxiliary ship, and to control the auxiliary ship to reach the working area and return to the docking position near the main ship.

[0025] The waste collection module (11) is used to automatically locate plastic waste and temporarily store the sorted waste that passes through the waste collection port in the auxiliary ship;

[0026] The energy and power module (13) is used to provide power for the operation and work of the auxiliary vessel;

[0027] The troubleshooting module (14) is used to remove obstacles, including aquatic plants, from the garbage sorting and collection work.

[0028] The garbage collection module (11) includes a camera (38), a collection basket (39) and an outer frame (40). The camera (38) is located in front of the auxiliary ship, the collection basket (39) is located in the middle of the auxiliary ship, and the outer frame (40) is above the collection basket.

[0029] The waste ejection module (12) includes a screw-slider device (41), a screw-slider motor (42), and a waste baffle (43). The screw-slider device (41) is located above the collection basket (39). The slider of the screw-slider device is connected and fixed to the upper part of the waste baffle 43. Initially, the waste baffle is located inside the rear side of the collection basket. When the waste needs to be ejected, the waste baffle moves forward. The screw-slider motor (42) drives the screw-slider device (41) to move back and forth to complete the waste ejection work. The ejected waste returns to the rear of the collection basket.

[0030] Two troubleshooting modules (14) are arranged symmetrically around the garbage ejection module. Each troubleshooting module includes a waterweed scraper DC motor (48) and a waterweed scraper device (49). The waterweed scraper DC motor (48) is installed on both sides of the screw slider motor (42) on the outer frame (40). The waterweed scraper device (49) includes a blade and a crank slider mechanism. The blade is located inside the collection basket (39). The blade is connected to the crank slider mechanism. The crank of the crank slider mechanism is connected to the waterweed scraper DC motor.

[0031] The blade is located on the outside of the plow-shaped scraper, and the needle roller is screwed into the collection basket. The DC motor of the aquatic weed scraper drives the crank to rotate, and the crank of the crank-slider mechanism drives the blade to cut vertically through the rocker of the crank-slider mechanism.

[0032] The amphibious propulsion module includes tracks (16) and propellers (17). Tracks (16) are installed on the lower sides of the hull (1) for driving on land, and propellers (17) are installed below the waterline at the rear of the hull (1) for driving in water. The two work together to complete the amphibious movement of the main ship.

[0033] The GPS positioning control module (9) includes a GPS module (30) and a Bluetooth module (31). The GPS module (30) collects the relative position of the auxiliary ship and the main ship, and sends it to the Bluetooth module (31) via a serial port. The auxiliary ship is driven to the working area and back to the docking position near the main ship by controlling the thruster (47).

[0034] The energy power module (13) includes pontoons (44), solar panels (45), batteries (46), and thrusters (47). The pontoons (44) are placed on both sides of the collection basket (39) to provide buoyancy for the auxiliary vessel; the solar panels (45) are placed above the outer frame (40); the batteries (46) store solar energy and power all the actions of the auxiliary vessel; the two thrusters (47) are fixed to the lower middle part of the two pontoons (44) respectively to provide power for the movement of the auxiliary vessel.

[0035] The lower limit position of the electromagnet's vertical movement is aligned with the middle position of the side iron plate of the auxiliary ship, and the upper limit position of the electromagnet's vertical movement is such that the lowest part of the auxiliary ship is higher than the auxiliary ship's storage compartment of the main ship, so that the auxiliary ship can freely enter and exit the main ship.

[0036] Compared with the prior art, the beneficial effects of the present invention are:

[0037] 1) The processing vessel of this invention can complete the classified collection of soft and hard plastic waste by replacing the waste collection ports of different structures on the auxiliary vessel, thereby avoiding the increased cost of subsequent cleaning and treatment caused by the mixed collection of waste in the prior art and improving the secondary utilization rate of plastics.

[0038] 2) The processing vessel of this invention is equipped with a microcontroller-based control system on both the main ship and the auxiliary ship, and a cockpit is set up on the main ship. Depending on the situation, the main ship and the auxiliary ship can be directly controlled manually. This manual + automatic control method can combine mechanical structure with automatic control, which greatly improves its environmental adaptability. It has a positive effect on the increasingly serious plastic waste pollution in the ocean, rivers and lakes in my country and the world. The multi-functional split marine waste processing vessel has important research significance and broad application prospects.

[0039] 3) The vessel of this invention can complete the integrated classification, collection and transportation of marine plastic waste. It can directly collect soft plastic waste and hard plastic waste in the ocean separately and transport them to land-based processing stations. Different follow-up treatments are carried out according to the characteristics of the two types of waste, which reduces the manpower and material resources consumed in the waste recycling process, improves the secondary utilization rate of plastics, and reduces the cost of green waste treatment.

[0040] 4) This invention has both the functions of plastic waste sorting and amphibious transportation. Attached Figure Description

[0041] Figure 1 This is a schematic diagram of the overall structure of the main ship in the multifunctional split-type marine waste treatment vessel of the present invention.

[0042] Figure 2 This is a schematic diagram of the aft view structure of the main ship in this invention;

[0043] Figure 3 This is a schematic diagram of the multi-link docking module in this invention;

[0044] Figure 4 This is a schematic diagram of the main view structure of the auxiliary ship in this invention;

[0045] Figure 5 This is a schematic diagram of the overall structure of the auxiliary vessel in this invention;

[0046] Figure 6This is a schematic diagram of the three-blade drainage paddle in the waste sorting module of this invention.

[0047] Figure 7 This is a three-dimensional structural diagram of the slider guide groove.

[0048] Figure 8 This is a partial view of the troubleshooting module.

[0049] In the diagram, 1 is the hull, 2 is the energy module, 3 is the waste storage module, 4 is the amphibious propulsion module, 5 is the multi-link docking module, 6 is the cockpit, 7 is the control system, 8 is the auxiliary ship's storage compartment, 9 is the GPS positioning and control module, 10 is the waste sorting module, 11 is the waste collection module, 12 is the waste ejection module, 13 is the energy and power module, 14 is the troubleshooting module, 15 is the waste bin, 16 is the track, 17 is the propeller, 18 is the lead screw stepper motor, 19 is the crank stepper motor, 20 is the guide rail, 21 is the lead screw, 22 is the slider guide groove, 23 is the electromagnetic rod, and 24 is the electromagnet. 25 Crank, 26 Upper rocker arm, 27 Lower rocker arm, 28 Auxiliary rod, 29 Compartment, 30 GPS module, 31 Bluetooth module, 32 Pin roller, 33 Three-blade drainage paddle, 34 Drum DC motor, 35 Bevel gear, 36 Horizontal bearing support, 37 Plow-shaped scraper, 38 Camera, 39 Collection basket, 40 External frame, 41 Screw slide mechanism, 42 Screw slider motor, 43 Garbage baffle, 44 Float, 45 Solar panel, 46 Battery, 47 Propeller, 48 Weed scraper DC motor, 49 Weed scraper device. Detailed Implementation

[0050] The present invention will be further explained below with reference to the accompanying drawings, but this is not intended to limit the scope of protection of this application.

[0051] A multi-functional, split-type marine debris processing vessel, characterized in that it can perform soft and hard plastic debris sorting, targeted collection, and water-land transportation of marine plastic debris through a combination of manual and automatic control, with the main vessel and multiple auxiliary vessels working in coordination; including:

[0052] The main ship used for dropping off auxiliary vessels and transporting garbage;

[0053] A secondary vessel used for collecting soft waste;

[0054] Secondary vessels used for collecting hard waste;

[0055] The two types of auxiliary vessels are installed in the corresponding auxiliary vessel placement compartments on the main vessel. The auxiliary vessels are deployed through a multi-link docking module and assist the auxiliary vessels in completing the waste dumping work.

[0056] The main vessel includes a hull (1), an energy module (2), a waste storage module (3), a hydro-land power module (4), a multi-link docking module (5), a cockpit (6), a control system (7), and a secondary vessel storage compartment (8).

[0057] The energy module (2) provides power to the entire main ship;

[0058] The waste storage module (3) is used to store marine plastic waste;

[0059] The amphibious propulsion module (4) is used for the main ship's waterway and landway travel and has amphibious transport function;

[0060] The multi-link docking module (5) is used for the deployment and recovery of the auxiliary vessel and to assist the auxiliary vessel in the garbage dumping operation;

[0061] The cockpit (6) is used for manual control of the main ship's forward direction and power output;

[0062] The control system (7) is used to control the multi-link docking module to complete docking operations such as deployment and retrieval.

[0063] The auxiliary vessel includes a GPS positioning control module (9), a waste sorting module (10), a waste collection module (11), a waste ejection module (12), an energy and power module (13), and a troubleshooting module (14);

[0064] The GPS positioning control module (9) is used to determine the relative position of the main ship and the auxiliary ship, and to control the auxiliary ship to reach the working area and return to the docking position near the main ship.

[0065] The waste sorting module (10) sorts and collects waste of different physical properties sequentially by replacing waste collection ports with different structures;

[0066] The waste collection module (11) is used to automatically locate plastic waste and temporarily store the sorted waste that passes through the waste collection port in the auxiliary ship;

[0067] The energy and power module (13) is used to provide power for the operation and work of the auxiliary vessel;

[0068] The troubleshooting module (14) is used to remove obstacles such as aquatic plants from hindering the garbage sorting and collection work.

[0069] The multi-link docking module (5) is fixed on the hull (1) of the main ship, with one on each side behind the cockpit (6) of the main ship. The multi-link docking module includes a lead screw stepper motor (18), a crank stepper motor (19), a guide rail (20), a lead screw (21), a slider guide groove (22), an electromagnetic rod (23), an electromagnet (24), a crank (25), an upper rocker arm (26), a lower rocker arm (27), and an auxiliary rod (28). The slider guide groove is provided with a through hole along the length direction for the lead screw to pass through. The outer side of the slider guide groove is provided with a guide groove along the length direction. During installation, the lead screw passes through the through hole of the slider guide groove. The guide groove faces the inside of the main ship. The upper and lower surfaces of the slider guide groove 22 are in direct contact with the guide rail 20. The slider guide groove moves back and forth in the guide rail. One end of the lower rocker 27 is slidably connected to the guide groove of the slider guide groove through a small slider. The lower rocker can move back and forth in the guide groove, causing the lower rocker to produce horizontal displacement. Then, through the crank slider mechanism, the electromagnetic rod produces longitudinal displacement.

[0070] The lead screw stepper motor 18 is connected to the lead screw 21, and the slider guide groove is fixed on the lead screw 21. The lead screw stepper motor can drive the slider guide groove 22 to move on the guide rail 20 through the lead screw. The length of the guide rail is greater than the length of the hull located behind the cockpit. The output shaft of the crank stepper motor 19 is connected to the crank 25. The other end of the crank 25 is connected to the middle of the lower rocker arm 27. The other end of the lower rocker arm 27 is connected to the middle of the electromagnetic rod 23. An electromagnet 24 is installed on the side of the electromagnetic rod 23 facing the interior of the main ship. The upper end of the electromagnetic rod 23 is hinged to one end of the upper rocker arm 26. The other end of the upper rocker arm 26 is hinged to the upper end of the auxiliary rod 28. The lower end of the auxiliary rod is connected to the end point of the lower rocker arm connected to the small slider. Under the combined action of the crank 25, the upper rocker arm, the lower rocker arm, and the auxiliary rod, the electromagnetic rod 23 is driven to move up and down.

[0071] The lower limit position of the electromagnet's vertical movement is aligned with the middle position of the side iron plate of the auxiliary ship, and the upper limit position of the electromagnet's vertical movement is such that the lowest part of the auxiliary ship is higher than the auxiliary ship's storage compartment, allowing the auxiliary ship to freely enter and exit the main ship without interference.

[0072] The garbage storage module (3) consists of four garbage bins (15) located behind the hull (1) of the main ship, which separate and store different types of garbage discharged from the auxiliary ship, and dump them after the main ship goes ashore.

[0073] The amphibious propulsion module includes tracks (16) and propellers (17). Tracks (16) are installed on the lower sides of the hull (1) for driving on land, and propellers (17) are installed below the waterline at the rear of the hull (1) for driving in water. The two work together to complete the amphibious movement of the main ship.

[0074] The auxiliary vessel storage compartment (8) is located behind the cockpit (6) and in front of the waste storage module (3). It has four compartments (29) for storing auxiliary vessels with different functions. The auxiliary vessels are deployed into the working water area in sequence by the multi-link docking module (5), and are put back into the auxiliary vessel storage compartment by the multi-link docking module (5) after the auxiliary vessels have completed their work.

[0075] The waste collection module (11) includes a camera (38), a collection basket (39), and an external frame (40). The camera (38) is located in front of the auxiliary vessel, the collection basket (39) is located in the middle of the auxiliary vessel, and the external frame (40) is above the collection basket. This waste collection module is the main part of the auxiliary vessel, which can provide direction for the movement of the auxiliary vessel and temporarily store the collected waste.

[0076] The GPS positioning control module (9) includes a GPS module (30) and a Bluetooth module (31). The GPS module (30) collects the relative position of the auxiliary ship and the main ship, and sends it to the Bluetooth module (31) via a serial port. The auxiliary ship is driven to the working area and back to the docking position near the main ship by controlling the thruster (47).

[0077] The waste sorting module (10) is divided into two types. One type is used to collect soft plastic waste (such as plastic bags) and includes a needle roller (32), a roller DC motor (34), a bevel gear (35), a horizontal bearing support (36), and a plow-shaped scraper (37). The plow-shaped scraper is welded to both sides of the front of the collection basket along the height direction, and between the edge of the collection basket and the shaft of the needle roller, each blade of the plow-shaped scraper intersects with the needles of the needle roller. The upper and lower shaft ends of the needle roller are fixed by the horizontal bearing support 36 respectively. The output shaft of the roller DC motor 34 is connected to a bevel gear, and another bevel gear is installed on the upper shaft of the needle roller. The two bevel gears mesh with each other to transmit the torque of the roller DC motor to the needle roller. The horizontal bearing support is placed on both sides of the needle roller to fix the needle roller. When collecting soft plastic waste, two pin rollers (32) are fixed in front of the collection basket (39). By rotating, they drive the waste into the collection basket (39). The plow-shaped scraper (37) is located on the side where the pin rollers rotate out, which can keep the soft plastic waste in the collection basket and prevent it from being carried out by the pin rollers.

[0078] Another type of device for collecting rigid plastic waste includes a three-blade drainage paddle (33), a roller DC motor (34), a bevel gear (35), a horizontal bearing support (36), and a plow-shaped scraper (37). The installation method of each component is the same as that of the waste sorting module for collecting soft plastic waste. Only the position of the needle roller is replaced by the three-blade drainage paddle, and it can operate normally for collection.

[0079] When collecting soft plastic waste, use a secondary boat equipped with a needle roller; when collecting hard plastic waste (such as plastic water bottles), use a secondary boat equipped with a three-blade paddle. If both types of waste are present, first deploy the secondary boat equipped with a needle roller to collect the soft waste in the area, then deploy the secondary boat equipped with a three-blade paddle to collect the hard waste in the area. The secondary boat equipped with a needle roller can collect soft plastic waste, as well as waste with a volume of less than 1 cubic centimeter.

[0080] The waste ejection module (12) includes a screw-slider device (41), a screw-slider motor (42), and a waste baffle (43). The screw-slider device (41) is located above the collection basket (39). The screw-slider motor (42) drives the screw-slider device (41) to move back and forth to complete the waste ejection operation. When the waste is ejected, the collection basket does not move. The slider of the screw-slider device is connected and fixed to the upper part of the waste baffle 43. Initially, the waste baffle is located inside the rear side of the collection basket. When the waste needs to be ejected, the waste baffle moves forward. The screw-slider motor drives the slider and then drives the waste baffle to move back and forth in the collection basket, ejecting the waste and returning it to the rear of the collection basket.

[0081] Two troubleshooting modules (14) (see) Figure 8 The system is symmetrically arranged around the waste ejection module 12. Each troubleshooting module includes a waterweed scraper DC motor (48) and a waterweed scraper device (49). The waterweed scraper DC motor (48) is mounted on both sides of the screw-slider motor (42) on the outer frame (40). The waterweed scraper device (49) includes a blade and a crank-slider mechanism. The blade is located inside the collection basket (39) and is connected to the crank-slider mechanism. The crank of the crank-slider mechanism is connected to the waterweed scraper DC motor. The waterweed scraper DC motor drives the crank to rotate, and the crank drives the blade to cut vertically through the rocker arm. The blade moves inside the collection basket, and its position is outside the plow-shaped scraper. The needle roller is screwed into the collection basket.

[0082] When foreign objects such as aquatic plants get tangled on the needle roller (32), the blades in the aquatic plant scraper device (49) can be moved up and down by the DC motor (48) of the aquatic plant scraper to remove the foreign objects and ensure that the garbage sorting and collection work is carried out normally. When the foreign objects get tangled on the needle roller and cause the needle roller to be unable to rotate normally, the needle roller stops rotating, and the blade part of the aquatic plant scraper device makes a vertical cutting motion from the top of the collection basket to the bottom of the collection basket to cut off the foreign objects stuck on the needles of the needle roller.

[0083] The aforementioned roller DC motor, lead screw slider motor, and aquatic plant scraper DC motor (48) are all fixed inside the outer frame 40.

[0084] The energy power module (13) includes a pontoon (44), a solar panel (45), a battery (46), and a thruster (47). The pontoon (44) is placed on both sides of the collection basket (39) to provide buoyancy for the auxiliary vessel. The solar panel (45) is placed above the outer frame (40) to absorb solar energy. The battery (46) stores solar energy and supplies power for all the actions of the auxiliary vessel. The two thrusters (47) are fixed to the lower middle part of the two pontoons (44) respectively to provide power for the movement of the auxiliary vessel.

[0085] The working process of a multi-functional split-type marine debris treatment vessel consists of five steps: the main ship releases the auxiliary ship in the designated working area; the auxiliary ship collects soft plastic waste; the auxiliary ship collects hard plastic waste; the main ship and the auxiliary ship dock and dump the two types of waste; and the main ship transports the waste from the water surface to land. The preferred specific working process is as follows:

[0086] The first step is for the main vessel to release the auxiliary vessel in the designated work area. Before entering the water, the main vessel obtains the location information of the area with more garbage, drives to the water surface via its tracks, and then drives the auxiliary vessel into the area with dense garbage via its propeller. After releasing the auxiliary vessel, the main vessel waits in place via the main vessel's multi-link docking module, ready to receive the garbage dumped by the auxiliary vessel.

[0087] The second step involves the auxiliary vessel collecting soft plastic waste. After being deployed to the work area in the ocean via the multi-link docking module of the main vessel, the auxiliary vessel first uses its waste collection module to locate the waste. Then, the power module propels the auxiliary vessel to move near the waste, with the collection opening of the collection basket facing the waste. Finally, the needle rollers of the waste sorting module are used to roll the soft plastic waste into the collection basket, and the propeller is used to move it to the next work position.

[0088] The third step involves the auxiliary vessel collecting rigid plastic waste. Once the waste collection module determines that all soft plastic waste in the area has been collected, the collection of rigid plastic waste can begin. The collection process is as follows: First, the auxiliary vessel's waste collection module locates the waste; then, the power module moves the auxiliary vessel to the vicinity of the waste, with the collection opening of the collection basket facing the waste; finally, the three-bladed water jets of the waste sorting module are used to roll the rigid plastic waste into the collection basket, and the propeller is used to move it to the next working position.

[0089] The fourth step involves the docking of the main ship and the auxiliary ship to dispose of the two types of waste. After the two auxiliary ships have collected the two types of waste in sequence, they return to the receiving point on the main ship via the GPS positioning control module of the auxiliary ship. Working in conjunction with the multi-link docking module of the main ship, they dispose of the waste, emptying the two types into two separate waste bins. After disposal, the main ship lowers the auxiliary ship into the water for further work. The specific docking process is as follows: When the main ship needs to deploy the auxiliary ship, the lead screw stepper motor is controlled to adjust the position of the slider guide groove to above the auxiliary ship stored in the auxiliary ship's placement compartment. The crank stepper motor is controlled to lower the electromagnet on the electromagnetic rod to the side of the auxiliary ship (the auxiliary ship has iron plates on both sides, providing sufficient suction to ensure proper docking after adsorption). The electromagnet is activated to attract the auxiliary ship onto the electromagnetic rod. Then, the crank stepper motor is activated to lift the auxiliary ship above the auxiliary ship's placement compartment. Finally, the lead screw stepper motor is activated to lift the auxiliary ship away from the main ship's hull. The crank stepper motor lowers the auxiliary vessel into the water, and the electromagnet shuts off. When the main vessel needs to retrieve the auxiliary vessel, the screw stepper motor is controlled to adjust the position of the slider guide groove above the waiting auxiliary vessel on the water surface. The crank stepper motor is then controlled to lower the electromagnet of the electromagnetic rod to the side of the auxiliary vessel. The electromagnet is activated to attract the auxiliary vessel to the electromagnet. The crank stepper motor is then activated to lift the auxiliary vessel to the water surface. The screw stepper motor is then activated to return the auxiliary vessel to the top of the auxiliary vessel storage compartment. The crank stepper motor is then controlled to lower the auxiliary vessel back into the auxiliary vessel storage compartment, and the electromagnet shuts off. When the main vessel needs to assist the auxiliary vessel in garbage dumping, the lead screw stepper motor is controlled to adjust the position of the slider guide groove above the waiting auxiliary vessel on the water surface. The crank stepper motor is then controlled to lower the electromagnet of the electromagnetic rod to the side of the auxiliary vessel. The electromagnet is activated to attract the auxiliary vessel onto the electromagnet. The crank stepper motor is then activated to lift the auxiliary vessel to the water surface. The lead screw stepper motor is then activated again to move the auxiliary vessel above the auxiliary vessel's placement compartment. After the auxiliary vessel pushes the garbage out of the collection basket, it is returned to the water to continue the operation.

[0090] The fifth step involves the main ship transporting the garbage from the water to land. Once the crew in the main ship's cockpit observes that the garbage bins can no longer receive the next load of garbage, the main ship sends a signal to the mate ship. The crew then steers the main ship across the sea to the land, dumps the garbage on the shore, and returns to continue the docking process described in the fourth step to receive the next load of garbage dumped by the mate ship.

[0091] In this application, "fore and aft," "left and right," etc., refer to relative positions, with the side where the main ship's bridge is located considered "fore" and the stern "aft." Any aspects not covered in this invention are applicable to existing technologies.

Claims

1. A multi-functional, split-type marine waste treatment vessel, characterized in that, This processing vessel, through manual and automated control, and by coordinating operations between the main vessel and multiple auxiliary vessels, completes the sorting, targeted collection, and water-land transportation of marine plastic waste, including: The main ship used for dropping off auxiliary vessels and transporting garbage; At least one auxiliary vessel for collecting soft waste; At least one auxiliary vessel for collecting hard waste; The main vessel is equipped with multiple auxiliary vessel storage compartments (8) and multiple waste storage modules for storing different types of waste. The two types of auxiliary vessels are installed in the corresponding auxiliary vessel placement compartments on the main vessel. The auxiliary vessels are deployed through a multi-link docking module and assist the auxiliary vessels in completing the garbage dumping work. The sides of the auxiliary ship are all made of iron. The multi-link docking module (5) is fixed on the hull (1) of the main ship, one on each side behind the cockpit (6) of the main ship. The multi-link docking module includes a lead screw stepper motor (18), a crank stepper motor (19), a guide rail (20), a lead screw (21), a slider guide groove (22), an electromagnetic rod (23), an electromagnet (24), a crank (25), an upper rocker arm (26), a lower rocker arm (27), and an auxiliary rod (28). The slider guide groove is provided with a through hole along the length direction for the lead screw to pass through. The outer side of the slider guide groove is provided with a guide groove along the length direction. During installation, the lead screw passes through the through hole of the slider guide groove. The guide groove faces the inside of the main ship. The upper and lower surfaces of the slider guide groove are in direct contact with the guide rail. The slider guide groove moves back and forth in the guide rail. One end of the lower rocker arm is slidably connected to the guide groove of the slider guide groove via a small slider. The lower rocker arm can move back and forth in the guide groove. The lead screw stepper motor is connected to the lead screw, and the slider guide groove is fixed on the lead screw. The lead screw stepper motor can drive the slider guide groove to move on the guide rail through the lead screw. The length of the guide rail is greater than the length of the hull located behind the cockpit. The output shaft of the crank stepper motor is connected to the crank, and the other end of the crank is connected to the middle of the lower rocker arm. The other end of the lower rocker arm is connected to the middle of the electromagnetic rod. An electromagnet is installed on the side of the electromagnetic rod facing the interior of the main ship. The upper end of the electromagnetic rod is hinged to one end of the upper rocker arm, and the other end of the upper rocker arm is hinged to the upper end of the auxiliary rod. The lower end of the auxiliary rod is connected to the end point of the lower rocker arm connected to the small slider. Under the combined action of the crank, the upper rocker arm, the lower rocker arm, and the auxiliary rod, the electromagnetic rod is driven to move up and down. The waste sorting module (10) in the auxiliary vessel used for collecting soft waste includes a pin roller (32), a roller DC motor (34), a bevel gear (35), a horizontal bearing support (36), and a plow-shaped scraper (37). Two pin rollers (32) are fixed in front of the collection basket (39). The plow-shaped scraper is welded to both sides in front of the collection basket along the height direction of the collection basket. Between the edge of the collection basket and the pin roller shaft, each blade of the plow-shaped scraper intersects with the pins of the pin roller. The upper and lower shaft ends of the pin roller are fixed by the horizontal bearing support. The output shaft of the roller DC motor is connected to a bevel gear. Another bevel gear is installed on the upper shaft of the pin roller. The two bevel gears mesh with each other to transmit the torque of the roller DC motor to the pin roller. The horizontal bearing support is placed on both sides of the pin roller to fix the pin roller. When collecting soft plastic waste, the waste is moved into the collection basket (39) by rotation. The plow-shaped scraper (37) is located on the side where the needle roller rotates out, which can keep the soft plastic waste in the collection basket and prevent it from being carried out by the needle roller. The lower limit position of the electromagnet's vertical movement is aligned with the middle position of the side iron plate of the auxiliary ship, and the upper limit position of the electromagnet's vertical movement is such that the lowest part of the auxiliary ship is higher than the auxiliary ship's storage compartment of the main ship, so that the auxiliary ship can freely enter and exit the main ship.

2. The multi-functional split-type marine waste treatment vessel according to claim 1, characterized in that, The main vessel also includes a hull (1), an energy module (2), a hydro-land power module (4), a cockpit (6), and a control system (7); The energy module (2) provides power to the entire main ship; The waste storage module (3) is used to store marine plastic waste; The amphibious propulsion module (4) is used for the main ship's water and land travel; The cockpit (6) is used for manual control of the main ship's forward direction and power output; The control system (7) is used to control the multi-link docking module to complete docking work including delivery, recycling and garbage dumping.

3. The multi-functional split-type marine waste treatment vessel according to claim 2, characterized in that, The waste sorting module (10) in the auxiliary vessel used for collecting hard waste includes a three-blade paddle, a roller DC motor (34), a bevel gear (35), a horizontal bearing support (36), and a plow-shaped scraper (37); two three-blade paddles are fixed in front of the collection basket (39) and are driven by the roller DC motor through the bevel gear.

4. The multi-functional split-type marine waste treatment vessel according to claim 3, characterized in that, Both types of auxiliary vessels include a GPS positioning and control module (9), a garbage collection module (11), a garbage ejection module (12), an energy and power module (13), and a troubleshooting module (14); The GPS positioning control module (9) is used to determine the relative position of the main ship and the auxiliary ship, and to control the auxiliary ship to reach the working area and return to the docking position near the main ship. The waste collection module (11) is used to automatically locate plastic waste and temporarily store the sorted waste that passes through the waste collection port in the auxiliary ship; The energy and power module (13) is used to provide power for the operation and work of the auxiliary vessel; The troubleshooting module (14) is used to remove obstacles, including aquatic plants, from the garbage sorting and collection work.

5. The multi-functional split-type marine waste treatment vessel according to claim 4, characterized in that, The garbage collection module (11) includes a camera (38), a collection basket (39) and an outer frame (40). The camera (38) is located in front of the auxiliary ship, the collection basket (39) is located in the middle of the auxiliary ship, and the outer frame (40) is above the collection basket. The waste ejection module (12) includes a screw-slider device (41), a screw-slider motor (42), and a waste baffle (43). The screw-slider device (41) is located above the collection basket (39). The slider of the screw-slider device is connected and fixed to the upper part of the waste baffle. Initially, the waste baffle is located inside the rear side of the collection basket. When the waste needs to be ejected, the waste baffle moves forward. The screw-slider motor (42) drives the screw-slider device (41) to move back and forth to complete the waste ejection work. The ejected waste returns to the rear of the collection basket. Two troubleshooting modules (14) are arranged symmetrically around the garbage ejection module. Each troubleshooting module includes a waterweed scraper DC motor (48) and a waterweed scraper device (49). The waterweed scraper DC motor (48) is installed on both sides of the screw slider motor (42) on the outer frame (40). The waterweed scraper device (49) includes a blade and a crank slider mechanism. The blade is located inside the collection basket (39). The blade is connected to the crank slider mechanism. The crank of the crank slider mechanism is connected to the waterweed scraper DC motor. The blade is located on the outside of the plow-shaped scraper, and the needle roller is screwed into the collection basket. The DC motor of the aquatic weed scraper drives the crank to rotate, and the crank of the crank-slider mechanism drives the blade to cut vertically through the rocker of the crank-slider mechanism. The amphibious propulsion module includes tracks (16) and propellers (17). Tracks (16) are installed on the lower sides of the hull (1) for driving on land, and propellers (17) are installed below the waterline at the rear of the hull (1) for driving in water. The two work together to complete the amphibious movement of the main ship. The GPS positioning control module (9) includes a GPS module (30) and a Bluetooth module (31). The GPS module (30) collects the relative position of the auxiliary ship and the main ship, and sends it to the Bluetooth module (31) via a serial port. The auxiliary ship is driven to the working area and back to the docking position near the main ship by controlling the thruster (47). The energy power module (13) includes pontoons (44), solar panels (45), batteries (46), and thrusters (47). The pontoons (44) are placed on both sides of the collection basket (39) to provide buoyancy for the auxiliary vessel; the solar panels (45) are placed above the outer frame (40); the batteries (46) store solar energy and power all the actions of the auxiliary vessel; the two thrusters (47) are fixed to the lower middle part of the two pontoons (44) respectively to provide power for the movement of the auxiliary vessel.

6. The multi-functional split-type marine waste treatment vessel according to claim 5, characterized in that, The operation of the multi-functional split-type marine debris treatment vessel consists of five steps: the main ship releases the auxiliary ship in the designated work area; the auxiliary ship collects soft plastic waste; the auxiliary ship collects hard plastic waste; the main ship and auxiliary ship dock and dump the two types of waste; and the main ship transports the waste from the water to land. The specific operation process is as follows: The first step is for the main vessel to release the auxiliary vessel in the designated work area: Before entering the water, the main vessel obtains the location information of the area with more garbage, drives to the water surface by track drive, and then drives the auxiliary vessel into the garbage-dense area by propeller drive. After releasing the auxiliary vessel, the main vessel waits in place through the multi-link docking module of the main vessel, ready to receive the garbage dumped by the auxiliary vessel. The second step involves the auxiliary vessel collecting soft plastic waste: After the auxiliary vessel is deployed to the work area in the ocean via the multi-link docking module of the main vessel, it first uses the waste collection module of the auxiliary vessel to locate the waste; then, the power module is used to move the auxiliary vessel to the vicinity of the waste, and the collection opening of the collection basket is oriented towards the waste; finally, the auxiliary vessel with needle rollers for collecting soft waste is used to roll the soft plastic waste into the collection basket, and the propeller is used to move it to the next work position; The third step is for the auxiliary ship to collect hard plastic waste: After the waste collection module determines that all soft plastic waste in the area has been collected, the collection of hard plastic waste can begin. The collection process is as follows: First, the auxiliary ship's waste collection module is used to locate the waste. Then, the power module is used to move the auxiliary boat to the vicinity of the garbage and to face the collection opening of the collection basket towards the garbage; finally, the auxiliary boat with three-bladed water jets for collecting hard garbage is used to roll the hard plastic garbage into the collection basket and to move it to the next working position using the propeller. The fourth step involves the main ship and the auxiliary ship docking and dumping two types of waste: After the two auxiliary ships have collected the two types of waste in sequence, they return to the receiving point on the main ship via the GPS positioning control module of the auxiliary ship. Working in conjunction with the multi-link docking module of the main ship, they dump the waste into two separate waste bins. After dumping, the main ship continues to lower the auxiliary ship into the water for further work. The specific docking process is as follows: When the main ship needs to deploy the auxiliary ship, it controls the lead screw stepper motor to adjust the position of the slider guide groove to above the auxiliary ship stored in the auxiliary ship's placement compartment. It then controls the crank stepper motor to lower the electromagnet on the electromagnetic rod to the side of the auxiliary ship, activates the electromagnet, and attracts the auxiliary ship onto the electromagnetic rod. Finally, it activates the crank stepper motor. A stepper motor lifts the auxiliary boat to above the auxiliary boat storage compartment. Then, a lead screw stepper motor is activated to lift the auxiliary boat away from the main ship. A crank stepper motor is controlled to drop the auxiliary boat into the water, and the electromagnet is turned off. When the main ship needs to retrieve the auxiliary boat, the lead screw stepper motor is controlled to adjust the position of the slider guide groove above the waiting auxiliary boat on the water surface. The crank stepper motor is controlled to lower the electromagnet of the electromagnetic rod to the side of the auxiliary boat. The electromagnet is activated to attract the auxiliary boat to the electromagnet. The crank stepper motor is then activated to lift the auxiliary boat to the water surface. The lead screw stepper motor is then activated to lift the auxiliary boat back above the auxiliary boat storage compartment. The crank stepper motor is then controlled to put the auxiliary boat back into the auxiliary boat storage compartment, and the electromagnet is turned off. When the main vessel needs to assist the auxiliary vessel in garbage dumping, the lead screw stepper motor is controlled to adjust the position of the slider guide groove to above the waiting auxiliary vessel on the water surface. The crank stepper motor is controlled to lower the electromagnet of the electromagnetic rod to the side of the auxiliary vessel. The electromagnet is activated to attract the auxiliary vessel to the electromagnet. The crank stepper motor is then activated to lift the auxiliary vessel to the water surface. The lead screw stepper motor is then activated to move the auxiliary vessel above the auxiliary vessel's placement compartment. After the auxiliary vessel pushes the garbage out of the collection basket, it is put back into the water to continue working. The fifth step involves the main ship transporting the garbage from the water to land: After the crew in the main ship's cockpit observes that the garbage bins can no longer receive the next garbage dumping operation, the main ship sends a signal to the auxiliary ship. The crew then drives the main ship through the sea to the land, dumps the garbage on the shore, and returns to continue the docking operation in the fourth step to receive the next garbage dumped by the auxiliary ship.

Images