An underwater trash cleaning device, cleaning system and method

Abstract

The application discloses a seabed garbage cleaning device, which comprises a garbage grabbing robot, an auxiliary storage and transportation robot, a garbage storage and transportation auxiliary ship, a signal cable and an umbilical cable; the auxiliary storage and transportation robot is connected with the garbage grabbing robot through the umbilical cable, forms a negative pressure, sucks the grabbed garbage from the garbage grabbing robot into the auxiliary storage and transportation robot, and then transfers the garbage into the garbage storage and transportation auxiliary ship; the garbage grabbing robot is connected with the garbage storage and transportation auxiliary ship through the signal cable; the garbage grabbing robot comprises an upper cavity, a lower cavity, a cavity mechanical claw and a robot propulsion system; the upper cavity and the lower cavity enclose a negative pressure cavity; the lower cavity is provided with the cavity mechanical claw and the robot propulsion system. The application further discloses a seabed garbage cleaning system which comprises the seabed garbage cleaning device and a controller. The application further discloses a seabed garbage cleaning method. The application can collect garbage in a way that can avoid stirring seabed silt as much as possible and reduce the influence of the collecting process on seabed organisms.

Description

Technical Field

[0001] This invention belongs to the field of waste cleanup, specifically a device, system and method for cleaning up marine debris. Background Technology

[0002] With rapid industrialization and economic growth, an increasing amount of waste has been generated, a large portion of which ends up in the ocean. It is estimated that approximately 99% of marine debris eventually reaches the seabed, causing significant damage to the marine ecosystem. Seabed debris collection is challenging and requires highly efficient equipment; therefore, developing a highly efficient seabed debris collection system is urgently needed.

[0003] Chinese patent CN113389237A discloses a seabed debris-collecting robot, proposing the concept of a mobile gripping robot, but it does not address the storage, transportation, and recycling of debris, failing to solve the problem of low efficiency in seabed debris collection. Chinese patent CN114212221A discloses an underwater cleaning robot that collects seabed debris through pump suction, similar to a seabed "sweeping robot," but this device stirs up seabed silt, harming marine life, and is ineffective at collecting debris embedded in the seabed, resulting in low efficiency.

[0004] In general, existing garbage-collecting robots are inefficient and can cause secondary harm to marine life. Summary of the Invention

[0005] Purpose of the invention: In order to overcome the shortcomings of the existing technology, the purpose of this invention is to provide a seabed debris cleaning device that avoids stirring up seabed silt and reduces the impact of the collection process on seabed organisms. Another purpose of this invention is to provide a seabed debris cleaning system with intelligent control, rapid imaging, and multi-machine collaborative operation. Yet another purpose of this invention is to provide a seabed debris cleaning method with high work efficiency and rapid replacement capability.

[0006] Technical Solution: The present invention discloses a seabed debris cleaning device, comprising a debris-grabbing robot, an auxiliary storage and transportation robot, a debris storage and transportation auxiliary vessel, a signal cable, and an umbilical cable. The auxiliary storage and transportation robot is connected to the debris-grabbing robot via the umbilical cable, forming a negative pressure to suck the grabbed debris from the debris-grabbing robot into the auxiliary storage and transportation robot, and then transfer it to the debris storage and transportation auxiliary vessel. The debris-grabbing robot is connected to the debris storage and transportation auxiliary vessel via the signal cable. The debris-grabbing robot includes an upper cavity, a lower cavity, a hollow mechanical claw, and a robot propulsion system. The upper and lower cavities form a negative pressure cavity for debris transfer, and the lower cavity is equipped with a hollow mechanical claw and a robot propulsion system for omnidirectional movement on the seabed.

[0007] Furthermore, the upper cavity includes a pressure-resistant glass shell; inside the pressure-resistant glass shell are a camera, a searchlight, and a power supply and control system. The power supply and control system is used to preprocess the sea condition images of the sea area acquired by the camera and to receive the transmitted control signals to control the posture of the garbage grabbing robot and the garbage grabbing operation; a signal cable interface for connecting to the signal cable is provided on the pressure-resistant glass shell.

[0008] Furthermore, the lower cavity includes a cavity pressure shell, on which a first umbilical cable interface and a mechanical claw interface are provided; the first umbilical cable interface is connected to the auxiliary storage and transportation robot, and the mechanical claw interface is connected to the cavity mechanical claw.

[0009] Furthermore, the cavity robotic gripper includes a cavity connection port, a cavity robotic arm, a first rotating shaft, a second rotating shaft, a third rotating shaft, a fourth rotating shaft, a fifth rotating shaft, a sixth rotating shaft, and a gripping hand; the cavity connection port is connected to the robotic gripper interface; the cavity connection port, the first rotating shaft, the second rotating shaft, the third rotating shaft, the cavity robotic arm, the fourth rotating shaft, the fifth rotating shaft, the sixth rotating shaft, and the gripping hand are sequentially connected in pairs for controlling the cavity robotic arm to perform rotational and telescopic movements.

[0010] Furthermore, the robot propulsion system includes a propeller thruster, a thruster directional knob, a thruster connecting rod, a slide rail clip, and a slide rail groove. A slide rail clip is slidably connected to the slide rail groove and is connected to the thruster connecting rod. The propeller thruster is connected to the thruster connecting rod via the thruster directional knob, and the propeller thruster adjusts its propulsion direction by rotating the thruster directional knob around a fixed axis.

[0011] Furthermore, the auxiliary storage and transportation robot includes a pressure-resistant glass front cabin and a pressure-resistant storage tank; the pressure-resistant glass front cabin includes a pressure-resistant glass cover and a second camera, a second searchlight, a ranging module, and an energy and control center installed inside the pressure-resistant glass cover; the energy and control center is used to preprocess the sea area and sea state images acquired by the second camera and the distance information acquired by the ranging module, and to perform signal interaction between systems.

[0012] Furthermore, the pressure tank includes a pressure hull, a second umbilical cable interface, a water jet propulsion interface, a water jet propulsion device, and a full-load detector. The second umbilical cable interface is connected to the umbilical cable. The water jet propulsion device is connected to the robot's pressure hull via the water jet propulsion interface.

[0013] Furthermore, the waste storage and transportation auxiliary vessel includes a hull, on which are installed a propeller, a computer-controlled forecastle, a radar detector, and a hull signal cable interface. A sea surface observation camera is installed on the computer-controlled forecastle, and the hull signal cable interface is connected to the upper cavity via a signal cable.

[0014] The present invention discloses a seabed debris cleaning system, which includes the aforementioned seabed debris cleaning device and controller.

[0015] The present invention discloses a method for cleaning up seabed debris, comprising the following steps:

[0016] S1. The garbage grabbing robot and the auxiliary storage and transportation robot dive down. The garbage storage and transportation auxiliary vessel acquires images of the working environment, observes the working conditions of the sea surface and the working seabed terrain, and the controller preprocesses the information and transmits it to the computer control bow on the garbage storage and transportation auxiliary vessel to determine whether to dive down to the working sea area.

[0017] S2. Acquire images of garbage in the working sea area, measure distances, the controller preprocesses the data and transmits the information to the computer-controlled bow, calculates the precise coordinates of the garbage distribution, sends underwater robot operation control signals, the cavity mechanical claw performs the grasping work, the auxiliary storage and transportation robot extracts water from the cavity to form a suction negative pressure, sucks the grasped garbage from the garbage grasping robot into the auxiliary storage and transportation robot, and then transfers it into the garbage storage and transportation auxiliary vessel, and adjusts the attitude of the auxiliary storage and transportation robot.

[0018] S3. The full load detector of the auxiliary storage and transportation robot monitors the amount of waste stored in the cavity and transmits it to the computer control tower to determine whether the auxiliary storage and transportation robot is fully loaded. When it is fully loaded, the auxiliary storage and transportation robot is replaced.

[0019] S4. The cleanup is complete when the work area no longer displays junk images or a stop work order is received.

[0020] Working principle: After the six-degree-of-freedom cavity mechanical claw grabs the seabed debris, the debris grabbing robot, the auxiliary storage and transportation robot, and the cavity it contains generate negative pressure by spraying water through the water jet propulsion device to form a flow channel, so that the grabbed debris can flow into the pressure-resistant storage tank of the auxiliary storage and transportation robot, thereby achieving rapid collection, avoiding stirring up the seabed silt, and reducing the impact of the collection process on seabed organisms.

[0021] Beneficial effects: Compared with the prior art, the present invention has the following significant features:

[0022] 1. The collection method can minimize the disturbance of seabed silt and reduce the impact of the collection process on marine life;

[0023] 2. The multi-machine collaborative working mode can realize rapid imaging of the distribution of seabed debris, which is more conducive to the robot to realize path planning more quickly;

[0024] 3. By collecting the waste storage volume signal in the pressure tank of the auxiliary storage and transportation robot through the full load detection device, the auxiliary storage and transportation robot can be quickly replaced, closely connected to each work cycle, and the system's work efficiency can be improved.

[0025] 4. Through intelligent control, multiple robots can work together to quickly visualize the distribution of marine debris. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the structure of the present invention;

[0027] Figure 2 This is a schematic diagram of the structure of the garbage-grabbing robot 1 of the present invention;

[0028] Figure 3 This is a cross-sectional view of the garbage-grabbing robot 1 of the present invention;

[0029] Figure 4 This is a schematic diagram of the cavity mechanical claw 13 of the present invention;

[0030] Figure 5 This is a schematic diagram of the structure of the robot propulsion system 14 of the present invention;

[0031] Figure 6 This is a schematic diagram of the structure of the auxiliary storage and transportation robot 2 of the present invention;

[0032] Figure 7 This is a cross-sectional view of the auxiliary storage and transportation robot 2 of the present invention;

[0033] Figure 8 This is a schematic diagram of the composition of the power supply and control system 114 and the energy and control center 215 of the present invention;

[0034] Figure 9 This is a schematic diagram of the structure of the waste storage and transportation auxiliary vessel 3 of the present invention;

[0035] Figure 10 This is a flowchart illustrating the diving process of the present invention;

[0036] Figure 11 This is a flowchart illustrating the underwater collection process of the present invention;

[0037] Figure 12 This is a schematic diagram of the structure for replacing the auxiliary storage and transportation robot 2 of the present invention;

[0038] Figure 13 This is a flowchart illustrating the process of replacing the auxiliary storage and transportation robot 2 according to the present invention. Detailed Implementation

[0039] like Figure 1The seabed debris cleanup system, featuring a "grab-suction-storage-transport" one-stop operation, includes a controller and a seabed debris cleanup device. The device comprises a debris-grabbing robot 1, an auxiliary storage and transport robot 2, a debris storage and transport auxiliary vessel 3, a signal cable 4, and an umbilical cable 5. The debris-grabbing robot 1, connected to the auxiliary storage and transport robot 2 via the umbilical cable 5, observes the working environment and grabs seabed debris. It creates negative pressure to suck the grabbed debris from the robot 1 into the auxiliary storage and transport robot 2. The auxiliary storage and transport robot 2 then returns to the debris storage and transport auxiliary vessel 3, transferring the debris there. The auxiliary storage and transport robot 2 absorbs and stores the debris, and provides illumination and ranging assistance to the debris-grabbing robot 1. The debris-grabbing robot 1 is connected to the auxiliary vessel 3 via the signal cable 4. The auxiliary vessel 3 is connected to equipment used for observing the sea surface environment, probing the seabed topography, processing collected seabed debris, and transporting the debris. The garbage grabbing robot 1, the auxiliary storage and transportation robot 2, and the garbage storage and transportation auxiliary vessel 3 are interconnected via signal cable 4 and umbilical cable 5 to transmit information and work together.

[0040] like Figure 2 The garbage-grabbing robot 1 includes an upper cavity 11, a lower cavity 12, a hollow mechanical claw 13, and a robot propulsion system 14. The upper cavity 11, located at the top, is used to acquire, receive, process, and exchange information and connect to a signal cable. The lower cavity 12, located at the bottom, is connected to the six-degree-of-freedom hollow mechanical claw 13 and an umbilical cable 5, forming a negative pressure cavity for garbage transfer. The six-degree-of-freedom hollow mechanical claw 13 can rotate and extend around six axes, moving omnidirectionally to grab seabed garbage and provide a negative pressure flow channel for garbage transport. The robot propulsion system 14 is used to control the omnidirectional movement of the garbage-grabbing robot 1 on the seabed.

[0041] like Figure 3The upper cavity 11 includes a pressure-resistant glass shell 111, within which are a camera 112, a searchlight 113, a power supply and control system 114, and a signal cable interface 115. The pressure-resistant glass shell 111 is a light-transmitting protective structure, providing illumination for the camera 112, searchlight 113, and power supply and control system 114 to acquire information, while protecting them from seawater erosion and pressure damage. The camera 112 is a 360° camera used to acquire images of the sea conditions in the robot's working area. The searchlight 113 supplements the illumination conditions when the 360° camera 112 acquires images. The power supply and control system 114 is used to preprocess the sea condition images acquired by the 360° camera 112 and receive transmitted control signals to control the posture and garbage-grabbing operation of the garbage-grabbing robot 1. The signal cable interface 115 is used to connect to the signal cable 4 to facilitate information exchange between the seabed and the water surface. The lower cavity 12 includes a cavity pressure shell 121, an umbilical cable first interface 122, and a mechanical claw interface 123. The umbilical cable first interface 122 is connected to the auxiliary storage and transportation robot 2, and the mechanical claw interface 123 is connected to the six-degree-of-freedom cavity mechanical claw 13. Together with the cavity pressure shell 121, they form a negative pressure cavity, providing a transport and transfer center for the captured seabed debris and ensuring information exchange between the debris-grabbing robot 1 and the auxiliary storage and transportation robot 2.

[0042] like Figure 4 The hollow mechanical claw 13 includes a cavity connection port 131, a hollow mechanical arm 132, a first rotating shaft 133, a second rotating shaft 134, a third rotating shaft 135, a fourth rotating shaft 136, a fifth rotating shaft 137, a sixth rotating shaft 138, and a gripping hand 139. The cavity connection port 131 is connected to the upper structure via a mechanical claw interface 123 and exchanges signals. The cavity connection port 131, the first rotating shaft 133, the second rotating shaft 134, the third rotating shaft 135, the hollow mechanical arm 132, the fourth rotating shaft 136, the fifth rotating shaft 137, the sixth rotating shaft 138, and the gripping hand 139 are sequentially connected in pairs, controlling the hollow mechanical arm 132 to rotate and extend flexibly around the six axes. The hollow mechanical arm 132 cooperates with the gripping hand 139. After the gripping hand 139 grabs debris from the seabed, it uses negative pressure to suck up the grabbed debris via the hollow mechanical arm 132. The 139 gripper robotic arm is equipped with lighting, camera, and ranging modules at its port, meaning it also has a camera, searchlight, and ranging module to facilitate precise garbage grabbing.

[0043] like Figure 5The robot propulsion system 14 includes a propeller thruster 141, a thruster direction adjustment knob 142, a thruster connecting rod 143, a slide rail clip 144, and a slide rail groove 145. The propeller thruster 141 is rotatably connected to the thruster connecting rod 143 via the thruster direction adjustment knob 142. The thruster connecting rod 143 is fixed to the slide rail clip 144, and the slide rail clip 144 and the slide rail groove 145 are connected by a sleeve groove. An electromagnetic relay is installed on the slide rail clip 144 to control the start and stop of sliding. The propeller thruster 141 can be rotated around a fixed axis by the thruster direction adjustment knob 142 to adjust the propulsion direction. The slide rail clip 144 can receive commands from the power supply and control system 114 and slide along the slide rail groove 145, driving the propeller thruster 141 to rotate around the slide rail groove 145. There are two or more propeller thrusters 141, evenly distributed around the circumference of the slide rail groove 145.

[0044] like Figures 6-7 The auxiliary storage and transportation robot 2 is fixedly connected to a pressure-resistant glass front cabin 21 and a pressure-resistant storage tank 22. The pressure-resistant glass front cabin 21 includes a pressure-resistant glass cover 211, a second camera 212, a second searchlight 213, a ranging module 214, and an energy and control center 215. The robot's pressure-resistant glass cover 211 is a transparent hemispherical shell used to protect the internal camera 212, searchlight 213, ranging module 214, and energy and control center 215 from seawater corrosion and pressure damage, and to provide lighting conditions for the collaborative operation of the camera 212, searchlight 213, and ranging module 214. The second camera 212 is a 360° camera used to acquire images of the seabed debris distribution. The second searchlight 213 provides supplemental lighting for the working area. The ranging module 214 is used to acquire the distance to the debris to assist in forming a comprehensive image of the regional debris distribution. The Energy and Control Center 215 is used to preprocess the sea condition images acquired by the second camera 212 and the distance information acquired by the ranging module 214, and to perform signal interaction between systems.

[0045] The pressure tank 22 includes a pressure hull 221, a second umbilical cable interface 222, a waterjet propulsion interface 223, a waterjet propulsion unit 224, and a full load detector 225. The pressure hull 221 serves as the main waste storage space structure for the auxiliary storage and transportation robot 2. The second umbilical cable interface 222 connects the waste-grabbing robot 1 and the auxiliary storage and transportation robot 2 via the umbilical cable 5, ultimately forming a complete cavity that transmits negative pressure, absorbing the waste collected from the seabed into the pressure hull 221 of the auxiliary storage and transportation robot 2 for storage and transportation. The waterjet propulsion unit 224 is fixedly connected to the robot's pressure hull 221 via the waterjet propulsion interface 223. By drawing water from the pressure-resistant glass front chamber 21, the waterjet propulsion unit 224 creates negative pressure in the front cavity system and sprays water backward, providing power to adjust the robot's posture and control the movement of the auxiliary storage and transportation robot 2. The full load detector 225 monitors the waste storage status within the cavity to obtain information on whether it is full, adjusting the system's operating mode for efficient operation.

[0046] like Figure 8 The power supply and control system 114 and the energy and control center 215 have the same structure. The control system, consisting of a microcomputer, a signal receiving module, and a signal transmitting module, is interconnected with the battery and intelligent electronic control module through wires and signal lines to form current and signal paths. It is mainly used for signal processing, intelligent control, and energy supply and management of the garbage grabbing robot 1 and the auxiliary storage and transportation robot 2.

[0047] like Figure 9 The hull 31 of the waste storage and transportation auxiliary vessel provides space for equipment and waste storage and transportation for the entire system. The hull 31 houses a propeller 32, a computer-controlled forecastle 33, a radar detector 35, and a hull signal cable interface 36. The propeller 32 provides power for the operation of the waste storage and transportation auxiliary vessel 3. The computer-controlled forecastle 33 stores and processes information from the entire system and outputs corresponding control signals, serving as the system's computing center. The radar detector 35 detects the geographical features of the seabed in the working area to help plan the collection of seabed waste. The computer-controlled forecastle 33 has a surface observation camera 34, which observes surface image signals, providing image support for the operation of the waste storage and transportation auxiliary vessel 3 on the surface. The hull signal cable interface 36 connects to the robot signal cable interface 115 via a signal cable 4, enabling stable information exchange with the underwater waste-grabbing robot 1 and the auxiliary storage and transportation robot 2.

[0048] like Figures 10-13 The cleaning method of the seabed debris cleaning system in this embodiment includes the following steps:

[0049] A. Garbage grabbing robot 1 and auxiliary storage and transportation robot 2 descend into the work area to work;

[0050] A1. Garbage storage and transportation auxiliary vessel 3 carries garbage grabbing robot 1 and auxiliary storage and transportation robot 2 to the operating sea area;

[0051] A2. Deploy garbage-grabbing robot 1 and auxiliary storage and transportation robot 2 for underwater operations;

[0052] A3. The searchlight 113 of the garbage grabbing robot 1 provides supplementary light source, and the camera 112 acquires images of the working environment. The controller performs data preprocessing and transmits the information to the computer-controlled forecastle 33. The searchlight 213 of the auxiliary storage and transportation robot 2 provides supplementary light source, and the camera 212 acquires images of the working environment. The controller performs preprocessing and transmits the information to the computer-controlled forecastle 33. The sea surface observation camera 34 of the garbage storage and transportation auxiliary vessel 3 observes the sea surface conditions, and the radar detector 35 detects the working seabed terrain conditions and transmits the observation information to the computer-controlled forecastle 33.

[0053] A4. The computer-controlled forecourt 33 processor processes the information and sends out control messages;

[0054] A5. The controller of the garbage grabbing robot 1 receives the control signal and controls the robot to descend. The control center of the auxiliary storage and transportation robot 2 receives the control signal and controls the auxiliary storage and transportation robot 2 to descend.

[0055] A6. Garbage grabbing robot 1 and auxiliary storage and transportation robot 2 acquire and transmit location information in real time;

[0056] A7. The computer-controlled forecastle 33 determines whether to dive to the working area;

[0057] A7.1 When the garbage grabbing robot 1 and the auxiliary storage and transportation robot 2 dive to the working sea area, the diving operation is completed and the collection work phase begins;

[0058] A7.2. When the garbage grabbing robot 1 and the auxiliary storage and transportation robot 2 have not descended to the working sea area, repeat A3~A7.

[0059] B. Waste grabbing robot 1 and auxiliary storage and transportation robot 2 perform underwater collection operations;

[0060] B1. The garbage grabbing robot 1 acquires images of garbage in the working area through a camera on a six-degree-of-freedom cavity mechanical claw 13. The ranging module detects the distance, the controller preprocesses the information and transmits it to the computer control tower 33 to calculate the precise coordinates of the garbage distribution and send operation control signals to the garbage grabbing robot 1 and the auxiliary storage and transportation robot 2.

[0061] B2. The controller of the garbage grabbing robot 1 obtains control information, and the six-degree-of-freedom cavity mechanical claw 13 performs grabbing work. The water jet propulsion 224 of the auxiliary storage and transportation robot 2 draws water from the cavity to form a negative pressure, and the robot's posture is adjusted by controlling the water jet propulsion 224.

[0062] B3. The full load detector 225 of the auxiliary storage and transportation robot 2 monitors the garbage storage information in the cavity and transmits it to the computer control tower 33;

[0063] B4. The computer-controlled forecastle 33 determines whether the auxiliary storage and transportation robot 2 needs to be replaced;

[0064] B5. The computer-controlled forecastle 33 determines whether the auxiliary storage and transportation robot 2 is fully loaded;

[0065] B5.1 When the auxiliary storage and transportation robot 2 is not fully loaded, repeat steps B1 to B5.

[0066] B5.2 When the auxiliary storage and transportation robot 2 is fully loaded, the computer-controlled bow tower 33 control system shall take into account the timely replacement of the auxiliary storage and transportation robot 2;

[0067] B5.2.1, The empty auxiliary storage and transportation robot 2 is deployed to replace the waste storage and transportation auxiliary vessel 3;

[0068] B5.2.2 The replacement empty auxiliary storage and transportation robot 2 arrives at the working position;

[0069] B5.2.3 The fully loaded auxiliary storage and transportation robot 2 is suspended from operation;

[0070] B5.2.4 The second interface 222 of the umbilical cable of the auxiliary storage and transportation robot 2 is closed and disconnected from the umbilical cable 5;

[0071] B5.2.5, Energy and Control Center 215 controls water jet propulsion 224 to adjust the fully loaded auxiliary storage and transportation robot 2 to return to the garbage storage and transportation auxiliary ship 3. At the same time, after the empty auxiliary storage and transportation robot 2 arrives at the replacement position, it connects to the umbilical cable 5 and opens the second interface 222 of the umbilical cable.

[0072] B5.2.6 After the fully loaded auxiliary storage and transportation robot 2 successfully returns to port, it cleans up the garbage and is used as a backup for the next round of empty auxiliary storage and transportation robot 2.

[0073] B5.2.7 Complete the replacement of the empty auxiliary storage and transportation robot 2. The system is running normally and grabbing garbage on the seabed.

[0074] C. The cleanup is complete when no more junk images are displayed in the work area or when a stop work order is received.

Claims

1. A device for cleaning up underwater debris, characterized in that: The system includes a garbage-grabbing robot (1), an auxiliary storage and transportation robot (2), a garbage storage and transportation auxiliary vessel (3), a signal cable (4), and an umbilical cable (5). The auxiliary storage and transportation robot (2) is connected to the garbage-grabbing robot (1) through the umbilical cable (5), forming a negative pressure to suck the garbage grabbed by the garbage-grabbing robot (1) into the auxiliary storage and transportation robot (2), and then transfer it to the garbage storage and transportation auxiliary vessel (3). The garbage-grabbing robot (1) is connected to the garbage storage and transportation auxiliary vessel (3) through the signal cable (4). The garbage-grabbing robot (1) includes an upper cavity (11), a lower cavity (12), a hollow mechanical claw (13), and a robot propulsion system (14). The upper cavity (11) and the lower cavity (12) form a negative pressure cavity for garbage transfer. The lower cavity (12) is equipped with a hollow mechanical claw (13) and a robot propulsion system (14) for omnidirectional movement on the seabed. The lower cavity (12) includes a cavity pressure shell (121), on which an umbilical cable first interface (122) and a mechanical claw interface (123) are provided; the umbilical cable first interface (122) is connected to the auxiliary storage and transportation robot (2), and the mechanical claw interface (123) is connected to the cavity mechanical claw (13); The hollow mechanical gripper (13) includes a cavity connection port (131), a hollow mechanical arm (132), a first rotating shaft (133), a second rotating shaft (134), a third rotating shaft (135), a fourth rotating shaft (136), a fifth rotating shaft (137), a sixth rotating shaft (138), and a gripper (139); the cavity connection port (131) is connected to the mechanical gripper interface (123); the cavity connection port (131), the first rotating shaft (133), the second rotating shaft (134), the third rotating shaft (135), the hollow mechanical arm (132), the fourth rotating shaft (136), the fifth rotating shaft (137), the sixth rotating shaft (138), and the gripper (139) are sequentially connected in pairs for controlling the hollow mechanical arm (132) to perform rotation and extension movements; The auxiliary storage and transportation robot (2) includes a pressure-resistant glass front cabin (21) and a pressure-resistant storage tank (22); the pressure-resistant glass front cabin (21) includes a pressure-resistant glass cover (211) and a second camera (212), a second searchlight (213), a ranging module (214), and an energy and control center (215) installed inside the pressure-resistant glass cover (211); the energy and control center (215) is used to preprocess the sea area and sea state images obtained by the second camera (212) and the distance information obtained by the ranging module (214), and to perform signal interaction between systems; The pressure tank (22) includes a pressure shell (221), a second umbilical cable interface (222), a water jet propulsion interface (223), a water jet propulsion device (224), and a full load detector (225). The second umbilical cable interface (222) is connected to the umbilical cable (5). The water jet propulsion device (224) is connected to the robot pressure shell (221) through the water jet propulsion interface (223).

2. The underwater debris cleaning device according to claim 1, characterized in that: The upper cavity (11) includes a pressure-resistant glass shell (111); a camera (112), a searchlight (113), and a power supply and control system (114) are installed inside the pressure-resistant glass shell (111). The power supply and control system (114) is used to preprocess the sea condition images of the sea area acquired by the camera (112) and receive the transmitted control signals to control the posture of the garbage grabbing robot (1) and the garbage grabbing work; a signal cable interface (115) connected to the signal cable (4) is provided on the pressure-resistant glass shell (111).

3. The underwater debris cleaning device according to claim 1, characterized in that: The robot propulsion system (14) includes a propeller thruster (141), a thruster directional knob (142), a thruster connecting rod (143), a slide rail clip (144), and a slide rail groove (145). The slide rail clip (144) is slidably connected to the slide rail groove (145). The slide rail clip (144) is connected to the thruster connecting rod (143). The propeller thruster (141) is connected to the thruster connecting rod (143) through the thruster directional knob (142). The propeller thruster (141) adjusts its propulsion direction by rotating around a fixed axis through the thruster directional knob (142).

4. The underwater debris cleaning device according to claim 1, characterized in that: The waste storage and transportation auxiliary vessel (3) includes a hull (31), on which a propeller (32), a computer-controlled forecastle (33), a radar detector (35), and a hull signal cable interface (36) are installed. A sea surface observation camera (34) is installed on the computer-controlled forecastle (33), and the hull signal cable interface (36) is connected to the upper cavity (11) through a signal cable (4).

5. A system for cleaning up underwater debris, characterized in that: The device and controller for cleaning up marine debris include any one of claims 1 to 4.

6. The cleaning method of the seabed debris cleaning system according to claim 5, characterized in that, Includes the following steps: S1. The garbage grabbing robot (1) and the auxiliary storage and transportation robot (2) dive down. The garbage storage and transportation auxiliary ship (3) acquires images of the working environment, observes the working conditions of the sea surface and the working seabed terrain. The controller performs preprocessing and transmits the information to the computer control bow (33) on the garbage storage and transportation auxiliary ship (3) to determine whether to dive to the working sea area. S2. Obtain images of garbage in the working sea area, measure the distance, the controller preprocesses the data and transmits the information to the computer control bow (33), calculates the precise coordinates of the garbage distribution, sends the underwater robot operation control signal, the cavity mechanical claw (13) performs the grabbing work, the auxiliary storage and transportation robot (2) draws water from the cavity to form a suction negative pressure, sucks the grabbed garbage from the garbage grabbing robot (1) into the auxiliary storage and transportation robot (2), and then transfers it to the garbage storage and transportation auxiliary ship (3), and adjusts the attitude of the auxiliary storage and transportation robot (2); S3. The full load detector (225) of the auxiliary storage and transportation robot (2) monitors the garbage storage information in the cavity and transmits it to the computer control tower (33) to determine whether the auxiliary storage and transportation robot (2) is fully loaded. When fully loaded, the auxiliary storage and transportation robot (2) is replaced. S4. The cleanup is complete when the work area no longer displays junk images or a stop work order is received.

Images