Sharp-imitating micro-plastic collecting robot and multi-mode switching control method thereof

Abstract

The invention discloses a prizing-imitating micro-plastic collecting robot and a multi-mode switching control method thereof, and relates to the technical field of underwater robotics.The prizing-imitating micro-plastic collecting robot comprises a fish head, a mouth opening and closing device, pectoral fins, a trunk, a filtering assembly, dorsal fins, a fish tail, tail fins, a fish tail driving assembly, a power source and a controller, and the fish head, the trunk and the fish tail are linearly and sequentially arranged from front to back; the mouth opening and closing device is arranged at the front end of the fish head. The two pectoral fins are symmetrically arranged on the left side and the right side of the fish head. Two water filtering mechanisms are symmetrically arranged on the left side and the right side of the fish head, a collecting bin and an equipment bin are sequentially arranged in the trunk from front to back, a rotary valve assembly is arranged on the front side of the collecting bin, a filtering assembly is located on the rear portion of the collecting bin, and the fish tail is of a three-section structure. The prizing-imitating micro-plastic collecting robot continuously collects micro-plastic in water through a set route, time and labor are saved, the robot can work in a deep water area, the collecting efficiency is high, the use cost is low, the robot is not affected by the environment and weather, safety is high, and the micro-plastic in the water area is comprehensively collected.

Description

Technical Field

[0001] The invention relates to the technical field of underwater robots, and in particular to a basking shark imitating microplastic collecting robot and a multi-mode switching control method thereof. Background Art

[0002] Existing studies have shown that microplastics exist not only in the marine environment, but also in inland water bodies such as rivers and lakes. Microplastics refer to plastic fragments and particles with a diameter of less than 5mm. These tiny plastic particles are deliberately manufactured in industrial production, such as microbeads used in cosmetics, or are formed by the gradual decomposition of larger plastic waste in the environment. Due to their small size and large specific surface area, microplastics can absorb more pollutants and cause greater harm to the environment. These research results show that microplastic pollution has spread to water environments around the world, posing a serious threat to the ecological environment and human health.

[0003] At present, my country's research on microplastics is mainly concentrated in the collection and detection stages, and there are relatively few systematic collection and treatment devices for microplastics in water environments. The existing microplastic treatment technologies mainly include chemical treatment technology, physical treatment technology and biological treatment technology (filtration, adsorption, coagulation, sand filtration and photocatalysis, etc.). Biological treatment technology is mainly biodegradation, which degrades microplastics by producing bacterial communities. This method is green and environmentally friendly, but it takes a long time to achieve the degradation effect; in chemical treatment technology, coagulation can quickly and efficiently remove microplastics in water, but it depends on chemical substances and will affect the quality of seawater; in physical treatment technology, membrane filtration is to physically intercept microplastics through filters to achieve the removal of microplastics. It is the simplest and most efficient treatment method. Microplastic membrane filtration includes microfiltration, ultrafiltration, nanofiltration and reverse osmosis. Among them, ultrafiltration has been proven to be the most effective microplastic treatment technology.

[0004] The existing technology for collecting microplastics in marine environments and inland lakes usually involves manually taking boats into the ocean or lakes to collect water samples in a set area. It requires multi-point collection and water sampling at different depths, and then bringing it back to the laboratory for filtration and testing. This is a large workload, time-consuming and labor-intensive, and has high costs. Manual water sampling is affected by the environment and weather, and has poor safety. The existing fixed-point sampling method cannot fully reflect the types of microplastics in the water, resulting in a certain deviation between the test results and the actual situation. Therefore, the existing technology urgently needs to be further improved. Summary of the invention

[0005] In view of the above-mentioned deficiencies in the prior art, one purpose of the present invention is to propose a basking shark-like microplastic collection robot to solve the problems of artificial collection of microplastics by taking water from the ocean or lake, which is labor-intensive, time-consuming, labor-intensive, and costly, and artificial water taking is affected by the environment and weather, and has poor safety.

[0006] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0007] A basking shark-like microplastic collection robot comprises a fish head, a mouth opening and closing device, pectoral fins, a trunk, a filtering component, a dorsal fin, a fish tail, a caudal fin, a fish tail drive component, a power supply and a controller. The fish head, the trunk and the fish tail are linearly arranged in sequence from front to back. The fish head is a shell structure with an open rear end, and the rear end is fixedly connected to the front end of the trunk as a whole.

[0008] A fish mouth is provided at the front end of the fish head, and an oral cavity is provided at the rear side of the fish mouth. A mouth opening and closing device is provided at the inner side of the fish mouth to control the opening and closing of the fish mouth. There are two pectoral fins, which are symmetrically arranged on the left and right sides of the fish head through a pectoral fin adjustment mechanism.

[0009] Two water filtering mechanisms are symmetrically arranged on the left and right sides of the fish head. The water filtering mechanisms filter the microplastics that enter the fish head. A silicone rubber sheet that can be deformed by temperature changes is arranged on the inner side of the fish head. The rear end of the silicone rubber sheet is connected to the bottom of the mouth of the fish head. The silicone rubber sheet is equipped with an electric heating device.

[0010] The trunk is a conical shell with a closed rear end, and inside it are a collection bin and an equipment compartment from front to back. A rotary valve assembly is provided on the front side of the collection bin, through which the collection bin can communicate with the interior of the fish head, and the filter assembly is provided at the rear.

[0011] The power supply and the controller are arranged inside the equipment cabin. In addition, a water pump is arranged inside the equipment cabin, and the water pump discharges the filtered water in the collection bin to the outside of the trunk.

[0012] The fishtail is a three-section structure, including a front tail section, a middle tail section and a rear tail section which are arranged in sequence and at intervals. The front tail section and the middle tail section both include an annular shell and a fishtail drive assembly arranged in the annular shell.

[0013] The front tail section is rotationally connected to the rear end of the trunk through its internal fishtail drive assembly, the middle tail section is rotationally connected to the rear end of the front tail section through its internal fishtail drive assembly, the rear tail section is fixed to the rear side of the middle tail section, and the tail fin is vertically arranged at the rear end of the rear tail section.

[0014] Furthermore, the mouth opening and closing device includes an upper jaw plate, a lower jaw plate and two gear drive assemblies. The upper jaw plate and the lower jaw plate have the same structure and are both 1 / 4 spherical shells. The upper jaw plate and the lower jaw plate are arranged on the inner side of the fish mouth one above the other.

[0015] The left and right sides of the upper jaw plate and the lower jaw plate respectively rotate with the corresponding sides of the fish head. The two gear drive assemblies are symmetrically arranged on the left and right sides inside the fish head to drive the upper jaw plate and the lower jaw plate to rotate synchronously towards or in the opposite direction to realize the closing or opening of the fish mouth.

[0016] Furthermore, first rotating shafts are fixedly provided on the left and right sides of the upper jaw plate, respectively, and are rotationally connected to the fish head through two coaxially arranged first rotating shafts.

[0017] The left and right sides of the lower jaw plate are respectively fixed with second rotating shafts, and each second rotating shaft is adjacently arranged below the first rotating shaft on the same side. The lower jaw plate is rotatably connected to the fish head through the two coaxially arranged second rotating shafts.

[0018] The gear drive assembly includes a driving gear, a driven gear and a first servo motor. The first servo motor is fixed on the inner wall of the fish head, and its output shaft is coaxially fixedly connected to the first rotating shaft on the same side. The driving gear is fixedly installed on the first rotating shaft, and the driven gear is fixedly installed on the second rotating shaft and meshes with the driving gear.

[0019] Furthermore, the front edges of the upper jaw plate and the lower jaw plate are respectively provided with sealing strips, and both ends of the sealing strips extend to the left and right sides of the upper jaw plate or the lower jaw plate respectively.

[0020] The pectoral fin is a triangular flat plate with a rounded corner structure. The pectoral fin adjustment mechanism includes a transmission shaft and a second servo motor. The second servo motor is fixed to the front of the fish head. The transmission shaft is transversely passed through the side wall of the fish head. One end is fixedly connected to the output shaft of the second servo motor, and the other end is fixedly connected to the pectoral fin on the same side. The second servo motor can drive the pectoral fin to rotate continuously or swing back and forth.

[0021] Furthermore, the fish head is an integrated structure consisting of a hemispherical shell located at the front and a conical shell located at the middle and rear, and the water filtering mechanism is two groups of water filtering holes symmetrically opened on both sides of the middle and rear of the fish head.

[0022] Each group of the water filter holes includes a plurality of water filter holes arranged in sequence from front to back. The water filter holes are vertically extending long strips with pointed ends and bent toward the rear. The length of each water filter hole in the same group decreases from front to back.

[0023] The inner side of the fish head is paved with first ultrafiltration membranes whose number is equal to the water filtration holes and whose positions correspond to each other. Each first ultrafiltration membrane covers the corresponding water filtration hole, and its outer edge is fixedly fitted to the inner wall of the fish head.

[0024] Furthermore, the inner side of the middle and rear part of the fish head is a tapered cavity which is thick at the front and thin at the back. The silicone rubber sheet is close to the bottom of the tapered cavity, and its left and right sides are bent upward and attached to the inner wall of the tapered cavity.

[0025] A mesh made of shape memory alloy is embedded inside the silicone rubber sheet, and the mesh is electrically connected to the electric heating device. The shape of the mesh changes after being heated, causing the front part of the silicone rubber sheet to rise and curl backward, scraping off the microplastics on the side wall of the first ultrafiltration membrane and allowing them to enter the collection bin with the water flow. After the mesh cools down, the silicone rubber sheet returns to its original shape.

[0026] Furthermore, the rotary valve assembly includes a fixed plate, a valve plate and a third servo motor. The fixed plate is arranged vertically, and its outer edge is fixedly and sealedly connected to the rear end inner wall of the fish head.

[0027] The center of the rear side wall of the fixed plate is provided with a circular boss integral with it, on which two fan-shaped water inlets are arranged symmetrically about the center of the circular boss, and a sealing rubber layer is provided on the rear side wall of the circular boss.

[0028] The valve plate includes a central rotating shaft and two fan-shaped plate bodies. The central rotating shaft longitudinally passes through the center of the circular boss and rotates with it. The two fan-shaped plate bodies are located on the rear side of the circular boss and are symmetrically arranged on both sides of the central rotating shaft and connected with it to form an integrated structure.

[0029] The side of the fan-shaped plate body away from the central rotating shaft has an arc slide rail formed by bending backwards. The arc slide rails of each fan-shaped plate body are slidably matched with the side walls of the circular boss. The third servo motor is arranged in the collection bin, and its output shaft is coaxially fixedly connected to the rear end of the central rotating shaft to drive the valve plate to open or close the fan-shaped water inlet.

[0030] Furthermore, the inner side of the trunk is provided with a vertically arranged partition, which divides the inner cavity of the trunk into an independent collection compartment and an equipment compartment.

[0031] The filter assembly includes a filter plate and a second ultrafiltration membrane. The filter plate is arranged on the front side of the partition plate and parallel to the partition plate. The filter plate has a plurality of regularly distributed filter holes. The second ultrafiltration membrane is attached to the front side wall of the filter plate.

[0032] The water inlet end of the water pump is connected to an inlet pipe, the end of the inlet pipe passes through the partition and is connected to the rear of the collection bin. The water outlet end of the water pump is connected to a drain pipe, the end of the inlet pipe is located outside the trunk. When in working condition, the water pump discharges the water in the collection bin.

[0033] Furthermore, the fishtail drive assembly includes a U-shaped frame and a dual-axis servo, the dual-axis servo is fixed to the inside of the annular shell through a motor bracket, the U-shaped frame is located at the front side of the dual-axis servo, and its two ends are respectively fixedly connected to the two output shafts of the dual-axis servo, and the dual-axis servo drives the U-shaped frame to swing back and forth left and right.

[0034] The front side of the U-shaped frame inside the front tail section is fixedly connected to the rear end of the trunk, the front side of the U-shaped frame inside the middle tail section is fixedly connected to the motor bracket inside the front tail section, and the front end of the rear tail section is fixedly connected to the motor bracket inside the middle tail section.

[0035] There are two dorsal fins, which are fixedly arranged at the top of the trunk and the top of the middle tail section respectively. In addition, an anal fin is also arranged at the bottom of the middle tail section. Both the dorsal fin and the anal fin are triangular plates.

[0036] The rear end of the rear tail section is vertically grooved, and the tail fin is a sickle-shaped flat plate, the lower front side of which is plugged and fixedly connected to the rear end of the rear tail section to form a whole.

[0037] Another object of the present invention is to propose a multi-modal switching control method for the above-mentioned basking shark-like microplastic collection robot.

[0038] A multi-mode switching control method for a basking shark-like microplastic collection robot is applied to the above-mentioned basking shark-like microplastic collection robot. The multi-mode switching control method comprises the following steps:

[0039] Step 1: The basking shark-like microplastic collection robot has motion modes and intermediate transient modes. The motion modes include linear motion modes, turning motion modes, and floating and sinking motion modes. When the basking shark-like microplastic collection robot collects microplastic particles from the starting point to the end point along a given path, the basking shark-like microplastic collection robot performs multiple motion modes in the given path;

[0040] The basking shark-like microplastic collection robot executes the first motion mode. After executing the first motion mode, the basking shark-like microplastic collection robot switches to the intermediate transient mode.

[0041] Step 2: Before the basking shark-like microplastic collection robot switches from the intermediate transient mode to the next motion mode, it is necessary to determine whether the current position, speed, and attitude angle of the basking shark-like microplastic collection robot falls within the interval of the position, speed, and attitude angle initially set for the next motion mode. If the current position, speed, and attitude angle of the basking shark-like microplastic collection robot falls within the interval of the position, speed, and attitude angle initially set for the next motion mode, the basking shark-like microplastic collection robot switches from the intermediate transient mode to the next motion mode;

[0042] Step 3: After executing the next motion mode, the basking shark-like microplastic collection robot enters the intermediate transient mode and repeats steps 2 and 3 until the basking shark-like microplastic collection robot reaches the end point.

[0043] Furthermore, the linear motion mode, the turning motion mode and the floating and sinking motion mode are all trained separately using the model-free adaptive control method, and the specific process is as follows:

[0044] Step a: setting the expected path trajectory of the basking shark-like microplastic collection robot to obtain the expected position, speed and attitude angle of the basking shark-like microplastic collection robot;

[0045] Step b: After the basking shark-like microplastics collecting robot performs the set action, the current position, speed and attitude angle of the basking shark-like microplastics collecting robot are obtained;

[0046] Step c: performing difference calculation between the current position, speed and attitude angle of the basking shark-like microplastic collection robot and the expected position, speed and attitude angle to obtain error information, wherein the error information includes position error, speed error and attitude angle error;

[0047] Step d: According to the error information, the controller of the basking shark-like microplastic collection robot generates a new control instruction, and the new control instruction controls the basking shark-like microplastic collection robot to perform an action;

[0048] Step e: Repeat steps b to d so that the error information gradually decreases until the basking shark-like microplastic collection robot can move along the desired path trajectory.

[0049] By adopting the above technical scheme, the beneficial technical effect of the present invention is: the basking shark-like microplastic collection robot of the present invention can continuously collect microplastics in the water through a set route, replacing manual collection by fetching water, saving time and effort, being able to enter deeper waters for operation, having high collection efficiency, low use cost, being unaffected by the environment and weather, having high safety, and comprehensively collecting microplastics in the waters. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 It is a three-dimensional structural schematic diagram of a basking shark imitating microplastic collecting robot of the present invention.

[0051] Figure 2 It is a top view schematic diagram of a basking shark imitating microplastic collection robot of the present invention.

[0052] Figure 3 yes Figure 2 A cross-sectional view of the present invention along the AA direction.

[0053] Figure 4 It is a structural schematic diagram of the front end of the fish head and related parts of the present invention.

[0054] Figure 5 yes Figure 1 A schematic diagram of a portion of a device showing a mouth opening and closing device.

[0055] Figure 6 It is a structural schematic diagram of the middle and rear part of the fish head and related parts of the present invention.

[0056] Figure 7 yes Figure 1 A schematic diagram of another part thereof shows the combination of the fish head and the rotary valve assembly.

[0057] Figure 8 It is an exploded view of the rotary valve assembly of the present invention.

[0058] Fig. 9 yes Figure 1A schematic diagram of another part of the fish, showing the combined torso and fish tail.

[0059] Fig.10 This is a schematic diagram of the internal structure of a fish tail. DETAILED DESCRIPTION

[0060] The following embodiments of the present invention are described in further detail in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0061] The basking shark is a passive filter-feeding animal. It filters tiny plankton by pushing seawater into its gills while swimming, and uses gill rakes to separate the plankton from the water. Its special oral structure can prevent the filter structure from being blocked by food particles while retaining food particles. Finally, the mouth and upper and lower jaws are closed to transport food to the esophagus with pressure. The present invention takes the engineering practical application of functional bionics as the starting point, imitates the basking shark's way of preying on tiny prey, and designs an underwater robot for filtering and collecting microplastics in the ocean.

[0062] Embodiment 1, combination Figures 1 to 10 A basking shark-like microplastic collection robot comprises a fish head 1, a mouth opening and closing device 4, a pectoral fin 6, a trunk 2, a filtering component, a dorsal fin 71, a fish tail 3, a caudal fin 73, a fish tail drive component 5, a power supply 10 and a controller. The fish head 1, the trunk 2 and the fish tail 3 are arranged linearly from front to back. The fish head 1 is a shell structure with an open rear end. Specifically, the fish head 1 is an integrated structure composed of a hemispherical shell located at the front and a conical shell located at the middle and rear. The rear end of the fish head 1 is fixedly connected to the front end of the trunk 2 as a whole. The connection between the hemispherical shell and the conical shell has a smooth transition. The fish head 1 is a left-right symmetrical structure along the central axis.

[0063] The front end of the fish head 1 is provided with a fish mouth 11, the rear side of the fish mouth 11 is an oral cavity, and the mouth opening and closing device 4 is arranged on the inner side of the fish mouth 11 to control the opening and closing of the fish mouth 11. Specifically, the mouth opening and closing device 4 includes an upper jaw plate 41, a lower jaw plate 42 and two gear drive assemblies, the upper jaw plate 41 and the lower jaw plate 42 have the same structure and are both 1 / 4 spherical shells, and the upper jaw plate 41 and the lower jaw plate 42 are arranged on the inner side of the fish mouth 11 one above the other.

[0064] The front edges of the upper jaw plate 41 and the lower jaw plate 42 are respectively provided with sealing strips 411 , and both ends of the sealing strips 411 extend to the left and right sides of the upper jaw plate 41 or the lower jaw plate 42 .

[0065] The left and right sides of the upper jaw plate 41 and the lower jaw plate 42 are respectively rotatably matched with the corresponding sides of the fish head 1. Specifically, the left and right sides of the upper jaw plate 41 are respectively fixed with first rotating shafts 43, the two first rotating shafts 43 are coaxially arranged, and the upper jaw plate 41 is rotatably connected to the fish head 1 through the two coaxially arranged first rotating shafts 43. The left and right sides of the lower jaw plate 42 are respectively fixed with second rotating shafts 44, the two second rotating shafts 44 are also coaxially arranged, and each second rotating shaft 44 is adjacently arranged below the first rotating shaft 43 on the same side, and the lower jaw plate 42 is rotatably connected to the fish head 1 through the two coaxially arranged second rotating shafts 44.

[0066] The front side of the cavity of the fish head 1 is provided with an inner lining body adapted to the outer walls of the upper jaw plate 41 and the lower jaw plate 42. During the rotation of the upper jaw plate 41 and the lower jaw plate 42 around the rotating shafts on both sides, the outer walls thereof always slide and seal with the surface of the inner lining body. When the upper jaw plate 41 and the lower jaw plate 42 are closed, the sealing strip 411 of the upper jaw plate 41 fits tightly with the sealing strip 411 of the lower jaw plate 42, and seawater will not enter the oral cavity of the fish head 1. When the upper jaw plate 41 and the lower jaw plate 42 are opened, seawater and microplastics will flow into the oral cavity of the fish head 1 when the basking shark-like microplastic collection robot swims forward.

[0067] The two gear drive assemblies are symmetrically arranged on the left and right sides of the fish head 1 to drive the upper jaw plate 41 and the lower jaw plate 42 to rotate synchronously towards or in opposite directions to close or open the fish mouth 11.

[0068] Specifically, the gear drive assembly includes a driving gear 45, a driven gear 46 and a first servo motor 47. The first servo motor 47 is fixed to the inner wall of the fish head 1 through a mounting frame 48, and its output shaft is coaxially fixedly connected with the first rotating shaft 43 on the same side. The driving gear 45 is fixedly mounted on the first rotating shaft 43, and the driven gear 46 is fixedly mounted on the second rotating shaft 44 and meshes with the driving gear 45. The output shaft of the first servo motor 47 drives the upper jaw plate 41 to rotate through the first rotating shaft 43. At the same time, the first rotating shaft 43 drives the second rotating shaft 44 to rotate through the driving gear 45, and the second rotating shaft 44 drives the lower jaw plate 42 to rotate around its axis, so that the upper jaw plate 41 and the lower jaw plate 42 rotate synchronously, and the opening and closing state of the fish mouth 11 is controlled and the size of the opening is adjusted.

[0069] There are two pectoral fins 6, and the two pectoral fins 6 are symmetrically arranged on the left and right sides of the fish head 1 through a pectoral fin adjustment mechanism. Preferably, the pectoral fin 6 is a triangular flat plate with a rounded corner structure, and the pectoral fin adjustment mechanism includes a transmission shaft 61 and a second servo motor 62, the second servo motor 62 is fixed to the front of the fish head 1, and the transmission shaft 61 is transversely penetrated on the side wall of the fish head 1, one end of the transmission shaft 61 is located on the inner side of the fish head 1 and is coaxially fixedly connected to the output shaft of the second servo motor 62, and the other end is located outside the fish head 1 and is fixedly connected to the pectoral fin 6 on the same side, and the main part of the pectoral fin 6 is located on the rear side of the transmission shaft 61, the axis of the transmission shaft 61 is close to an edge on the front side of the pectoral fin 6, and the rounded corner opposite to the edge is far away from the axis of the transmission shaft 61.

[0070] In the working state, each of the second servo motors 62 can drive the pectoral fins 6 on the same side to rotate continuously or swing back and forth. When swimming forward in a straight line in the water, the main part of the pectoral fins 6 remains on the rear side of the transmission shaft 61, and the two pectoral fins 6 swing back and forth synchronously up and down, and at the same time, the tail 3 swings back and forth left and right; when swimming backward in a straight line in the water, the main part of the pectoral fins 6 rotates to the front side of the transmission shaft 61, and the two pectoral fins 6 swing back and forth synchronously up and down, and at this time, the tail 3 remains in a straight state.

[0071] When turning to the left in the water, the pectoral fin 6 on the left side remains in a horizontal and static state, the pectoral fin 6 on the right side swings up and down, and the tail 3 swings back and forth to achieve a left turn in the water; when turning to the right in the water, the pectoral fin 6 on the right side remains in a horizontal and static state, the pectoral fin 6 on the left side swings up and down, and the tail 3 swings back and forth to achieve a right turn in the water. When diving in the water, the main part of the pectoral fin 6 remains on the rear side of the transmission shaft 61, the front end of the surface remains in a downward tilted state, and the tail 3 swings back and forth to achieve diving in the water; when floating in the water, the main part of the pectoral fin 6 remains on the rear side of the transmission shaft 61, the front end of the surface remains in an upward tilted state, and the tail 3 swings back and forth to achieve floating in the water.

[0072] Two water filtering mechanisms are symmetrically arranged on the left and right sides of the fish head 1, and the water filtering mechanisms filter the microplastics entering the fish head 1. Specifically, the water filtering mechanism is two groups of water filtering holes 12 symmetrically opened on both sides of the middle and rear part of the fish head 1, and each group of the water filtering holes 12 includes a plurality of water filtering holes 12 arranged in sequence from front to back. The water filtering holes 12 are long holes extending vertically, and both the upper and lower ends thereof are pointed and bent toward the rear. The lengths of the water filtering holes 12 in the same group decrease in sequence from front to back, and are regularly distributed on the sides of the fish head 1.

[0073] The inner wall of the fish head 1 is fixedly provided with first ultrafiltration membranes of the same number and corresponding positions as the water filter holes 12, each of which covers the corresponding water filter holes 12, and its outer edge is fixedly fitted with the inner wall of the fish head 1. The mouth of the basking shark-like microplastic collection robot will remain open during its advancement, and seawater and microplastics will continuously enter the oral cavity. Under the action of the internal and external pressure difference, the seawater in the oral cavity will be discharged through the water filter holes 12, and the microplastics will remain on the surface of the first ultrafiltration membrane and accumulate continuously.

[0074] At the same time, the inner side of the rear part of the fish head 1 is a conical cavity which is thick at the front and thin at the back. The inner side of the fish head 1 is provided with a silicone rubber sheet 13 which can be deformed by temperature changes. The silicone rubber sheet 13 is close to the bottom of the conical cavity. The rear end of the silicone rubber sheet 13 is connected to the bottom of the mouth of the fish head 1, and its left and right sides are bent upward and attached to the inner wall of the conical cavity. The silicone rubber sheet 13 is provided with an electric heating device, which adopts the existing technology.

[0075] Specifically, a mesh 14 made of a shape memory alloy is embedded inside the silicone rubber sheet 13, and the mesh 14 made of the shape memory alloy is completely wrapped inside the silicone rubber sheet 13. The silicone rubber sheet 13 prevents the mesh 14 from contacting water. The mesh 14 is electrically connected to the electric heating device, and can heat the mesh 14 made of the shape memory alloy. The mesh 14 made of the shape memory alloy is heated to a higher temperature, and the silicone rubber sheet 13 is deformed along with the mesh 14. The electric heating device heats the mesh 14 by heat conduction or conduction. The specific structure of the electric heating device is not described here. The mesh 14 changes shape after being heated, so that the front part of the silicone rubber sheet 13 rises and curls backward, and the microplastics located on the side wall of the first ultrafiltration membrane are scraped off, so that they enter the collection bin 201 with the water flow. After the mesh cools down, the silicone rubber sheet 13 returns to its original state.

[0076] When the basking shark-like microplastic collection robot moves forward underwater, the microplastics in the water flow into the oral cavity after its mouth opens, and the rotary valve assembly remains closed. The pressure in the oral cavity is greater than the external pressure. The water in the oral cavity is filtered by the first ultrafiltration membrane on both sides of the fish head 1 and reaches the outside of the fish head 1. The microplastics entering the inside of the fish head 1 are retained on the surface of the first ultrafiltration membrane and accumulated. At this time, the rotary valve assembly is closed, and the collection chamber 201 is not connected to the oral cavity of the fish head 1. After a period of time, the mesh 14 begins to heat up, and the front end of the silicone rubber sheet 13 begins to lift up and curl to the rear side, scraping off the microplastics on the surface of the first ultrafiltration membrane on both sides of the fish head 1. After the first ultrafiltration membrane curls backward and passes through the water filter hole 12 on the rear side, the microplastics inside the oral cavity are between the silicone rubber sheet 13 and the rotary valve assembly.

[0077] Afterwards, the rotary valve assembly is opened, the collection chamber 201 is connected to the oral cavity of the fish head 1, and at the same time, the water pump 26 is started to discharge the water in the collection chamber 201 to the outside, and the microplastics in the oral cavity enter the collection chamber 201 with the water flow and remain on the front side of the filter plate 25. Afterwards, the rotary valve assembly is closed, and after the mesh 14 cools down, the silicone rubber sheet 13 returns to its original state. The microplastics in the water enter the oral cavity with the water flow, and the above process is repeated, so that the microplastics in the oral cavity enter the collection chamber 201.

[0078] The trunk 2 is a conical shell with a closed rear end, and the interior thereof is a collection chamber 201 and an equipment chamber 202 from front to back. Specifically, the inner side of the trunk 2 has a vertically arranged partition 21, which divides the internal cavity of the trunk 2 into an independent collection chamber 201 and an equipment chamber 202. In addition, a power supply 10 and a controller are arranged inside the equipment chamber 202, and the power supply 10 uses a rechargeable battery. In addition, a water pump 26 is arranged in the equipment chamber 202, and the water pump 26 discharges the filtered water in the collection chamber 201 to the outside of the trunk 2.

[0079] A rotary valve assembly is provided at the front side of the collection bin 201, and the rotary valve assembly is located at the connection position between the trunk 2 and the fish head 1. The collection bin 201 can communicate with the inside of the fish head 1 through the rotary valve assembly. Specifically, the rotary valve assembly includes a fixing plate 22, a valve plate 23 and a third servo motor 24. The fixing plate 22 is arranged vertically, and its outer edge is fixedly and sealedly connected to the inner wall of the rear end of the fish head 1.

[0080] The center of the rear side wall of the fixing plate 22 is provided with a circular boss 221 integrally formed therewith, on which are provided two fan-shaped water inlets 222 which are arranged axially symmetrically with the center of the circular boss 221 as the center axis, and on the rear side wall of the circular boss 221 there is a sealing rubber layer.

[0081] The valve plate 23 includes a central rotating shaft 231 and two fan-shaped plate bodies 232. The central rotating shaft 231 is longitudinally arranged at the center of the circular boss 221 and rotates therewith. The two fan-shaped plate bodies 232 are located at the rear side of the circular boss 221 and are symmetrically arranged on both sides of the central rotating shaft 231 and connected therewith to form an integrated structure.

[0082] The side of the sector plate 232 away from the central rotating shaft 231 has an arc slide rail 24 formed by bending backwards. The arc slide rail 24 of each sector plate 232 is slidably matched with the side wall of the circular boss 221. The third servo motor 24 is arranged in the collection bin 201, and its output shaft is coaxially fixedly connected with the rear end of the central rotating shaft 231 to drive the valve plate 23 to open or close the sector water inlet 222. The third servo motor 24 drives the valve plate 23 to rotate relative to the fixed plate 22 around the central rotating shaft 231 to control the opening or closing of the sector water inlet 222. When the sector water inlet 222 is open, the mesh 14 made of shape memory alloy is heated to make the front part of the silicone rubber sheet 13 rise and curl backwards, so as to scrape off the microplastics on the side wall of the first ultrafiltration membrane and make it enter the collection bin 201 with the water flow.

[0083] The rear part of the collection bin 201 is provided with the filtering assembly, which includes a filter plate 25 and a second ultrafiltration membrane. The filter plate 25 is provided on the front side of the partition 21 and arranged parallel to the filter plate 25. The filter plate 25 has a plurality of regularly distributed filtering holes 251, and the second ultrafiltration membrane is attached to the front side wall of the filter plate 25. The water inlet end of the water pump 26 is connected with an inlet pipe, and the end of the inlet pipe passes through the partition 21 and is connected and communicated with the rear part of the collection bin 201. The water outlet end of the water pump 26 is connected with a drain pipe, and the end of the inlet pipe is located outside the trunk 2. In the working state, the water pump 26 discharges the water in the collection bin 201. At the same time, the water pump 26 continuously discharges the seawater in the collection bin 201, and the microplastics entering the collection bin 201 are retained in the collection bin 201 under the filtering action of the second ultrafiltration membrane, and the microplastics are continuously collected.

[0084] The fishtail 3 is a three-section structure, including a front tail section 31, a middle tail section 32 and a rear tail section 33 arranged in sequence. The front tail section 31 and the middle tail section 32 both include an annular outer shell and a fishtail drive assembly 5 arranged in the annular outer shell. The front tail section 31 is rotatably connected to the rear end of the trunk 2 through the fishtail drive assembly 5 inside it, the middle tail section 32 is rotatably connected to the rear end of the front tail section 31 through the fishtail drive assembly 5 inside it, and the rear tail section 33 is fixed to the rear of the middle tail section 32.

[0085] The fishtail drive assembly 5 includes a U-shaped frame 51 and a double-axis servo 52. The double-axis servo 52 is fixed to the inside of the annular shell through a motor bracket 53. The U-shaped frame 51 is located at the front side of the double-axis servo 52, and its two ends are respectively fixedly connected to the two output shafts of the double-axis servo 52. The double-axis servo 52 drives the U-shaped frame 51 to swing back and forth.

[0086] The front side of the U-shaped frame 51 inside the front tail section 31 is fixedly connected to the rear end of the trunk 2, the front side of the U-shaped frame 51 inside the middle tail section 32 is fixedly connected to the motor bracket 53 inside the front tail section 31, and the front end of the rear tail section 33 is fixedly connected to the motor bracket 53 inside the middle tail section 32.

[0087] There are two dorsal fins 71, and the two dorsal fins 71 are respectively fixedly mounted vertically on the top of the trunk 2 and the top of the middle tail section 32. In addition, an anal fin 72 is also provided at the bottom of the middle tail section 32, and both the dorsal fin 71 and the anal fin 72 are triangular plates. In addition, the caudal fin 73 is vertically arranged behind the fish tail 3, and the rear end of the rear tail section 33 is vertically slotted. The caudal fin 73 is a sickle-shaped flat plate, and the front side of its lower part is connected and fixedly connected to the rear end of the rear tail section 33 as a whole. The dorsal fin 71, the anal fin 72 and the caudal fin 73 maintain the balance of the basking shark-like microplastic collection robot in the water. The controller controls the rotation angle and frequency of the output shafts of the two dual-axis steering gears 52 respectively through program instructions, and cooperates to realize the left and right swing of the fish tail 3 in the water, providing the driving force for the basking shark-like microplastic collection robot to move forward.

[0088] Embodiment 2, a multi-mode switching control method of a basking shark-like microplastics collecting robot, is applied to the basking shark-like microplastics collecting robot described in Embodiment 1, and the multi-mode switching control method comprises the following steps:

[0089] Step 1: The basking shark-like microplastic collection robot has motion modes and intermediate transient modes. The motion modes include linear motion modes, turning motion modes, and floating and sinking motion modes. When the basking shark-like microplastic collection robot collects microplastic particles from the starting point to the end point along a given path, the basking shark-like microplastic collection robot performs multiple motion modes in the given path;

[0090] The basking shark-like microplastic collection robot executes the first motion mode. After executing the first motion mode, the basking shark-like microplastic collection robot enters the intermediate transient mode.

[0091] The linear motion mode includes forward motion and backward motion, the turning motion mode includes left turn motion and right turn motion, and the floating and sinking motion mode includes floating motion and sinking motion. The forward motion, backward motion, left turn motion, right turn motion, floating motion and sinking motion can be realized by the controller controlling the second servo motor and the dual-axis steering gear.

[0092] Step 2: Before the basking shark-like microplastic collection robot switches from the intermediate transient mode to the next motion mode, it is necessary to determine whether the current position, speed, and attitude angle of the basking shark-like microplastic collection robot falls within the range of the position, speed, and attitude angle initially set for the next motion mode. If the current position, speed, and attitude angle of the basking shark-like microplastic collection robot falls within the range of the position, speed, and attitude angle initially set for the next motion mode, the basking shark-like microplastic collection robot switches from the intermediate transient mode to the next motion mode.

[0093] Step 3: After executing the next motion mode, the basking shark-like microplastic collection robot enters the intermediate transient mode and repeats steps 2 and 3 until the basking shark-like microplastic collection robot reaches the end point.

[0094] It should be noted that when switching actions in the same motion mode, there is no need to enter the intermediate transient mode. For example, when switching from floating motion to sinking motion, there is no need to enter the intermediate transient mode again.

[0095] For example, the basking shark-like microplastic collection robot needs to collect microplastic particles from the starting point to the end point along a given path, and needs to experience forward movement, left turn movement, sinking movement and floating movement in the middle. The basking shark-like robot first moves forward, and when it needs to turn left, the linear motion mode is switched to the intermediate transient mode; when the current position, speed, and attitude angle of the basking shark-like microplastic collection robot enters the interval of the position, speed, and attitude angle initially set by the turning motion mode, the intermediate transient mode is switched to the turning motion mode, and the robot turns left; when it needs to sink, the turning motion mode is switched to the intermediate transient mode; when the current position, speed, and attitude angle of the basking shark-like microplastic collection robot enters the interval of the position, speed, and attitude angle initially set by the floating and sinking motion mode, the intermediate transient mode is switched to the floating and sinking motion mode, and the robot sinks; when it needs to float, the robot's sinking motion is switched to the floating motion.

[0096] The linear motion mode, turning motion mode and floating motion mode are all trained separately using the model-free adaptive control method. The specific process is as follows:

[0097] Step a: setting the expected path trajectory of the basking shark-like microplastic collection robot to obtain the expected position, speed and attitude angle of the basking shark-like microplastic collection robot;

[0098] Step b: After the basking shark-like microplastics collecting robot performs the set action, the current position, speed and attitude angle of the basking shark-like microplastics collecting robot are obtained;

[0099] Step c: performing difference calculation between the current position, speed and attitude angle of the basking shark-like microplastic collection robot and the expected position, speed and attitude angle to obtain error information, wherein the error information includes position error, speed error and attitude angle error;

[0100] Step d: According to the error information, the controller of the basking shark-like microplastic collection robot generates a new control instruction, and the new control instruction controls the basking shark-like microplastic collection robot to perform an action;

[0101] Step e: Repeat steps b to d so that the error information gradually decreases until the basking shark-like microplastic collection robot can move along the desired path trajectory.

[0102] In the description of the present invention, unless otherwise specified, "plurality" means two or more than two; the orientations or positional relationships indicated by the terms "upper", "lower", "left", "right", "inner", "outer", "front end", "rear end", "head", "tail", etc. are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the mechanism or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0103] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0104] Of course, the above description is not a limitation of the present invention, and the present invention is not limited to the above examples. Changes, modifications, additions or substitutions made by technicians in this technical field within the essential scope of the present invention should also fall within the protection scope of the present invention.

Claims

1. A basking shark-like microplastic collection robot, characterized in that: It includes a fish head, a mouth opening and closing device, pectoral fins, a trunk, a filtering component, a dorsal fin, a fish tail, a caudal fin, a fish tail driving component, a power supply and a controller. The fish head, the trunk and the fish tail are arranged linearly from front to back. The fish head is a shell structure with an open rear end, and the rear end is fixedly connected to the front end of the trunk as a whole. The front end of the fish head is provided with a fish mouth, the rear side of the fish mouth is an oral cavity, a mouth opening and closing device is arranged on the inner side of the fish mouth, and controls the opening and closing of the fish mouth, and there are two pectoral fins, which are symmetrically arranged on the left and right sides of the fish head through a pectoral fin adjustment mechanism; Two water filtering mechanisms are symmetrically arranged on the left and right sides of the fish head, and the water filtering mechanisms filter the microplastics that enter the fish head. A silicone rubber sheet that can be deformed by temperature changes is arranged on the inner side of the fish head, and the rear end of the silicone rubber sheet is connected to the bottom of the mouth of the fish head. The silicone rubber sheet is equipped with an electric heating device; The trunk is a conical shell with a closed rear end, and inside it are a collection chamber and an equipment chamber from front to back. A rotary valve assembly is provided at the front side of the collection chamber, and the collection chamber can communicate with the inside of the fish head through the rotary valve assembly, and the filter assembly is provided at the rear; The power supply and controller are arranged inside the equipment cabin. In addition, a water pump is arranged inside the equipment cabin, and the water pump discharges the filtered water in the collection bin to the outside of the trunk; The fishtail is a three-section structure, including a front tail section, a middle tail section and a rear tail section which are arranged in sequence, and the front tail section and the middle tail section both include an annular shell and a fishtail drive assembly arranged in the annular shell; The front tail section is rotationally connected to the rear end of the trunk through its internal fishtail drive assembly, the middle tail section is rotationally connected to the rear end of the front tail section through its internal fishtail drive assembly, the rear tail section is fixed to the rear side of the middle tail section, and the tail fin is vertically arranged at the rear end of the rear tail section.

2. The basking shark-like microplastic collection robot according to claim 1, characterized in that: The mouth opening and closing device comprises an upper jaw plate, a lower jaw plate and two gear drive assemblies, wherein the upper jaw plate and the lower jaw plate have the same structure and are both 1 / 4 spherical shells, and the upper jaw plate and the lower jaw plate are arranged oppositely on the inner side of the fish mouth one above the other; The left and right sides of the upper jaw plate and the lower jaw plate respectively rotate with the corresponding sides of the fish head. The two gear drive assemblies are symmetrically arranged on the left and right sides inside the fish head to drive the upper jaw plate and the lower jaw plate to rotate synchronously towards or in the opposite direction to realize the closing or opening of the fish mouth.

3. The basking shark-like microplastic collection robot according to claim 2, characterized in that: The left and right sides of the upper jaw plate are respectively fixed with first rotating shafts, which are rotatably connected with the fish head through two coaxially arranged first rotating shafts; The left and right sides of the lower jaw plate are respectively fixed with second rotating shafts, and each second rotating shaft is arranged adjacently below the first rotating shaft on the same side. The lower jaw plate is rotatably connected to the fish head through the two coaxially arranged second rotating shafts; The gear drive assembly includes a driving gear, a driven gear and a first servo motor. The first servo motor is fixed on the inner wall of the fish head, and its output shaft is coaxially fixedly connected to the first rotating shaft on the same side. The driving gear is fixedly installed on the first rotating shaft, and the driven gear is fixedly installed on the second rotating shaft and meshes with the driving gear.

4. The basking shark-like microplastic collection robot according to claim 2, characterized in that: The front edges of the upper jaw plate and the lower jaw plate are respectively provided with sealing strips, and the two ends of the sealing strips extend to the left and right sides of the upper jaw plate or the lower jaw plate respectively; The pectoral fin is a triangular flat plate with a rounded corner structure. The pectoral fin adjustment mechanism includes a transmission shaft and a second servo motor. The second servo motor is fixed to the front of the fish head. The transmission shaft is transversely passed through the side wall of the fish head. One end is fixedly connected to the output shaft of the second servo motor, and the other end is fixedly connected to the pectoral fin on the same side. The second servo motor can drive the pectoral fin to rotate continuously or swing back and forth.

5. The basking shark-like microplastic collection robot according to claim 1, characterized in that: The fish head is an integrated structure consisting of a hemispherical shell at the front and a conical shell at the middle and rear. The water filtering mechanism is two groups of water filtering holes symmetrically opened on both sides of the middle and rear of the fish head. Each group of the water filter holes comprises a plurality of water filter holes arranged in sequence from front to back, the water filter holes are long holes extending vertically, the upper and lower ends of the water filter holes are pointed and bent toward the rear, and the length of each water filter hole in the same group decreases in sequence from front to back; The inner side of the fish head is paved with first ultrafiltration membranes having the same number as the water filtering holes and corresponding positions, each first ultrafiltration membrane covers the corresponding water filtering hole, and the outer edge thereof is fixedly attached to the inner side wall of the fish head; The inner side of the middle and rear part of the fish head is a conical cavity which is thick in the front and thin in the back. The silicone rubber sheet is close to the bottom of the conical cavity, and its left and right sides are bent upward and attached to the inner wall of the conical cavity. A mesh made of shape memory alloy is embedded inside the silicone rubber sheet, and the mesh is electrically connected to the electric heating device. The shape of the mesh changes after being heated, causing the front part of the silicone rubber sheet to rise and curl backward, scraping off the microplastics on the side wall of the first ultrafiltration membrane and allowing them to enter the collection bin with the water flow. After the mesh cools down, the silicone rubber sheet returns to its original shape.

6. The basking shark-like microplastic collection robot according to claim 1, characterized in that: The rotary valve assembly comprises a fixing plate, a valve plate and a third servo motor, wherein the fixing plate is arranged vertically, and an outer edge thereof is fixedly and sealedly connected to an inner wall of a rear end of the fish head; A circular boss integrally formed with the fixing plate is provided at the center of the rear side wall thereof, two fan-shaped water inlets are provided on the circular boss, the two fan-shaped water inlets are symmetrically arranged with the center of the circular boss as the center axis, and a sealing rubber layer is provided on the rear side wall of the circular boss; The valve plate includes a central rotating shaft and two fan-shaped plate bodies. The central rotating shaft is longitudinally arranged at the center of the circular boss and rotates with it. The two fan-shaped plate bodies are located at the rear side of the circular boss and are symmetrically arranged on both sides of the central rotating shaft and connected with it to form an integral structure. The side of the fan-shaped plate body away from the central rotating shaft has an arc slide rail formed by bending backwards. The arc slide rails of each fan-shaped plate body are slidably matched with the side walls of the circular boss. The third servo motor is arranged in the collection bin, and its output shaft is coaxially fixedly connected to the rear end of the central rotating shaft to drive the valve plate to open or close the fan-shaped water inlet.

7. The basking shark-like microplastic collection robot according to claim 1, characterized in that: The inner side of the trunk is provided with vertically arranged partitions, which divide the internal cavity of the trunk into independent collection compartments and equipment compartments; The filter assembly includes a filter plate and a second ultrafiltration membrane, wherein the filter plate is arranged on the front side of the partition plate and parallel to the partition plate, the filter plate has a plurality of filter holes distributed regularly, and the second ultrafiltration membrane is attached to the front side wall of the filter plate; The water inlet end of the water pump is connected to an inlet pipe, the end of the inlet pipe passes through the partition and is connected to the rear of the collection bin. The water outlet end of the water pump is connected to a drain pipe, the end of the inlet pipe is located outside the trunk. When in working condition, the water pump discharges the water in the collection bin.

8. The basking shark-like microplastic collection robot according to claim 1, characterized in that: The fishtail drive assembly includes a U-shaped frame and a double-axis steering gear, wherein the double-axis steering gear is fixed to the inside of the annular housing through a motor bracket, the U-shaped frame is located at the front side of the double-axis steering gear, and its two ends are respectively fixedly connected to the two output shafts of the double-axis steering gear, and the double-axis steering gear drives the U-shaped frame to swing back and forth; The front side of the U-shaped frame inside the front tail section is fixedly connected to the rear end of the trunk, the front side of the U-shaped frame inside the middle tail section is fixedly connected to the motor bracket inside the front tail section, and the front end of the rear tail section is fixedly connected to the motor bracket inside the middle tail section. There are two dorsal fins, which are fixedly arranged at the top of the trunk and the top of the middle tail section respectively. In addition, an anal fin is also arranged at the bottom of the middle tail section. The rear end of the rear tail section is vertically grooved, and the tail fin is a sickle-shaped flat plate, the lower front side of which is plugged and fixedly connected to the rear end of the rear tail section to form a whole.

9. A multi-modal switching control method for a basking shark-like microplastic collection robot, characterized in that: Applied to a basking shark-like microplastic collection robot as claimed in any one of claims 1 to 8, the multi-mode switching control method comprises the following steps: Step 1: The basking shark-like microplastic collection robot has motion modes and intermediate transient modes. The motion modes include linear motion modes, turning motion modes, and floating and sinking motion modes. When the basking shark-like microplastic collection robot collects microplastic particles from the starting point to the end point along a given path, the basking shark-like microplastic collection robot performs multiple motion modes in the given path; The basking shark-like microplastic collection robot executes the first motion mode. After executing the first motion mode, the basking shark-like microplastic collection robot switches to the intermediate transient mode. Step 2: Before the basking shark-like microplastic collection robot switches from the intermediate transient mode to the next motion mode, it is necessary to determine whether the current position, speed, and attitude angle of the basking shark-like microplastic collection robot falls within the interval of the position, speed, and attitude angle initially set for the next motion mode. If the current position, speed, and attitude angle of the basking shark-like microplastic collection robot falls within the interval of the position, speed, and attitude angle initially set for the next motion mode, the basking shark-like microplastic collection robot switches from the intermediate transient mode to the next motion mode; Step 3: After executing the next motion mode, the basking shark-like microplastic collection robot enters the intermediate transient mode and repeats steps 2 and 3 until the basking shark-like microplastic collection robot reaches the end point.

10. The multi-modal switching control method of a basking shark-like microplastic collecting robot according to claim 9, characterized in that: The linear motion mode, turning motion mode and floating motion mode are all trained separately using the model-free adaptive control method. The specific process is as follows: Step a: setting the expected path trajectory of the basking shark-like microplastic collection robot to obtain the expected position, speed and attitude angle of the basking shark-like microplastic collection robot; Step b: After the basking shark-like microplastics collecting robot performs the set action, the current position, speed and attitude angle of the basking shark-like microplastics collecting robot are obtained; Step c: performing difference calculation between the current position, speed and attitude angle of the basking shark-like microplastic collection robot and the expected position, speed and attitude angle to obtain error information, wherein the error information includes position error, speed error and attitude angle error; Step d: According to the error information, the controller of the basking shark-like microplastic collection robot generates a new control instruction, and the new control instruction controls the basking shark-like microplastic collection robot to perform an action; Step e: Repeat steps b to d so that the error information gradually decreases until the basking shark-like microplastic collection robot can move along the desired path trajectory.

Images