Sea floating garbage sorting device

Abstract

The invention provides a sea floating garbage sorting device. The sea floating garbage sorting device comprises a main hull, a soft pneumatic gripper, a central holder and a cable parallel driving mechanism; the soft pneumatic gripper comprises a plurality of clamping jaw groups which are connected through an umbrella film, and the soft pneumatic gripper is used for gripping the sea floating garbage in the collecting cabin; the mooring rope parallel driving mechanism is arranged on the main ship body and comprises a main frame and a plurality of rope traction wheel sets arranged on the main frame, each rope traction wheel set comprises a mooring rope and a length adjusting assembly fixed to the main frame, and the length adjusting assemblies are used for controlling the mooring rope to stretch out and draw back. The position of the center holder linkage soft pneumatic gripper in the space of the main frame is changed. According to the sea floating garbage sorting device, sea floating garbage can be automatically classified, the cleaning efficiency is greatly improved, and the sea floating garbage sorting device can adapt to the complex working environment; the soft pneumatic tongs can conduct self-adaptive grabbing according to the shape and size of the sea floating garbage, the attaching degree with the surface of the sea floating garbage is high, and adaptability is high.

Description

Technical Field

[0001] The present invention relates to the technical field of marine garbage cleaning, and in particular to a marine floating garbage sorting device. Background Art

[0002] With the acceleration of the global industrialization process, the production and consumption of various industrial products have also shown a sharp growth trend. A large part of the various types of garbage generated in human life and production processes enters the ocean through various channels and becomes marine debris. How to efficiently collect and treat marine debris has become a research hotspot in related fields.

[0003] The existing marine debris sorting equipment is relatively fixed in structure and lacks flexibility, making it difficult to adapt to the ever-changing types and distribution of marine debris. This results in poor operating capabilities under different seawater environmental conditions. It is unable to flexibly and stably navigate to the marine debris and effectively sort the debris, and can only roughly collect the debris. Summary of the invention

[0004] The present disclosure provides a marine garbage sorting device to at least solve the above technical problems existing in the prior art.

[0005] The marine floating garbage sorting device according to the present disclosure comprises: The main hull includes two relatively arranged single hulls, with a collection cabin and a plurality of storage cabins arranged between the two single hulls; A soft pneumatic gripper, comprising a plurality of groups of grippers connected by umbrella membranes, the soft pneumatic gripper being used to grab the floating marine garbage in the collection cabin; A central gimbal, comprising a gimbal frame, an air pump, a controller, and a solenoid valve group connected to the air pump, wherein the air pump, the controller, and the solenoid valve group are fixed to the gimbal frame, the air pump and the solenoid valve group are electrically connected to the controller, the controller is configured to set a grasping mode according to the shape of the marine debris, the soft pneumatic gripper is disposed at the lower end of the gimbal frame, the solenoid valve group is connected to the clamping jaw group, and is used to control the opening, closing, and grasping force of the soft pneumatic gripper; and A cable parallel drive mechanism is arranged on the main hull, the cable parallel drive mechanism comprises a main frame and a plurality of rope traction wheel groups arranged on the main frame, the rope traction wheel group comprises a cable and a length adjustment component fixed on the main frame, one end of the cable is connected to the length adjustment component, and the other end of the cable is connected to the pan / tilt frame, and the length adjustment component is used to control the extension and retraction of the cable to change the position of the central pan / tilt within the main frame space; Among them, a target recognition component is provided on the main frame, which is used to detect marine garbage and generate navigation track information. The main hull is connected to the target recognition component to receive the navigation track information and navigate to the location of the marine garbage; the soft pneumatic gripper includes a sorting and recognition component, which is used to detect the shape of marine floating garbage and generate shape information. The controller is electrically connected to the sorting and recognition component to receive the shape information and generate grabbing information for transmission to the solenoid valve group.

[0006] In one possible implementation, the length adjustment assembly includes a universal wheel assembly, a fixed wheel assembly and a power component assembly, one end of the cable is connected to the power component assembly, the other end of the cable passes through the fixed wheel assembly and the universal wheel assembly in sequence to be connected to the pan-tilt frame, and the universal wheel assembly is arranged at the corner of the main frame.

[0007] In one possible implementation manner, the central gimbal further includes a gimbal servo electrically connected to the controller, the gimbal servo being installed at the lower end of the gimbal frame via a fixed bracket, the gimbal servo being connected to the soft pneumatic gripper for controlling the horizontal rotation of the soft pneumatic gripper.

[0008] In one possible implementation manner, the solenoid valve group includes a plurality of single solenoid valves, and the plurality of single solenoid valves are connected to the plurality of groups of the clamping jaw groups in a one-to-one correspondence, and the single solenoid valves are used to control the bending and restoration of the clamping jaw groups.

[0009] In one possible implementation manner, the jaw group is connected to the single solenoid valve via a silicone tube, and each jaw group includes a plurality of soft jaws, and the plurality of soft jaws are connected to the silicone tube so that the single solenoid valve controls the plurality of soft jaws to bend or restore synchronously.

[0010] In one embodiment, the soft gripper includes an air capsule, a strain limiting layer and a palm surface, the air capsule drives the overall deformation of the soft gripper through expansion and contraction, the strain limiting layer is in contact with the outer side of the lower wall of the air capsule, and the palm surface is connected to the strain limiting layer.

[0011] In one possible implementation manner, a plurality of protrusions are provided on the side of the palm surface that contacts the marine debris.

[0012] In one possible implementation manner, a baffle servo and a baffle connected to the baffle servo are disposed at the front end of the collection chamber, and the baffle servo is used to control the opening and closing of the baffle.

[0013] In the present disclosure, the marine debris sorting device can automatically classify marine debris through the coordinated work of the central pan-tilt head and the cable parallel drive mechanism, thereby greatly improving the cleaning efficiency. Compared with the traditional rigid robotic arm, the cable parallel drive mechanism can operate over a long distance and a large range due to its tension control characteristics, and can adapt to complex working environments; the soft pneumatic gripper can adaptively grasp the marine debris according to its shape and size, and has a high degree of fit with the surface of the marine debris and strong adaptability; the main hull adopts a double hull structure, which increases the overall stability of the device on the sea surface, ensures stability during operation, and ensures normal operation even in harsh marine environments.

[0014] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present disclosure, nor is it intended to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The above and other objects, features and advantages of the exemplary embodiments of the present disclosure will become readily understood by reading the detailed description below with reference to the accompanying drawings. In the accompanying drawings, several embodiments of the present disclosure are shown in an exemplary and non-limiting manner, in which: In the drawings, the same or corresponding reference numerals represent the same or corresponding parts.

[0016] Figure 1 The overall structure schematic diagram of a floating garbage sorting device according to an exemplary embodiment of the present disclosure is shown; Figure 2 A schematic structural diagram of a main hull of a marine garbage sorting device according to an exemplary embodiment of the present disclosure is shown; Figure 3 A schematic diagram showing the structure of a soft pneumatic gripper of a marine garbage sorting device according to an exemplary embodiment of the present disclosure is shown; Figure 4 A schematic structural diagram of a central pan-tilt platform of a marine garbage sorting device according to an exemplary embodiment of the present disclosure is shown; Figure 5 A schematic diagram showing the structure of a cable parallel drive mechanism of a marine floating garbage sorting device according to an exemplary embodiment of the present disclosure is shown; Figure 6 A schematic structural diagram of a universal wheel assembly of a marine garbage sorting device according to an exemplary embodiment of the present disclosure is shown; Figure 7 A schematic structural diagram of a fixed wheel assembly of a marine garbage sorting device according to an exemplary embodiment of the present disclosure is shown; Figure 8 A schematic structural diagram of a power component assembly of a marine garbage sorting device according to an exemplary embodiment of the present disclosure is shown; Fig. 9A schematic diagram showing the structure of a soft gripper of a marine garbage sorting device according to an exemplary embodiment of the present disclosure is shown; Fig.10 A partially enlarged view of a marine debris sorting device according to an exemplary embodiment of the present disclosure is shown.

[0017] Explanation of the numbers in the figure: 1. Main hull; 2. Soft pneumatic gripper; 3. Center pan-tilt; 4. Cable parallel drive mechanism; 5. Target recognition component; 6. Sorting recognition component; 11. Single hull; 12. Collection cabin; 13. Storage cabin; 14. Baffle servo; 15. Baffle; 16. Fixed rod; 17. Beam; 21. Umbrella film; 22. Gripper group; 30. Fixer; 31. Pan-tilt frame; 32. Air pump; 33. Controller; 34. Solenoid valve group; 35. Pan-tilt servo; 36. Fixed bracket; 37. Fastener; 38. Flange; 39. Silicone tube; 40. Air pipe; 41. Main frame; 42. Rope traction wheel group; 221. Soft gripper; 341. Single solenoid valve; 421. Cable; 422. Length adjustment assembly; 2211. Air chamber; 2212. Strain limiting layer; 2213. Palm surface; 2214. Clamp; 4221. Universal wheel assembly; 4222. Fixed wheel assembly; 4223. Power component assembly; 42211. First L-shaped bracket; 42212. Steering module; 42213. First U-shaped bracket; 42214. First roller; 42221. Second U-shaped bracket; 42222. Second roller; 42223. Fastening bolt; 42231. Servo motor; 42232. Second L-shaped bracket; 42233. Rotating shaft; 42234. Third roller. DETAILED DESCRIPTION

[0018] In order to make the purpose, features, and advantages of the present disclosure more obvious and easy to understand, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present disclosure.

[0019] The embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings.

[0020] Reference Figure 1~Figure 5As shown, a floating garbage sorting device of an exemplary embodiment of the present disclosure includes a main hull 1, a soft pneumatic gripper 2, a central pan / tilt 3, and a cable parallel drive mechanism 4. The main hull 1 includes two relatively arranged single hulls 11, and a collection cabin 12 and a plurality of storage cabins 13 are arranged between the two single hulls 11; the soft pneumatic gripper 2 includes a plurality of groups of gripper groups 22 connected by umbrella membranes 21, and the soft pneumatic gripper 2 is used to grab floating garbage in the collection cabin 12. The central pan-tilt head 3 includes a pan-tilt head frame 31, an air pump 32, a controller 33 and a solenoid valve group 34 connected to the air pump 32. The air pump 32, the controller 33 and the solenoid valve group 34 are fixed on the pan-tilt head frame 31. The air pump 32 and the solenoid valve group 34 are electrically connected to the controller 33. The controller 33 is configured to set the grasping mode according to the shape of the marine debris. The soft pneumatic gripper 2 is arranged at the lower end of the pan-tilt head frame 31. The solenoid valve group 34 is connected to the clamping claw group 22 for controlling the opening, closing and grasping force of the soft pneumatic gripper 2. The cable parallel drive mechanism 4 is arranged on the main hull 1, and the cable parallel drive mechanism 4 includes a main frame 41 and multiple rope traction wheel groups 42 arranged on the main frame 41. The rope traction wheel group 42 includes a cable 421 and a length adjustment component 422 fixed on the main frame 41. One end of the cable 421 is connected to the length adjustment component 422, and the other end of the cable 421 is connected to the pan-tilt frame 31. The length adjustment component 422 is used to control the extension and retraction of the cable 421 to change the position of the central pan-tilt 3 linked soft pneumatic gripper 2 in the space of the main frame 41.

[0021] In this embodiment, the floating garbage sorting device is applied to the sea, and can automatically find, collect and classify floating garbage, thereby improving the efficiency and automation of floating garbage cleaning. The collecting cabin 12 is located at the front end of the main hull 1, and is used to temporarily store floating garbage collected from the sea surface, and multiple storage cabins 13 are used to classify and store different types of floating garbage. Two single hulls 11 are arranged on both sides of the collecting cabin 12 and the storage cabin 13. The two single hulls 11 together form a double hull structure for the main hull 1. Due to the complex and changeable marine environment, factors such as wind, waves, and currents will have a greater impact on the offshore operation device. Therefore, this double hull structure greatly improves the lateral stability of the main hull 1. When encountering side winds or side waves, the two single hulls 11 can disperse the force, so that the main hull 1 is not easy to tilt, which ensures the stability of the device during operation, and also ensures the normal operation of the soft pneumatic gripper 2 and the central gimbal 3 and other mechanisms, and prevents grasping and sorting errors caused by unstable hulls. In addition, this structure optimizes the spatial layout, improves the space utilization rate of the main hull 1, can carry more equipment and collected sea floating garbage, and makes garbage sorting and storage more orderly, which is convenient for subsequent processing and transportation. Preferably, there are four storage compartments 13, and the four storage compartments 13 can be divided into recyclable garbage storage compartments, kitchen waste storage compartments, other garbage storage compartments and hazardous waste storage compartments according to the type of sea floating garbage. The four storage compartments 13 are close to each other, which can realize the classification and treatment of garbage and achieve environmental protection effects. The design of the umbrella film 21 can make the clamping claw group 22 more flexible when opening and closing, and can adapt to sea floating garbage of different shapes and sizes. The cooperation of the clamping claw group 22 and the umbrella film 21 can better fit the surface of the sea floating garbage and improve the stability of grasping. The air pump 32 of the central platform 3 provides an air source for the soft pneumatic gripper 2. The controller 33 adjusts the air pressure provided by the air pump 32 by controlling the on and off of the electromagnetic valve group 34 according to the shape, size and other information of the floating garbage at sea, thereby realizing the opening and closing actions of the soft pneumatic gripper 2 and the precise control of the gripping force, thereby ensuring that the best gripping effect can be achieved when grabbing different types of floating garbage at sea. During the operation of the cable parallel drive mechanism 4, the length adjustment component 422 controls the extension and retraction of the cable 421 according to the instructions of the controller 33. Through the coordinated work of multiple groups of rope traction wheel groups 42, the position of the central platform 3 in three-dimensional space can be accurately controlled, so that the soft pneumatic gripper 2 can accurately reach different positions in the collection cabin 12 to grab the floating garbage at sea, and classify it and place it in the corresponding storage cabin 13.

[0022] In summary, the floating garbage sorting device disclosed in the present invention can automatically classify floating garbage at sea through the coordinated work of the central pan-tilt platform 3 and the cable parallel drive mechanism 4, thereby greatly improving the cleaning efficiency. Compared with the traditional rigid robotic arm, the cable parallel drive mechanism 4 can operate at a long distance and a large range due to its tension control characteristics, and can adapt to complex working environments; the soft pneumatic gripper 2 can adaptively grasp the floating garbage at sea according to its shape and size, and has a high degree of fit with the surface of the floating garbage at sea and strong adaptability; the main hull 1 adopts a double hull structure, which increases the overall stability of the device on the sea surface, ensures stability during operation, and ensures normal operation even in harsh marine environments.

[0023] Reference Figure 6~Figure 8 As shown, in one embodiment, the length adjustment component 422 includes a universal wheel assembly 4221, a fixed wheel assembly 4222 and a power component assembly 4223, one end of the cable 421 is connected to the power component assembly 4223, and the other end of the cable 421 passes through the fixed wheel assembly 4222 and the universal wheel assembly 4221 in sequence to be connected to the pan-tilt frame 31, and the universal wheel assembly 4221 is arranged at the corner of the main frame 41.

[0024] In this embodiment, the universal wheel assembly 4221 includes a first L-shaped bracket 42211, a first U-shaped bracket 42213 rotatably connected to the first L-shaped bracket 42211 through a steering module 42212, and a first roller 42214 disposed on the first U-shaped bracket 42213. The universal wheel assembly 4221 and the fixed wheel assembly 4222 both play a force transmission role, and the universal wheel assembly 4221 can rotate under the horizontal component of the cable 421 until it reaches the balance point of the force and stops. The fixed wheel assembly 4222 includes a second U-shaped bracket 42221 and a second roller 42222, and the second roller 42222 is connected to the second U-shaped bracket 42221 through a fastening bolt 42223. The fixed wheel assembly 4222 is mainly used to stabilize the direction of the cable 421, provide a reliable fulcrum for the cable 421, and ensure that the cable 421 maintains a relatively stable trajectory during the extension and retraction process, thereby ensuring the stability and accuracy of the center gimbal 3 when moving. The power component assembly 4223 includes a servo motor 42231, a second L-shaped bracket 42232, a rotating shaft 42233 and a third roller 42234. The servo motor 42231 controls the rotating shaft 42233 to drive the third roller 42234 to rotate, thereby controlling the extension and retraction of the cable 421. The power component assembly 4223, as the power source of the length adjustment component 422, is directly connected to one end of the cable 421. When the control system of the marine garbage sorting device issues an instruction to adjust the position of the central pan / tilt 3, the power component assembly 4223 responds first, and the servo motor 42231 accurately controls the extension and retraction length of the cable 421 according to the instruction. During the extension and retraction of the cable 421, the fixed wheel assembly 4222 always stably supports the cable 421 to ensure that it moves along a predetermined trajectory; the universal wheel assembly 4221 flexibly adjusts the direction of the cable 421 according to the movement requirements of the central gimbal 3, so that the central gimbal 3 can move freely in three-dimensional space and accurately locate the position of the marine debris in the collection cabin 12.

[0025] Preferably, the number of rope traction wheel groups 42 is eight, that is, the cable parallel drive mechanism 4 has eight independent cables 421, and there are eight sets of universal wheel assemblies 4221, fixed wheel assemblies 4222 and power component assemblies 4223, respectively. Eight fixtures 30 for fixing the cables 421 are welded on the central platform 3, and the front end of each cable 421 is connected to the fixture 30, and the rear end is wound on the third roller 42234. It can be understood that the main frame 41 has four vertical support rods, and the main frame 41 includes eight corners. Accordingly, eight universal wheel assemblies 4221 are arranged at the eight corners of the main frame 41 in a one-to-one correspondence, and two power component assemblies 4223 are arranged on each vertical support rod. The fixed wheel assembly 4222 in each set of rope traction wheel groups 42 is arranged on the vertical support rod and is located between the power component assembly 4223 and the universal wheel assembly 4221. The cables 421 are always in tension. In a static state, the center platform 3 is pulled by the eight cables 421, and is thus in a force balance state. In a moving state, the power component assembly 4223 controls the expansion and contraction of the cables 421, thereby driving the center platform 3 to move in the direction of the combined force of the tension of the eight cables 421. Through the cooperation of the eight groups of rope traction wheel groups 42, the center platform 3 and the soft pneumatic gripper 2 can always remain in a horizontal direction, and the grasping process is stable.

[0026] Reference Figure 4 and Fig.10 As shown, in one embodiment, the central gimbal 3 also includes a gimbal servo 35 electrically connected to the controller 33. The gimbal servo 35 is installed at the lower end of the gimbal frame 31 through a fixed bracket 36. The gimbal servo 35 is connected to the soft pneumatic gripper 2 for controlling the horizontal rotation of the soft pneumatic gripper 2.

[0027] In this embodiment, the pan-tilt servo 35 is mounted on the fixed bracket 36 through the fastener 37, the fixed bracket 36 is fixed on the pan-tilt frame 31, and the soft pneumatic gripper 2 is provided with a clamp 2214, which is connected to the pan-tilt servo 35 through the flange 38. The pan-tilt servo 35 is provided to better control the contact point so that the soft pneumatic gripper 2 can rotate horizontally.

[0028] In one embodiment, the solenoid valve group 34 includes multiple single solenoid valves 341, and the multiple single solenoid valves 341 are connected one-to-one with the multiple groups of jaw groups 22. The single solenoid valve 341 is used to control the bending and recovery of the jaw group 22. The solenoid valve group 34 is connected to the air pump 32 by an air pipe 40.

[0029] Further, refer to Fig. 9As shown, in one embodiment, the jaw group 22 is connected to the single solenoid valve 341 through a silicone tube 39, and each jaw group 22 includes a plurality of soft jaws 221, and the plurality of soft jaws 221 are connected to the silicone tube 39. The silicone tube 39 mainly serves to transport gas and connect the soft pneumatic gripper 2 and the flange 38 together, so that the single solenoid valve 341 controls the synchronous bending or recovery of the plurality of soft jaws 221.

[0030] In this embodiment, when the controller 33 issues an instruction, the single solenoid valve 341 controls the on / off and flow rate of the gas to achieve precise control of the state of the jaw group 22. For example, when the jaw group 22 needs to bend to grab the floating garbage, the single solenoid valve 341 opens, and the gas enters the jaw group 22 to bend it; when the jaw group 22 needs to recover and release the floating garbage, the single solenoid valve 341 closes, the gas is discharged, and the jaw group 22 returns to its original state. Since the multiple soft jaws 221 in each jaw group 22 are connected to the silicone tube 39 and controlled by a single solenoid valve 341, this connection method enables the single solenoid valve 341 to control the synchronous bending or recovery of multiple soft jaws 221. When the single solenoid valve 341 is opened, the gas enters each soft jaw 221 through the silicone tube 39. Since the soft jaws 221 are elastic, they will bend synchronously under the action of gas pressure, thereby achieving the capture of marine debris. When the single solenoid valve 341 is closed, the gas is discharged from the soft jaws 221, and the soft jaws 221 will recover synchronously under the action of their own elasticity, releasing the captured marine debris.

[0031] Preferably, the number of single solenoid valves 341 in the solenoid valve group 34 is three, and accordingly, the number of groups of the clamping jaws 22 is also three. For example, each clamping jaw group 22 has two relatively arranged soft clamping jaws 221, and the two soft clamping jaws 221 are located on the same straight line. Therefore, the soft pneumatic gripper 2 includes a total of six soft clamping jaws 221, which are connected together by the umbrella film 21 to form a regular hexagonal structure, so that the sea floating garbage to be grasped is more tightly wrapped. Each group of clamping jaws 22 is controlled by an independent single solenoid valve 341 to control the inflation and deflation of air, so that its movement is more flexible and diverse to adapt to sea floating garbage of different types and hardness. After the controller 33 transmits the instruction to the solenoid valve group 34, it controls the valve gas circuit switch of the three single solenoid valves 341, and at the same time, the air pump 32 starts to supply air, so that the corresponding clamping jaw group 22 is bent, thereby grasping the garbage. In order to better control the contact point, a pan-tilt servo 35 is provided so that the soft pneumatic gripper 2 can rotate horizontally. After the air supply is stopped, the gas in the soft clamping jaw 221 will leak out along the pipeline until the internal and external air pressures are balanced.

[0032] In one embodiment, the soft clamp 221 includes an air capsule 2211, a strain limiting layer 2212 and a palm surface 2213. The air capsule 2211 drives the overall deformation of the soft clamp 221 by expansion and contraction. The strain limiting layer 2212 is in contact with the outer side of the lower wall of the air capsule 2211, and the palm surface 2213 is connected to the strain limiting layer 2212.

[0033] In this embodiment, the soft clamp 221 is cast from silicone, and the soft clamp 221 can be specifically a pneumatic actuator. The air chamber 2211 is located inside the soft clamp 221, and the air chamber 2211 is the core part that provides power and realizes deformation. After the air chamber 2211 inside the soft clamp 221 is inflated, the thinner bulkhead between the protrusions of the soft clamp 221 expands under the action of air pressure, so the bulkhead comes into contact, causing the soft clamp 221 to bend. The strain limiting layer 2212 can be fixed to the outer side of the lower wall of the air chamber 2211 by pasting, sewing, etc., and the bending effect of the soft clamp 221 can be effectively increased by setting the strain limiting layer 2212 made of thermoplastic polyurethane with a smaller Young's modulus than silicone. The palm surface 2213 transmits the force generated by the air chamber 2211 to the grasped object, and realizes the grasping and carrying of the object through contact and friction with the surface of the object.

[0034] In one embodiment, a plurality of protrusions are provided on the palm surface 2213 on the side in contact with the marine debris.

[0035] In this embodiment, the palm surface 2213 is the part that is in direct contact with the grasped object, and its surface material and shape design usually take into account increasing friction and adaptability to better grasp and stabilize the object. Therefore, it is preferred to provide multiple protrusions on the palm surface 2213, which can effectively increase the contact area with the object and improve the grasping efficiency.

[0036] In one embodiment, a target recognition component 5 is also provided on the main frame 41 for detecting marine garbage and generating navigation track information. The main hull 1 is connected to the target recognition component 5 to receive the navigation track information and navigate to the location of the marine garbage.

[0037] In this embodiment, the target recognition component 5 generally includes a high-definition camera, an image recognition module, and a sensor. The high-definition camera is responsible for collecting sea surface images. The image recognition module uses an advanced image recognition algorithm to analyze the collected images and identify the location, shape, size, and other information of the floating garbage at sea. The sensor is used to detect the position, heading, speed, and other parameters of the device itself. Through the comprehensive processing of these data, the target recognition component 5 generates accurate navigation track information. After receiving the information, the main hull 1 automatically adjusts the heading and speed according to the preset navigation algorithm and sails to the location of the marine garbage. In this process, the power system and navigation system of the main hull 1 work closely with the target recognition component 5 to ensure the accuracy and efficiency of navigation. When the main hull 1 reaches the garbage location, the garbage is collected into the collection cabin 12, and then the soft pneumatic gripper 2 performs the sorting operation. It should be noted that marine garbage refers to garbage floating on the sea surface that has not been collected into the collection cabin 12, and the garbage that has been collected into the collection cabin 12 is called floating garbage at sea.

[0038] In one embodiment, the soft pneumatic gripper 2 also includes a sorting and identification component 6 for detecting the shape of marine debris and generating shape information. The controller 33 is electrically connected to the sorting and identification component 6 to receive the shape information and generate grabbing information to transmit to the solenoid valve group 34.

[0039] In this embodiment, the sorting and identification component 6 is arranged at the lower end of the clamp 2214 of the soft pneumatic gripper 2. The sorting and identification component 6 is generally composed of a variety of sensors, such as visual sensors and tactile sensors. The visual sensor can be a high-definition camera, a 3D imaging camera, etc. The visual sensor takes the image of the floating garbage in the collection chamber 12, analyzes the outline, size and other information of the garbage using the image recognition algorithm, and preliminarily determines its shape; when the tactile sensor contacts the garbage, it further confirms the shape details of the floating garbage, such as whether there are edges and corners, the smoothness of the surface, etc., according to the force feedback. These sensors integrate the detected information to generate accurate shape information. After receiving the shape information, the controller 33 quickly analyzes and processes it, generates accurate grasping information and sends it to the solenoid valve group 34. The solenoid valve group 34 controls the on-off and flow of the gas according to the grasping information, accurately adjusts the action of the gripper group 22, and realizes the efficient grasping of floating garbage of different shapes, which greatly improves the grasping accuracy.

[0040] In one embodiment, a baffle servo 14 and a baffle 15 connected to the baffle servo 14 are disposed at the front end of the collection chamber 12 , and the baffle servo 14 is used to control the opening and closing of the baffle 15 .

[0041] In this embodiment, the main hull 1 also includes a plurality of fixing rods 16 and a crossbeam 17, which are used to tightly fix the two single hulls 11, the collection cabin 12 and the plurality of storage cabins 13. When the main hull 1 approaches the floating garbage at sea under the guidance of the target recognition component 5, the control system on the main hull 1 sends a command to the baffle steering engine 14 to drive the baffle 15 to open. At this time, the front end of the collection cabin 12 is open, and the main hull 1 moves forward, so that the marine garbage can be collected into the collection cabin 12. The bottom of the collection cabin 12 is hollowed out, which can reduce the weight of the device as a whole and prevent water accumulation in the cabin. After collecting a certain amount of marine garbage, the baffle 15 is closed and the sorting of marine garbage begins. Specifically, the sorting recognition component 6 identifies the floating garbage in the collection cabin 12, and the cable parallel drive mechanism 4 moves the soft pneumatic gripper 2 to the top of the garbage. At this time, the controller 33 starts to set the grabbing form of the soft pneumatic gripper 2 according to the shape of the garbage, and clamps the floating garbage at sea and places it in the corresponding storage cabin 13. When the storage compartment 13 is filled, the main hull 1 starts to return, and after the storage compartment 13 is emptied, the next stage of the marine debris sorting task is continued.

[0042] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps recorded in this disclosure can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solutions disclosed in this disclosure can be achieved, and this document does not limit this.

[0043] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present disclosure, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0044] The above is only a specific embodiment of the present disclosure, but the protection scope of the present disclosure is not limited thereto. Any person skilled in the art who is familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present disclosure, which should be included in the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be based on the protection scope of the claims.

Claims

1. A floating garbage sorting device, characterized in that: include: The main hull (1) comprises two single hulls (11) arranged opposite to each other, and a collection cabin (12) and a plurality of storage cabins (13) are arranged between the two single hulls (11); A soft pneumatic gripper (2), comprising a plurality of groups of gripper claws (22) connected via umbrella membranes (21), the soft pneumatic gripper (2) being used to grab the marine debris in the collection chamber (12); A central gimbal (3) comprises a gimbal frame (31), an air pump (32), a controller (33) and a solenoid valve group (34) connected to the air pump (32); the air pump (32), the controller (33) and the solenoid valve group (34) are fixed to the gimbal frame (31); the air pump (32) and the solenoid valve group (34) are electrically connected to the controller (33); the controller (33) is configured to set a grasping mode according to the shape of the marine debris; the soft pneumatic gripper (2) is arranged at the lower end of the gimbal frame (31); the solenoid valve group (34) is connected to the clamping claw group (22) and is used to control the opening and closing of the soft pneumatic gripper (2) and the grasping force; as well as A cable parallel drive mechanism (4) is arranged on the main hull (1), the cable parallel drive mechanism (4) comprises a main frame (41) and a plurality of rope traction wheel groups (42) arranged on the main frame (41), the rope traction wheel group (42) comprises a cable (421) and a length adjustment component (422) fixed on the main frame (41), one end of the cable (421) is connected to the length adjustment component (422), and the other end of the cable (421) is connected to the pan / tilt frame (31), and the length adjustment component (422) is used to control the extension and retraction of the cable (421) to change the position of the central pan / tilt (3) in the space of the main frame (41); The main frame (41) is provided with a target recognition component (5) for detecting marine garbage and generating navigation track information. The main hull (1) is connected to the target recognition component (5) to receive the navigation track information and navigate to the location of the marine garbage. The soft pneumatic gripper (2) includes a sorting recognition component (6) for detecting the shape of marine garbage and generating shape information. The controller (33) is electrically connected to the sorting recognition component (6) to receive the shape information and generate grabbing information for transmission to the solenoid valve group (34).

2. The floating garbage sorting device according to claim 1 is characterized in that: The length adjustment component (422) comprises a universal wheel assembly (4221), a fixed wheel assembly (4222) and a power component assembly (4223); one end of the cable (421) is connected to the power component assembly (4223); the other end of the cable (421) passes through the fixed wheel assembly (4222) and the universal wheel assembly (4221) in sequence to be connected to the pan / tilt frame (31); the universal wheel assembly (4221) is arranged at a corner of the main frame (41).

3. The floating garbage sorting device according to claim 1 is characterized in that: The central pan / tilt platform (3) further comprises a pan / tilt platform servo (35) electrically connected to the controller (33); the pan / tilt platform servo (35) is mounted on the lower end of the pan / tilt platform frame (31) via a fixing bracket (36); the pan / tilt platform servo (35) is connected to the soft pneumatic gripper (2) and is used to control the horizontal rotation of the soft pneumatic gripper (2).

4. The floating garbage sorting device according to claim 1 is characterized in that: The solenoid valve group (34) comprises a plurality of single solenoid valves (341), the plurality of single solenoid valves (341) being connected to a plurality of groups of clamping jaw groups (22) in a one-to-one correspondence, and the single solenoid valves (341) are used to control the bending and restoration of the clamping jaw groups (22).

5. The floating garbage sorting device according to claim 4 is characterized in that: The clamping jaw group (22) is connected to the single solenoid valve (341) via a silicone tube (39); each clamping jaw group (22) comprises a plurality of soft clamping jaws (221); and the plurality of soft clamping jaws (221) are connected to the silicone tube (39) so that the single solenoid valve (341) controls the plurality of soft clamping jaws (221) to bend or restore synchronously.

6. The floating garbage sorting device according to claim 5, characterized in that: The soft clamping jaw (221) comprises an air chamber (2211), a strain limiting layer (2212) and a palm surface (2213); the air chamber (2211) drives the overall deformation of the soft clamping jaw (221) through expansion and contraction; the strain limiting layer (2212) is in contact with the outer side of the lower wall of the air chamber (2211); and the palm surface (2213) is connected to the strain limiting layer (2212).

7. The floating garbage sorting device according to claim 6, characterized in that: A plurality of protrusions are arranged on the palm surface (2213) at a side in contact with the marine debris.

8. The floating garbage sorting device according to claim 1, characterized in that: A baffle servo (14) and a baffle (15) connected to the baffle servo (14) are provided at the front end of the collection chamber (12); the baffle servo (14) is used to control the opening and closing of the baffle (15).

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