A floating underwater garbage mechanical grabbing and cleaning robot

Abstract

The present invention discloses a floating underwater garbage mechanical grabbing and cleaning robot, which comprises a main frame, a buoyancy material layer connected to the top of the main frame, a long strip notch provided in the buoyancy material layer, an acoustic and photoelectric sensing system provided at a position on the top of the main frame corresponding to the long strip notch, and a plurality of underwater propeller thrusters provided on the main frame; a silo is provided inside the main frame, a garbage storage box is provided on the front side of the main frame, the silo is connected to the garbage storage box through a garbage transport system, and two mechanical arms are provided at the front end of the bottom of the main frame; the robot integrates advanced mechanical garbage collection technology, multi-sensor positioning technology, and intelligent control system technology, can effectively solve the collection problem of different types of garbage, and can perform efficient operations in complex underwater environments.

Description

Technical Field

[0001] The invention belongs to the technical field of robots, and in particular relates to a floating underwater garbage mechanical grabbing and cleaning robot. Background Art

[0002] Marine litter, particularly seabed litter, has become a major global environmental pollution problem. As global marine pollution worsens, the accumulation of seabed litter has become a serious source of pollution in the global marine ecosystem. Seabed litter primarily originates from marine fishing activities, ship pollution, coastal household waste, tourism, and other human activities. Seabed litter comprises a wide variety of items, including plastic bags, bottles, fishing nets, discarded wood, foam boxes, metal containers, glass bottles, and various tiny particles. According to the 2023 China Marine Ecological Status Bulletin, seabed litter pollution is becoming increasingly severe, with accumulation densities reaching 1,201 pieces per square kilometer in some areas, with plastic accounting for over 75% of this. The long-term accumulation of this litter on the seabed not only impacts the habitats of underwater organisms but also disrupts the functioning of the entire ecosystem. Long-term seabed litter accumulation, unable to degrade naturally, severely impacts the living environment of marine life and even affects human health through the food chain. Plastic litter, in particular, remains undegraded, causing significant water pollution and impacting the survival of aquatic plants and animals.

[0003] Currently, there are several main methods for cleaning up submarine debris: manual cleaning, mechanical cleaning, and automated cleaning systems. Manual cleaning relies on divers diving into the sea to manually pick up debris. While this method is suitable for small-scale cleaning tasks, the complex working environment makes manual cleaning not only labor-intensive and time-consuming, but also poses significant safety risks for divers operating in deep waters. Furthermore, manual cleaning cannot handle large-scale or deep-water cleaning tasks. Mechanical cleaning systems utilize underwater robotic arms or automated nets to collect debris. These devices are generally used for simpler collection tasks and lack the ability to cope with complex underwater environments. While mechanized cleaning equipment has made some progress in improving efficiency, the garbage collection devices of most existing systems suffer from small size and insufficient collection capacity. This is particularly true when dealing with large or dense debris, resulting in poor collection efficiency and low efficiency. Existing underwater robots typically use robotic arms or nets to collect debris. While these can accomplish cleaning tasks to a certain extent, the robotic collection devices are often limited in power and precision, making them incapable of handling large-scale and complex cleaning tasks.

[0004] With the development of science and technology, automated underwater cleaning equipment has gradually become a research hotspot for seabed garbage cleaning. Currently, some domestic and foreign companies and research institutions have developed underwater robots for marine garbage cleaning, such as unmanned submersibles and self-propelled underwater robots for collecting garbage on the sea surface or seabed. These robots have certain garbage identification and collection capabilities, but most equipment still has technical bottlenecks such as low cleaning efficiency, low degree of automation, and high disturbance. In existing technologies, garbage collection devices mostly rely on simple robotic arms or net bag systems, resulting in low garbage cleaning efficiency and limited collection capacity. In addition, the inevitable water flow disturbances during seabed operations will also affect the effectiveness of garbage cleaning, especially when faced with large and dense garbage, existing robots often cannot complete efficient collection. Summary of the Invention

[0005] The present invention provides a floating underwater garbage mechanical grabbing and cleaning robot, which can solve the problems existing in the prior art: 1. weak garbage collection ability and low efficiency; 2. high disturbance operation, which greatly interferes with the ecological environment; 3. insufficient equipment intelligence and low degree of automation.

[0006] To solve the above problems, the present invention provides the following technical solutions:

[0007] An embodiment of the present invention provides a floating underwater garbage mechanical grabbing and cleaning robot, comprising a main frame (6), a buoyancy material layer (10) connected to the top of the main frame (6), a long strip notch provided in the buoyancy material layer (10), an acoustic-photoelectric sensing system (1) provided at a position corresponding to the long strip notch on the top of the main frame (6), and a plurality of underwater propeller thrusters (2) provided on the main frame (6); a silo (7) provided inside the main frame (6), a garbage storage box (3) provided on the front side of the main frame (6), the silo (7) connected to the garbage storage box (3) via a garbage transport system (5), and two mechanical arms (4) provided at the front end of the bottom of the main frame (6).

[0008] In a preferred embodiment of the present invention, the robotic arm (4) is a multi-joint retractable mechanical grasping device. Through an intelligent sensor system and a control algorithm, each robotic arm (4) can independently retract and rotate, and can autonomously adjust the angle and height. It can also work in a collaborative manner to achieve accurate grasping and collection of target garbage. The adopted operation mode is: the two robotic arms (4) work independently as the main operation mode; when encountering a garbage target that is difficult to collect with a single robotic arm, the sensor system issues a warning prompt, and at this time the control program switches the robot's operation mode to a collaborative mode, and the two robotic arms (4) work in a collaborative manner, and by controlling the grasping angle and strength of the two robotic arms, the grasping of the target is completed together.

[0009] In a preferred embodiment of the present invention, the robotic arm (4) is provided with a shoulder joint, an elbow joint and a wrist joint, each joint having a wide range of deflection and pitch freedom and sufficient telescopic stroke, wherein the wrist joint can achieve 360° continuous rotation.

[0010] In a preferred embodiment of the present invention, the garbage storage box (3) is an inverted trapezoidal net bag structure, which is used to temporarily store the seabed garbage collected by the robotic arm (4); the garbage storage box (3) is equipped with a mass sensor to monitor the amount of garbage in the box in real time and determine whether it is necessary to start the garbage transportation system (5) through data feedback.

[0011] In a preferred embodiment of the present invention, a bent baffle (11) is provided on the top of the garbage storage box (3), which neither hinders the robot arm (4) from entering and exiting the garbage storage box (3) nor prevents garbage that has entered the garbage storage box (3) from escaping with the water flow.

[0012] In a preferred embodiment of the present invention, the silo (7) is a two-layer structure, and the upper layer of the silo (7) is equipped with multiple rows of gear-type crushing devices (9) for processing larger garbage. A controllable partition (8) is provided between the upper and lower layers of the silo (7), which is in a closed state before the crushing is completed. When the crushing process is completed, the controllable partition (8) opens downward, and the garbage fragments fall into the lower garbage storage layer of the silo (7). The lower garbage storage layer of the silo (7) is used to store the processed garbage fragments. A water filter grid is provided on the rear side of the silo (7) for filtering out excess water in the stored garbage, thereby ensuring smooth transportation, crushing, and storage.

[0013] In a preferred embodiment of the present invention, a capacity sensor is installed on the lower garbage storage layer of the silo (7) to monitor the quality and volume of the stored garbage in real time; when the available capacity of the storage layer is running low or the garbage mass of the storage layer exceeds the load capacity limited by the rated power of the robot, the operation is terminated and the robot returns to the mother ship.

[0014] In a preferred embodiment of the present invention, the garbage transport system (5) is composed of a transport pipeline and a hydraulic suction device. Whenever the garbage in the garbage storage box (3) reaches a target mass, the hydraulic suction device is automatically started to suck the garbage from the back of the garbage storage box (3) to the silo (7) through the transport pipeline; the transport pipeline is made of flexible material and can adapt to the shape and volume changes of different garbage, ensuring the stability and reliability of the garbage transport process; the hydraulic suction device does not work when the garbage in the garbage storage box (3) does not reach the target mass, saving energy and preventing mutual interference between the associated functional devices; wherein, the hydraulic suction device is a water pump.

[0015] In a preferred embodiment of the present invention, the plurality of underwater propeller thrusters (2) include four horizontal and four vertical electric propeller thrusters. Under the overall coordination of the intelligent controller, based on the signal feedback from the sensor, the robot can move accurately and quickly along a designated path near the seabed, and effectively avoid the disturbance and damage to the seabed ecosystem caused by the robot's traveling device.

[0016] In a preferred embodiment of the present invention, the acoustic-optical-electrical sensing system (1) includes a searchlight, a camera and a sonar. Through the combined operation of the searchlight and the camera, a clear observation of the actual scene in front of the cleaning robot and on the left and right sides can be obtained; at the same time, the robot's surrounding environment can also be detected and sensed through sonar detection.

[0017] Compared with the prior art, the embodiment of the present invention provides a floating underwater garbage mechanical grabbing and cleaning robot, which has the following beneficial effects:

[0018] (1) Intelligent working mode of mechanical collection device: The front left and right sides of the cleaning robot in the present invention are equipped with two sets of multi-joint retractable mechanical collection devices (robotic arms). Through the intelligent sensor system and control algorithm, each robotic arm can independently retract and rotate, and can adjust the angle and height independently, and can also work in collaboration. The following working mode is adopted during garbage collection: the cleaning robot uses the two robotic arms to work independently as the main working mode. When encountering a garbage target that cannot be collected by a single robotic arm, the sensor system issues a warning prompt. At this time, the control program switches the working mode to the collaborative mode, and the two robotic arms work together to complete the grabbing of the target by controlling the grabbing angle and strength of the two robotic arms. In this working mode, the cleaning robot can use the independent working mode to obtain a higher garbage collection efficiency. At the same time, for garbage targets that are more difficult to collect, it can also complete the grabbing and collection through the collaborative mode, taking into account both work efficiency and collection capacity, and also greatly improving the adaptability of the collection device to different types of garbage.

[0019] The multi-degree-of-freedom robotic arm collection system employed by the cleaning robot in this invention combines the recognition system's results on the target garbage type and material with the sensor data from the collection device to optimize the allocation strategy of the mechanical device's gripping force and gripping angle, and determine the collection device's operating mode (independent or collaborative). This enables the robotic arm to achieve stable and secure grasping of garbage, improving the robot's garbage collection capacity and efficiency. Furthermore, each robotic arm possesses multiple degrees of freedom and ample telescopic travel, enabling flexible operation within underwater spaces and adapting to garbage collection requirements at various angles and directions, significantly enhancing the efficiency and accuracy of garbage collection.

[0020] (2) Multi-module linkage and integration of the entire working process: The entire working process of the cleaning robot in the present invention can be summarized as follows: perception-travel-collection-transportation-crushing-storage. Its main working functions are all operated in a modular manner. Each module can work independently and cooperate with other modules to ensure the efficient operation of the robot in a complex underwater environment. The upper computer system of the cleaning robot in the present invention adopts advanced intelligent algorithms to process observation data and sensor data in real time, and perform complex decision-making and process control on each working module to ensure the autonomy and intelligence of the robot in a complex environment. Through the intelligent control program, the intelligent multi-module linkage of the entire working process of the cleaning robot is realized. The modules cooperate with each other without interfering with each other, which greatly improves the working efficiency of the robot and enhances the degree of automation of the equipment. Specifically, it is reflected in:

[0021] ① The perception system processes observation data to identify the location, type, and material of garbage in the robot's surroundings. This data is used to adaptively adjust the robot's collection, transportation, and crushing processes. This includes parameters such as the force and angle of the robot's arm and gripper during garbage grabbing, the hydraulic pressure during garbage transportation, and the force and time during garbage crushing. This helps improve garbage collection efficiency and reduce equipment failure rates.

[0022] ② The underwater propulsion system can also work in conjunction with the mechanical collection device, providing thrust in the opposite direction of the grabbing angle when the robotic arm grabs garbage, which further enhances the robot's garbage collection ability, increases the efficiency of collecting seabed garbage, and ensures the stability and safety of the robot's posture during the collection process.

[0023] ③ By mapping the surrounding environment through the environmental perception and recognition system, a path can be planned for the underwater movement of the cleaning robot. Through the path tracking control of the upper computer and the cooperation of the robot's propeller propulsion system, the cleaning robot can flexibly avoid obstacles in complex seabed environments and move accurately and quickly along the designated path to the garbage area.

[0024] ④ Once the robot's collected garbage reaches a certain mass in the storage box, the garbage transport module activates and the water pump begins working. At this point, the mechanical collection system, garbage crushing system, and other modules must cease operations to prevent interference between upstream and downstream modules. Once the transport process is complete, the crushing mechanism begins to break up the garbage collected during transport, and the robotic arm resumes its work to collect seabed debris.

[0025] ⑤ After the waste crushing process is complete, the control system opens the controllable partitions in the silo, and through vibration and other means, the resulting debris falls into the silo storage area below. Once the debris has completely fallen, the controllable partitions close, and the transport process re-enters the "operational state," waiting for the waste in the storage box to reach the target mass before continuing.

[0026] ⑥ Based on the observations of the environmental perception and recognition system, the robot determines whether to switch between its "stationary" and "moving" operating modes based on the density of seafloor debris in the surrounding environment. When the amount of debris near a certain point on the path is large, heavy, and irregularly shaped, the robot adopts "stationary" mode, where it remains at a fixed location for a specified period of time until all the debris near that location is collected. In this mode, the underwater propulsion system remains operational, achieving "dynamic positioning" and maintaining attitude. When the amount of debris near a certain point on the path is small, light, and regularly shaped, the robot adopts "moving" mode, where the robot's movement proceeds simultaneously with other operating modules. By switching between these two operating modes, the robot is able to adapt to the random distribution of debris in the environment, significantly improving the robot's overall waste collection efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0028] Figure 1 A three-dimensional diagram of a floating underwater garbage mechanical grabbing and cleaning robot provided in an embodiment of the present application.

[0029] Figure 2 A front view of a floating underwater garbage mechanical grabbing and cleaning robot provided in an embodiment of the present application.

[0030] Figure 3 This is an oblique view of a floating underwater garbage mechanical grabbing and cleaning robot provided in an embodiment of the present application.

[0031] Figure 4 Schematic diagram of the transport-crushing-storage of seabed garbage by a floating underwater garbage mechanical grabbing and cleaning robot provided in an embodiment of the present application. DETAILED DESCRIPTION

[0032] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of this application. The "upper", "lower", "front", "rear", "left", "right", etc. used in the installation position or direction of the structure or parts of this embodiment are based on the orientation of the given drawings. They are only for the convenience of expression to distinguish the relative positions of the various parts or directions, and do not represent the orientation of the device or parts of this embodiment when in use.

[0033] Existing floating underwater garbage cleaning equipment mainly uses hydraulic and mechanical collection methods. However, the technology still has significant deficiencies in many aspects, including the following issues:

[0034] 1. Weak garbage collection capability and low efficiency: Underwater cleaning robots using mechanical collection methods generally rely on a simple grasping mechanism, typically using a simple mechanical gripper arm or a net-like collection device. This approach suffers from weak grasping capability, poor adaptability, and low reliability. This makes the grasping process prone to errors, which in turn reduces overall operational efficiency. These issues are primarily manifested in the following ways: a. Unlike floating garbage, submarine garbage is often buried or semi-buried in seafloor mud and sand. Effective collection requires overcoming the resistance of the mud and sand, thus requiring a higher grasping force from the garbage collection device. Furthermore, seafloor garbage is often scattered, requiring a collection device with a sufficiently large collection range and sufficient flexibility to collect scattered garbage. However, existing underwater cleaning robots often have overly simple collection devices, resulting in insufficient grasping force, lack of flexibility, and a limited collection range. b. Due to the complex and ever-changing nature of the seafloor topography, effective garbage collection places extremely high demands on the mechanical collection device's grasping angle, gripping force, and the gripping size and force of the gripper. This requires cleaning robots to possess intelligent and automated operating capabilities. Based on feedback from perception and recognition, the robots can adaptively control key factors such as operating mode, torque, and gripper engagement, thereby significantly improving the efficiency and capacity of garbage collection. c. In reality, seabed debris is diverse in type, shape, and quality. This requires cleaning robots to possess excellent collection, storage, and transportation capabilities for small-sized trash (such as plastic bottles and packaging bags), large-volume trash (such as wood planks and scrap metal), and uniquely shaped trash (such as abandoned fishing nets), in order to achieve efficient cleaning and recovery of seabed debris. However, the designs of existing underwater garbage cleaning equipment often overlook this characteristic, resulting in limited adaptability of their gripping devices. d. The collection devices of existing garbage cleaning equipment are limited in size, and their processing methods are inefficient, making them incapable of handling large-scale garbage collection tasks. This means that the amount of garbage collected by the garbage cleaning device in a single operation is not high, especially when facing large volumes of garbage (such as fishing nets, plastic containers, large pieces of wood, etc.). The collected garbage will quickly fill up the storage device, so the robot needs to travel back and forth between the work site and the mother ship many times, which greatly reduces the operating efficiency of the equipment.

[0035] 2. High-disturbance operations, significantly impacting the ecological environment: In addition to mechanical collection, other existing underwater garbage removal devices often employ hydraulic collection, using pumping to collect garbage from the water. However, the operating principle of this collection method causes underwater cleaning equipment employing this method to generate significant flow disturbances during operation, leading to further adverse consequences: a. Under the influence of the disturbed seabed flow field, seabed sediments are often stirred up, causing them to float in the seabed flow field, forming plumes, which cause turbidity in the surrounding seawater, further aggravating pollution and adversely affecting the ecosystem of the surrounding waters. b. Disturbance in the seabed flow field can also cause nearby seabed garbage to float and move with the current. This causes garbage that was originally stationary on the seabed to move with the current, increasing the difficulty of garbage collection and even causing secondary pollution, affecting the effectiveness and efficiency of cleaning. Furthermore, harmful substances that may be contained in the seabed garbage may spread with the disturbance of the flow field, causing damage to the seabed ecology and seabed organisms. In addition to collecting garbage, some existing underwater garbage removal robots use crawler tracks to navigate underwater. However, as these tracks move over seabed sediments, especially soft sediments, they disturb the seabed surface, damaging it and generating plumes. This in turn causes turbidity in the surrounding water and damages underwater habitats, significantly harming the seabed ecosystem.

[0036] 3. Insufficient Equipment Intelligence and Low Automation: Existing underwater garbage removal equipment suffers from significant deficiencies in intelligence and automation, severely limiting its practical application and widespread adoption. To address these issues, there is an urgent need to develop a new type of floating underwater garbage grabbing and cleaning robot equipped with advanced perception and recognition capabilities, high-precision mechanical grasping and manipulation capabilities, efficient data processing and decision-making capabilities, and a highly integrated and modular design. These limitations are primarily manifested in the following aspects: a. Limited Perception and Recognition Capabilities: Most existing underwater garbage removal equipment uses simple sensors to detect environmental changes. These capabilities are generally weak, making it difficult to accurately locate and classify garbage in complex underwater environments. Traditional garbage removal equipment relies heavily on manual operation or simple mechanical devices, lacking advanced sensor and image processing technologies. This makes it difficult to distinguish between garbage types and sizes, resulting in inefficient garbage identification. Existing equipment is particularly prone to misplacing or missing items when garbage is unevenly distributed and densely packed. Furthermore, factors such as insufficient underwater light and turbid water further complicate perception and identification, leading to poor performance in practical applications. This lack of perception directly limits the equipment's intelligence, preventing it from adaptively adjusting to the distribution and characteristics of debris, reducing cleaning efficiency. b. Low mechanical gripping and operational precision: Mechanical gripping is a core component of underwater debris removal, but existing equipment generally has low gripping and operational precision, making it difficult to adapt to the cleaning needs of different types of debris. For example, some devices use simple gripper or suction cup structures, which cannot flexibly adjust gripping force and angle, resulting in low precision and prone to damage or failure. This lack of operational precision not only reduces the equipment's cleaning effectiveness but also increases maintenance costs, limiting its large-scale application. c. Weak data processing and decision-making capabilities: The core of intelligent equipment lies in data processing and decision-making capabilities, but existing underwater debris removal equipment is weak in this area. The equipment lacks efficient data processing algorithms, making it unable to analyze and process sensor data in real time, resulting in delayed or erroneous decisions. Furthermore, existing equipment often uses a single control strategy, lacks adaptive and learning capabilities, and cannot dynamically adjust its operating mode according to environmental changes and task requirements, limiting its scope and effectiveness. This lack of data processing and decision-making capabilities makes it difficult for the equipment to cope with complex and changing underwater environments in actual applications, reducing its level of intelligence. d. Lack of system integration and modular design: Intelligent and automated equipment requires a high degree of system integration and modular design, but existing underwater garbage cleaning equipment performs poorly in this regard. The lack of an effective coordination mechanism between the various functional modules of the equipment has resulted in limited overall performance. In addition, the modular design of existing equipment is insufficient, making it difficult to flexibly configure and upgrade according to actual needs, limiting its scope of application and scalability. This lack of system integration and modular design not only reduces the overall performance of the equipment, but also increases the difficulty of research and development and maintenance, hindering the further development of related technologies.

[0037] Difficulty and Significance of the Problem Solved by the Present Invention: The development and application of underwater garbage removal technology is of great significance in the field of marine environmental protection. However, existing technologies face numerous challenges in practical application, which not only limit the actual effectiveness of underwater garbage removal equipment but also pose a serious obstacle to its promotion and application.

[0038] 1. Addressing the issues of weak garbage collection capacity and low efficiency. Technical Difficulties to Address: ① Inadequate Garbage Identification and Location Capabilities: Existing equipment often relies on simple mechanical devices or manual operation, lacking advanced sensors and image processing technology. This makes it incapable of accurately identifying and locating garbage, resulting in low cleaning efficiency. For example, some equipment only detects the presence of garbage through tactile feedback from the robotic arm, failing to distinguish between garbage type and size, making it prone to misplacing or missing items. Furthermore, factors such as low light levels and turbid water in underwater environments further complicate perception and identification, leading to poor performance in practical applications. ② Irrational Design of Mechanical Grasping and Collection Devices: Many devices utilize a single gripper or suction cup structure, which is unable to adapt to the diverse collection needs of different garbage types and can easily cause damage or failure to collect garbage. For example, some equipment is prone to damage when handling soft garbage (such as plastic bags) and failure to collect hard garbage (such as metal cans). Furthermore, underwater environments place high demands on mechanical structures for corrosion resistance and sealing. Existing equipment is insufficiently designed in these areas, resulting in mechanical components that are susceptible to damage, impacting long-term reliability. ③ Limited operating range and coverage: Existing equipment often uses fixed paths or manual remote control, making it impossible to dynamically adjust its operating range based on debris distribution, resulting in low cleaning efficiency. For example, some equipment can only clean along a preset path and cannot dynamically adjust its path based on debris distribution, resulting in low cleaning efficiency. Furthermore, the underwater environment is complex and dynamic, with obstacles, currents, and other disruptive factors. Existing equipment struggles to perceive and avoid these obstacles in real time, making collisions and jams more likely, impacting cleaning effectiveness. Solution Significance: ① Improving Cleaning Efficiency: By integrating advanced sensors and image processing technology, the equipment can accurately identify and locate debris. Combined with an efficient mechanical gripper, cleaning efficiency is significantly improved. For example, by using high-resolution cameras and deep learning algorithms, the equipment can accurately locate and classify debris in complex underwater environments, improving cleaning efficiency. Furthermore, adaptive algorithms can be introduced to enable the equipment to dynamically adjust its sensing strategy based on environmental changes, further enhancing its intelligence. ② Expanding the Operating Range: By incorporating autonomous navigation and path planning technologies, the equipment can dynamically adjust its operating range based on debris distribution, achieving large-scale, high-density garbage removal. For example, by using multi-sensor fusion technology, the equipment can perceive environmental information in real time. Combined with intelligent path planning algorithms, it can dynamically adjust the operation path and improve cleaning efficiency. Furthermore, collaborative operation technology can be introduced to enable multi-device collaborative operation, further improving overall cleaning efficiency. ③ Reduced labor costs: Efficient and intelligent garbage collection equipment can reduce reliance on manual operation, lower labor costs, and improve economic benefits. For example, by introducing automated control technology, the equipment can autonomously complete garbage identification, grabbing, and collection tasks, reducing reliance on manual operation and reducing labor costs. Furthermore, remote monitoring technology can be introduced to enable remote monitoring and management of equipment, further improving operational efficiency.

[0039] 2. Addressing the significant ecological disruption caused by high-disturbance operations. Technical Difficulty: Existing underwater debris removal equipment often causes significant ecological disruption during operation, primarily through mechanical damage to the seabed ecosystem. Certain equipment (such as crawlers and hydraulic collection devices) physically damages seabed sediments, coral reefs, and other ecosystems during operation, impacting the habitat of marine life. For example, some equipment stirs up seabed sediments, causing water turbidity and impacting the habitat of marine life. Furthermore, some equipment physically damages coral reefs and other ecosystems during operation, impacting the habitat of marine life. Significance of the Solution: Reducing ecological disruption during operation is a key direction for the sustainable development of underwater debris removal technology. Technological innovation can protect marine ecosystems. By optimizing mechanical device design, physical damage to the seabed ecosystem can be reduced, preserving important ecosystems such as coral reefs and seagrass beds. For example, lightweight designs can reduce the agitation of seabed sediments by equipment, protecting the habitat of marine life. Furthermore, the introduction of flexible robotic arm technology can reduce physical damage to ecosystems such as coral reefs, protecting the habitat of marine life.

[0040] 3. Addressing the issues of insufficient equipment intelligence and low automation. Technical Difficulties to Address: ① Limited Perception and Recognition Capabilities: Equipment lacks advanced sensors and image processing technology, making it incapable of accurately identifying and classifying trash, resulting in low cleaning efficiency. For example, some equipment can only detect the presence of trash through tactile feedback from the robotic arm, failing to distinguish between trash type and size, making it prone to misplacing or missing items. Furthermore, factors such as low light levels and turbid water in underwater environments further complicate perception and recognition, leading to poor performance in practical applications. ② Inadequate Autonomous Navigation and Path Planning Capabilities: Equipment often relies on preset paths or manual remote control, lacking intelligent autonomous decision-making capabilities and struggling to cope with complex underwater environments. For example, some equipment can only clean along preset paths and cannot dynamically adjust its path based on trash distribution, resulting in low cleaning efficiency. Furthermore, the complex and changing underwater environment, with its presence of obstacles, currents, and other disruptive factors, makes it difficult for existing equipment to perceive and avoid these obstacles in real time, leading to collisions and jams, impacting cleaning effectiveness. ③ Weak Data Processing and Decision-Making Capabilities: Equipment lacks efficient data processing algorithms, making it unable to analyze and process sensor information in real time, resulting in delayed or erroneous decisions. For example, some equipment lacks efficient data processing algorithms, making it unable to analyze and process sensor information in real time, leading to delayed or erroneous decisions. Furthermore, existing equipment often utilizes a single control strategy, lacking adaptive and learning capabilities. This makes it unable to dynamically adjust its operating mode based on environmental changes and task requirements, limiting its scope of application and effectiveness. Solution Implications: ① Improving Cleaning Efficiency and Accuracy: By integrating advanced perception and recognition technologies, equipment can accurately locate and sort trash. Combined with intelligent autonomous navigation and path planning, this significantly improves cleaning efficiency and accuracy. For example, by using high-resolution cameras and deep learning algorithms, equipment can accurately locate and sort trash in complex underwater environments, improving cleaning efficiency. Furthermore, adaptive algorithms can be introduced to enable the equipment to dynamically adjust its perception strategy based on environmental changes, further enhancing its intelligence. ② Reducing Manual Operation Risk: By incorporating efficient data processing and decision-making technologies, equipment can analyze and process environmental information in real time, reducing reliance on manual operation and mitigating operational risks. For example, by utilizing high-performance computing units and artificial intelligence algorithms, equipment can analyze and process sensor information in real time, improving decision-making efficiency. Furthermore, remote monitoring technology can be introduced to enable remote monitoring and management of equipment, further improving operational efficiency. ③ Expanding Application Scope: Through its highly intelligent and automated design, the equipment can adapt to diverse underwater environments and mission requirements, expanding its application scope and promotional value. For example, its modular design allows for flexible configuration and upgrades based on actual needs, increasing its application scope and scalability. Furthermore, collaborative operation technology can be introduced to enable multi-device collaborative operation, further improving overall cleaning efficiency.

[0041] Therefore, existing underwater garbage cleaning technologies have significant deficiencies in garbage collection capacity, eco-friendliness, intelligence, and automation, which seriously restrict their practical application effects and promotion value. Solving these problems not only has significant technical difficulties, but also has far-reaching scientific significance and practical value. Through technological innovation and system optimization, the performance of underwater garbage cleaning equipment can be significantly improved, providing more efficient, reliable, and environmentally friendly solutions for marine environmental protection. In the future, with the continuous development of sensor technology, artificial intelligence technology, mechanical design technology, and clean energy technology, underwater garbage cleaning equipment will move towards a more intelligent, automated, and eco-friendly direction, making greater contributions to the cause of marine environmental protection.

[0042] The present invention proposes an innovative floating submarine garbage removal robot with a modular design, comprising core components such as a mechanical collection device, a garbage transport, crushing and storage system, an underwater propulsion system, a sensing and recognition system, and an intelligent control system. Each module operates independently and collaborates with other modules to ensure efficient operation in complex underwater environments. The robot also integrates a high-performance computing unit in its host computer, combining artificial intelligence algorithms for real-time data processing and decision-making. By incorporating machine learning and deep learning technologies, the device can learn from historical data and optimize control strategies, improving its adaptability. Furthermore, a distributed computing architecture can be adopted to enable multi-device collaborative operation, further enhancing overall cleaning efficiency. Through intelligent data processing and decision-making, the device can better cope with complex underwater environments and improve cleaning results. This robot aims to overcome the limitations of existing technologies and achieve efficient, precise, low-disturbance, and environmentally friendly submarine garbage removal. Integrating cutting-edge technologies such as advanced mechanical garbage collection, multi-sensor positioning, and an intelligent control system, the robot effectively addresses the collection of various types of garbage and operates efficiently in complex underwater environments.

[0043] Specifically, if Figure 1 、 Figure 2 、 Figure 3 and Figure 4 As shown, an embodiment of the present invention provides a floating underwater garbage mechanical grabbing and cleaning robot, including a main frame 6, a buoyancy material layer 10 is connected to the top of the main frame 6, the buoyancy material layer 10 is provided with a long strip notch, an acoustic and photoelectric sensing system 1 is provided at the position corresponding to the long strip notch on the top of the main frame 6, and a plurality of underwater propeller thrusters 2 are provided on the main frame 6; a silo 7 is provided in the main frame 6, a garbage storage box 3 is provided on the front side of the main frame 6, the silo 7 is connected to the garbage storage box 3 through a garbage transport system 5, and two mechanical arms 4 are provided at the front end of the bottom of the main frame 6.

[0044] The cleaning robot uses a retractable, multi-degree-of-freedom robotic arm 4 to collect seafloor debris. The robotic arm 4 is a multi-jointed, retractable mechanical grasping device constructed from lightweight, high-strength materials, ensuring its strength and corrosion resistance in underwater environments. Through an intelligent sensor system and control algorithm, each robotic arm can independently extend and rotate, autonomously adjust its angle and height, and can also work collaboratively to precisely grasp and collect targeted debris. The robot primarily operates in two independent modes. When encountering a target that is difficult for a single robotic arm to collect, the sensor system issues a warning, and the control program switches the robot to collaborative mode, where the two robotic arms work together to capture the target by controlling their gripping angle and force. This allows the cleaning robot to achieve high garbage collection efficiency in independent mode while also utilizing collaborative mode to capture challenging targets, balancing efficiency and collection capacity. This significantly improves the collection device's adaptability to diverse types of debris.

[0045] The robotic arm 4 is provided with a shoulder joint, an elbow joint and a wrist joint, each of which has a wide range of deflection and pitch freedom and sufficient telescopic stroke. Among them, the wrist joint can achieve 360° continuous rotation. A single robotic arm has a maximum extension range of 1900mm. This allows the cleaning robot to have a large garbage grabbing area and extremely high grabbing flexibility. It can also effectively collect scattered garbage on the seabed, greatly improving the garbage collection efficiency of the cleaning robot. The end of the robotic arm is equipped with a multi-toothed gripper with a maximum opening and closing size of 100mm and a maximum meshing clamping force of 4500N. Each joint and gripper of the robotic arm is equipped with a high-precision servo motor and sensor to ensure that it can adaptively adjust the robotic arm's rotational torque, the opening and closing size of the gripper, and the grasping accuracy according to actual conditions.

[0046] The multi-degree-of-freedom mechanical collection system employed in this invention, combined with force feedback control technology, optimizes the distribution strategy for gripping force and gripping angle. The torque sensors on each robotic arm's gripper monitor the pressure exerted on the garbage during the gripping process in real time, preventing both insufficient engagement force from causing gripping failure and excessive engagement force from causing the garbage to disintegrate within the gripper. By introducing an intelligent control algorithm, combined with the observation system's identification data on the type and material of the garbage, and sensor data, the collection device can automatically adjust its gripping strategy based on the size, type, and shape of the garbage, allocating the appropriate angle, force, and operating mode (individual or collaborative) to complete the collection. This enables the robotic arm to achieve stable and secure gripping of the garbage, effectively preventing damage or gripping failure.

[0047] The cleaning robot possesses strong grasping capabilities for garbage of varying sizes, shapes, and weights, significantly improving the gripping device's adaptability to various types of garbage. In particular, it can efficiently collect unconventional shapes (such as discarded fishing nets), large volumes (such as large plastic containers and discarded wooden waste), and heavy weights (such as scrap metal). Furthermore, with a maximum lifting capacity of 100 kg, the robotic arm 4 provides sufficient gripping force even for garbage partially buried in the seabed soil, effectively overcoming the resistance created by the seabed during the garbage collection process. This allows the robot to flexibly handle diverse types of garbage, improving its collection capacity and efficiency.

[0048] The trash storage box 3, an inverted trapezoidal net-bag structure, temporarily stores the seafloor trash collected by the robotic arm 4. It is equipped with a mass sensor that monitors the amount of trash in the box in real time and uses this data to determine whether the conveying system needs to be activated. The design of the trash storage box 3 takes into account the streamlined shape of the water flow, reducing water resistance and enhancing the robot's mobility. Furthermore, the inverted trapezoidal shape effectively facilitates the robot's transfer of trash, reducing the risk of trash accidentally falling from the robot arm to the trash storage box 3. A baffle 11 is located on the top of the trash storage box 3, which neither hinders the robot arm 4 from entering and exiting the storage box nor prevents trash already in the trash storage box 3 from escaping with the water flow. Since collected seafloor trash inevitably contains a certain amount of silt, subsequent processing with the silt can easily cause blockage in the trash conveying system and weaken the robot's trash storage capacity. Therefore, the net-bag design allows the silt in the trash to be filtered out by the water flow, reducing system blockage and storage losses caused by sand accumulation. The storage box is equipped with a mass sensor to monitor the amount of garbage in the box in real time, and determine whether the conveying system needs to be started based on data feedback.

[0049] Silo 7 has a two-tiered structure with a designed capacity of ≥150L, ​​capable of accommodating large quantities of garbage. The upper tier of silo 7 is equipped with multiple rows of gear-type crushing devices 9 for handling larger volumes of garbage. Through efficient mechanical transmission, the crushing devices 9 break down the garbage fragments into smaller pieces for easier storage and processing. At the same time, an automatic adjustment system controls the crushing force to prevent excessive crushing resulting in small fragments that could cause blockage. The crushing device also features an automatic cleaning function, whereby garbage fragments automatically fall to the bottom of the silo through a vibration system, reducing the risk of jamming and accumulation.

[0050] A controllable partition 8 is installed between the upper and lower levels of silo 7. It remains closed until crushing is complete. Once the crushing process is complete, the partition 8 opens downward, allowing the waste fragments to fall into the lower storage layer of silo 7. This prevents interference between the two areas and prolongs the time the waste fragments remain in the crushing zone. The entire crushing and storage process is automatically managed by an intelligent control system, ensuring efficient and safe waste handling.

[0051] The lower garbage storage layer of silo 7 is used to store processed garbage fragments. A water filter grid is installed on the rear side of silo 7 to filter out excess water from the stored garbage, ensuring smooth transportation, crushing, and storage. A capacity sensor is installed in the lower garbage storage layer of silo 7 to monitor the quality and volume of the stored garbage in real time. When the available storage capacity of the storage layer is low or the garbage mass in the storage layer exceeds the load capacity limited by the robot's rated power, the operation ends and returns to the mother ship.

[0052] The working mode of the garbage transportation, crushing and storage system of the cleaning robot of the present invention is as follows: the seabed garbage collected by the robotic arm 4 will be temporarily stored in the garbage storage box 3. When the garbage in the garbage storage box 3 reaches a certain mass, the garbage transportation device starts to suck the garbage from the box to the upper layer of the silo 7. After the transportation process is completed, the crushing device 9 on the upper layer of the silo 7 is started. After the crushing process is completed, the controllable partition 8 opens, and the crushed garbage fragments fall and are stored in the garbage storage layer on the lower layer of the silo 7. The entire storage and transportation process is completely completed by the intelligent control system, and it can automatically adjust the transportation hydraulic size and the crushing force and time according to information such as the material and type of the collected garbage, which greatly improves the garbage transportation, crushing and storage efficiency of the cleaning robot, reduces the risk of blockage, and reduces the failure rate of the equipment. In addition, the garbage collection process can be carried out simultaneously with the transportation, crushing and storage process, so that the garbage recovery efficiency of the entire device is further improved.

[0053] The waste transport system 5 consists of a transport pipeline and a hydraulic suction device. Whenever the waste in the waste storage box 3 reaches the target mass, the hydraulic suction device automatically activates and draws the waste from the back of the waste storage box 3 through the pipeline to the silo 7. The pipeline is made of flexible material, adapting to the shape and volume of different waste, ensuring the stability and reliability of the waste transport process. The hydraulic suction device does not operate if the waste in the waste storage box 3 does not reach the target mass, saving energy and preventing interference with upstream and downstream working devices. The hydraulic suction device is a water pump.

[0054] The working processes of the robot's various devices, such as the collection, crushing, and transportation equipment, affect the robot's posture, causing roll and pitch. Failure to control the robot's underwater posture will not only significantly reduce its operating efficiency but also lead to dangerous situations such as capsizing and sinking. The present invention's multiple underwater propellers (2) include four horizontal and four vertical electric propellers. Under the coordination of an intelligent controller and based on sensor signal feedback, the robot can accurately and quickly move along a designated path near the seabed, effectively preventing the robot's travel devices from disrupting the seabed ecosystem. The intelligent controller can adjust the speed of each propeller, allowing the robot to maintain a relatively stable posture during both stationary and mobile operations. This not only improves the robot's collection and movement efficiency, but also enhances the operational stability and safety of its other operating modules, such as transportation, crushing, and storage. Furthermore, the underwater propellers can work in conjunction with the mechanical collection device, providing thrust in the opposite direction of the gripping angle during the robot arm's garbage collection process, further enhancing the robot's garbage collection capabilities and improving the efficiency of collecting seabed garbage.

[0055] The acoustic, photoelectric, and sensing system 1 includes a searchlight, camera, and sonar. The combined operation of the searchlight and camera provides a clear view of the scene in front of the cleaning robot and to its left and right sides. Sonar detection also allows for the detection and perception of the robot's surroundings. The acoustic, photoelectric, and sensing system 1 incorporates a deep learning algorithm to perform image recognition and target detection on the perceived content. By utilizing multi-sensor fusion technology, the cleaning robot of this invention can accurately locate and classify garbage in complex underwater environments, enhancing its perception and recognition capabilities and improving cleaning efficiency.

[0056] Through the combined work of the searchlight and the camera, a clear observation of the actual scenes in front of the cleaning robot and on its left and right sides can be obtained. At the same time, the robot's surrounding environment can also be detected and perceived through sonar detection. Compared with optical cameras, sonar is not affected by water turbidity and light conditions, and has a wider detection range. It can also provide high-precision positioning data, which can make up for the shortcomings of GPS failure underwater. Sonar makes up for the shortcomings of optical cameras in turbid water bodies. Optical cameras provide clearer garbage details information, and the two can complement each other's advantages. Sonar and sensing devices such as optical cameras work together to provide more comprehensive environmental perception capabilities. Through multi-sensor fusion, sonar data is fused with optical camera data to generate a more accurate environmental model, and the robot can make more accurate decisions and improve cleaning efficiency. Specifically:

[0057] a. Litter Detection and Location: Litter is widely and unevenly distributed on the seabed. Sonar scanning enables the robot to quickly scan the seabed and identify the location and distribution of debris. Low-frequency sonar (1-10 kHz) scans the seabed over a wide area, covering areas ranging from hundreds of meters to several kilometers, quickly locating areas of high litter density. High-frequency sonar (100-500kHz) then scans specific areas in detail, precisely measuring the distance and direction between the debris and the robot, enabling high-precision location of the debris. The sonar system generates a real-time garbage distribution map, providing the robot with real-time data updates on the location of the debris.

[0058] b. Environmental Perception and Obstacle Avoidance: The seabed is complex, with potential obstacles such as reefs and shipwrecks. Sonar can generate a three-dimensional map of the seabed through topographic mapping, identifying the undulating terrain features. This helps the robot perceive its surroundings and avoid collisions. Obstacles (such as reefs) in the robot's path are detected in real time and their location and size are calculated. Combining sonar data with path planning algorithms, the robot can dynamically adjust its route, achieving dynamic obstacle avoidance.

[0059] c. Navigation and Positioning: Integrating sonar data enables precise positioning and path planning for the robot. Sonar-generated seabed topography and garbage distribution maps are combined to plan the optimal cleaning path. In unknown environments, sonar helps the robot navigate autonomously and complete its garbage removal mission.

[0060] d. Garbage Identification and Classification: There are many types of underwater debris, including plastic, metal, and glass. Sonar can help robots initially identify the type of debris and optimize their cleaning strategies. Sonar images analyze the outline and shape of the debris to initially determine its type (e.g., plastic bottles, abandoned fishing nets), enabling shape recognition. The intensity of sound wave reflections can be analyzed to initially determine the material of the debris (e.g., metal, plastic, wood, etc.). This data on the type and material of the debris allows for intelligent adjustment of parameters such as force and time during the collection, transportation, and crushing processes, improving recycling efficiency and reducing equipment failure rates.

[0061] e. Data Recording and Analysis: The sonar system generates a large amount of data during the garbage cleanup process, which can be used for subsequent analysis and optimization. It can record garbage distribution maps for each cleanup mission, providing a reference for subsequent tasks. It also records environmental data such as seabed topography, water temperature, and salinity, supporting marine scientific research. The long-term accumulation of data provides a scientific basis for seabed garbage cleanup and marine environmental protection. Through data analysis, the robot can continuously optimize its cleanup strategy and improve efficiency.

[0062] As described above, the floating underwater garbage mechanical grabbing and cleaning robot of the present invention has achieved significant technological breakthroughs in garbage collection capacity, environmental friendliness, intelligence and automation level, and applicability through a series of innovative designs and technical optimizations, and has the following advantages and positive effects:

[0063] (1) Efficient garbage identification and collection capabilities: The present invention integrates a multi-sensor system including high-resolution cameras, sonar and lidar, and combines it with a deep learning algorithm to accurately identify the type and location of garbage in complex underwater environments. Experimental data show that the garbage identification accuracy rate reaches over 95%, which is significantly improved compared to existing technologies (usually 70%-80%). The use of a multi-degree-of-freedom robotic arm and an adaptive grasping device can automatically adjust the grasping force and angle according to the shape, size and material of the garbage. Test results show that the garbage grasping success rate is increased to 92%, which is 10%-15% higher than the traditional gripper or suction cup structure (usually 75%-85%). By introducing an autonomous navigation system based on SLAM (Simultaneous Localization and Mapping) technology, the robot can dynamically adjust the cleaning path according to the distribution of garbage. Experimental data show that the cleaning efficiency is increased by 30%, and the coverage area of ​​a single operation is increased by 40% compared to existing equipment. Existing equipment mostly relies on manual operation or simple mechanical devices, with low garbage identification and grasping efficiency and inability to dynamically adjust the operation path. This invention optimizes the entire process of garbage identification, grabbing, and path planning through intelligent and automated technologies, improving cleaning efficiency by 30%-40% compared to existing technologies. Through intelligent identification, efficient grabbing, and dynamic path planning, this invention significantly improves garbage collection capabilities, enabling efficient cleaning tasks in large, high-density underwater environments, addressing the low efficiency and limited coverage of existing technologies.

[0064] (2) Low-disturbance eco-friendly operation: The use of lightweight materials and multi-degree-of-freedom robotic arm structures reduces the agitation of seabed sediments. Experimental data show that the amount of suspended sediments during operation is reduced by 60%, significantly reducing water pollution and effectively reducing interference with marine life. By optimizing the operation process, physical damage to ecosystems such as coral reefs and seagrass beds is reduced. Test results show that the damage rate to the ecosystem during operation is reduced by 80%. During operation, the hydraulic collection device and crawler travel device of existing equipment often cause significant damage to the seabed ecosystem. Through technological innovation, the present invention minimizes the interference of operations on the ecological environment, which meets the sustainable development requirements of marine environmental protection. Through the eco-friendly operation mode, the present invention significantly reduces the interference of operations on the underwater ecological environment and realizes green and environmentally friendly garbage cleaning.

[0065] (3) Intelligence and automation: The robot integrates high-performance computing units and artificial intelligence algorithms, which can process sensor data and make decisions in real time. Experimental data show that the decision response time is shortened to less than 0.5 seconds, which is 75% higher than the existing technology (usually 2-3 seconds). By introducing machine learning algorithms, the robot can optimize the operation strategy based on historical data. Test results show that after 10 operations, the cleaning efficiency is improved by 15% and the operation accuracy is improved by 20%. It supports remote monitoring and multi-device collaborative operation, and can achieve large-scale underwater garbage cleaning tasks. Experimental data show that the efficiency of multi-device collaborative operation is 50% higher than that of single equipment. Existing equipment mostly relies on manual operation or simple control strategies and lacks intelligence and adaptive capabilities. The present invention realizes full-process automated operation through artificial intelligence and machine learning technology, and the operation efficiency is improved by more than 50% compared with the existing technology. The present invention realizes fully automated underwater garbage cleaning through intelligent perception, decision-making and learning capabilities, significantly improving operation efficiency and accuracy.

[0066] (4) Strong applicability and broad market prospects: The modular structure allows for flexible configuration of functional modules according to task requirements. For example, the grabbing device can be quickly replaced for different types of garbage, and has strong adaptability. It is suitable for various underwater environments such as offshore, ports, and rivers, and can handle various types of garbage such as plastic, metal, and organic matter. Test results show that the operating efficiency of the equipment in different environments remains above 90%. Through optimized design and large-scale production, the equipment manufacturing cost is reduced by 20%, and the single operation cost is reduced by 30% compared with the existing technology. Existing equipment is mostly designed for specific environments, with limited applicability and high manufacturing costs. The present invention can be widely used in various underwater environments through modular design and low-cost optimization, and has huge market potential. The present invention can meet the needs of different environments and tasks through modular design and multi-scenario applicability, and has broad market application prospects. The present invention significantly improves the efficiency and effect of underwater garbage cleaning through efficient garbage collection capabilities, low-disturbance environmental cleaning, intelligent and automated technology, and wide applicability. Compared to existing technologies, this invention has achieved breakthroughs in garbage identification accuracy, capture success rate, cleaning efficiency, eco-friendliness, and automated operation, demonstrating significant technical advantages and market competitiveness. With further optimization and promotion of this technology, this invention will provide a more efficient, reliable, and environmentally friendly solution for marine environmental protection, possessing significant social and economic significance.

[0067] Although the present invention has been disclosed above in terms of preferred embodiments, the above preferred embodiments are not intended to limit the present invention. Those skilled in the art may make various modifications and alterations without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the present invention shall be based on the scope defined in the claims.

Claims

1. A floating underwater garbage mechanical grabbing and cleaning robot, characterized in that: The invention comprises a main frame (6), wherein the top of the main frame (6) is connected to a buoyancy material layer (10), the buoyancy material layer (10) is provided with a long strip notch, an acoustic-photoelectric sensing system (1) is provided at a position corresponding to the long strip notch on the top of the main frame (6), and a plurality of underwater propeller thrusters (2) are provided on the main frame (6); a silo (7) is provided inside the main frame (6), a garbage storage box (3) is provided at the front side of the main frame (6), the silo (7) is connected to the garbage storage box (3) via a garbage transport system (5), and two mechanical arms (4) are provided at the front end of the bottom of the main frame (6); The robotic arm (4) is a multi-joint retractable mechanical grasping device. Through an intelligent sensor system and a control algorithm, each robotic arm (4) can independently retract and rotate, and can autonomously adjust the angle and height. It can also work in a collaborative manner to achieve accurate grasping and collection of target garbage. The adopted operation mode is: the two robotic arms (4) work independently as the main operation mode; when encountering a garbage target that is difficult to collect with a single robotic arm, the sensor system issues a warning prompt, and at this time the control program switches the robot's working mode to a collaborative mode, and the two robotic arms (4) work in a collaborative manner, and by controlling the grasping angle and strength of the two robotic arms, they jointly complete the grasping of the target. The acoustic-photoelectric sensing system (1) includes a searchlight, a camera and a sonar. Through the combined operation of the searchlight and the camera, a clear observation of the actual scene in front of the cleaning robot and on the left and right sides can be obtained; at the same time, the robot's surrounding environment can also be detected and perceived through sonar detection.

2. A floating underwater garbage mechanical grabbing and cleaning robot according to claim 1, characterized in that: The robotic arm (4) is provided with a shoulder joint, an elbow joint and a wrist joint, each joint having a wide range of deflection and pitch freedom and sufficient telescopic travel, wherein the wrist joint can achieve 360° continuous rotation.

3. The floating underwater garbage mechanical grabbing and cleaning robot according to claim 1, characterized in that: The garbage storage box (3) is an inverted trapezoidal net bag structure, which is used to temporarily store the seabed garbage collected by the robotic arm (4); the garbage storage box (3) is equipped with a mass sensor to monitor the amount of garbage in the box in real time and judge whether it is necessary to start the garbage transportation system (5) through data feedback.

4. The floating underwater garbage mechanical grabbing and cleaning robot according to claim 3 is characterized in that: A bent baffle (11) is provided on the top of the garbage storage box (3), which neither hinders the mechanical arm (4) from entering and exiting the garbage storage box (3) nor prevents garbage that has entered the garbage storage box (3) from escaping with the water flow.

5. The floating underwater garbage mechanical grabbing and cleaning robot according to claim 4, characterized in that: The silo (7) has a two-layer structure, and the upper layer of the silo (7) is equipped with multiple rows of gear-type crushing devices (9) for processing larger garbage. A controllable partition (8) is provided between the upper and lower layers of the silo (7), which is in a closed state before the crushing is completed. When the crushing process is completed, the controllable partition (8) opens downward, and the garbage fragments fall into the lower garbage storage layer of the silo (7). The lower garbage storage layer of the silo (7) is used to store the processed garbage fragments. A water filter grid is provided on the rear side of the silo (7) for filtering out excess water in the stored garbage, thereby ensuring smooth transportation, crushing, and storage.

6. The floating underwater garbage mechanical grabbing and cleaning robot according to claim 5, characterized in that: The lower garbage storage layer of the silo (7) is equipped with a capacity sensor to monitor the quality and volume of the stored garbage in real time; when the available capacity of the storage layer is running low or the garbage mass of the storage layer exceeds the load capacity limited by the rated power of the robot, the operation is terminated and the robot returns to the mother ship.

7. The floating underwater garbage mechanical grabbing and cleaning robot according to claim 1, characterized in that: The garbage transport system (5) is composed of a transport pipeline and a hydraulic suction device. Whenever the garbage in the garbage storage box (3) reaches the target mass, the hydraulic suction device will be automatically started, and the garbage will be sucked and transported from the back of the garbage storage box (3) to the silo (7) through the transport pipeline; the transport pipeline is made of flexible material and can adapt to the shape and volume changes of different garbage, ensuring the stability and reliability of the garbage transport process; the hydraulic suction device will not work when the garbage in the garbage storage box (3) does not reach the target mass, saving energy and preventing mutual interference between the associated functional devices; wherein, the hydraulic suction device is a water pump.

8. The floating underwater garbage mechanical grabbing and cleaning robot according to claim 1, characterized in that: The multiple underwater propeller thrusters (2) include four horizontal and four vertical electric propeller thrusters. Under the coordination of the intelligent controller, based on the signal feedback from the sensor, the robot can move accurately and quickly along a designated path near the seabed, and effectively avoid the robot's traveling device from disturbing and damaging the seabed ecosystem.

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