Visual identification self-adaptive fishing robot for floating objects on water surface

Abstract

The invention discloses a water surface floating object visual identification self-adaptive salvage robot, and belongs to the technical field of water object salvage, the water surface floating object visual identification self-adaptive salvage robot comprises a conveyor belt mounted between a first mounting plate and a second mounting plate, and the first mounting plate and the second mounting plate are both mounted on the top surface of a buoyancy seat; the water surface floating object visual recognition self-adaptive fishing robot further comprises a driving mechanism, a plurality of sets of object fishing mechanisms and a set of collecting mechanism, and the driving mechanism is used for driving the conveying belt to move. When the sliding rod is in the first guide groove, the sliding rod drives the rack to move, then the vertical rod and the cam are driven to rotate through the gear, the cam pushes the vertical plate to enable the object fishing rods to stretch out of the object fishing box, and the multiple object fishing rods form a transverse interception array in the width direction of the conveying belt; and fishing leakage caused by too large gaps or size differences of objects can be avoided, fishing components do not need to be replaced for floating objects of different sizes, and the universality of equipment is improved.

Description

Technical Field

[0001] This invention belongs to the field of underwater object retrieval technology, and particularly relates to an adaptive retrieval robot for visual recognition of floating objects on the water surface. Background Technology

[0002] With the increasing demand for water environment management, the efficient removal of floating debris on water surfaces has become a key link in ecological protection and sustainable water resource utilization. In the early stages of traditional floating debris removal technology, manual boat operations or fixed shore-based removal equipment were relied upon. Manual operations were limited by labor costs, daily operating hours, and adverse weather conditions, resulting in low efficiency and poor safety in deep water areas and remote waters. Fixed shore-based equipment could only cover waters within 50 meters of the shore, and the coverage rate of scattered floating debris in medium- and long-distance waters such as lakes and reservoirs was less than 30%, which was insufficient to meet the needs of comprehensive cleanup.

[0003] In recent years, unmanned salvage technology has gradually become a research hotspot. Salvage devices based on unmanned vessel platforms can move in water by carrying propulsion systems, breaking through the spatial limitations of manual labor and fixed equipment. At the same time, the maturity of computer vision technology has promoted the application of deep learning image recognition algorithms such as YOLO series in the field of salvage. Some devices have begun to integrate embedded vision modules to achieve real-time identification of floating objects.

[0004] However, existing unmanned salvage robots still have the following shortcomings: First, the retrieval mechanism has poor adaptability between power and motion. Most unmanned retrieval robots use fixed structures for their retrieval rods or require independent motors to drive extension and retraction. They cannot dynamically adjust their posture according to the retrieval stage (water entry retrieval - lifting - unloading), which can easily lead to problems such as items slipping during lifting or material residue during unloading. Secondly, the power system has a low function reuse rate. Retrieval, conveying, and material compression all require independent drive units. With the same battery capacity, the equipment has a short continuous operating time and its endurance is insufficient to meet the needs of large-scale water area cleanup. Summary of the Invention

[0005] The purpose of this invention is to provide a visual recognition adaptive salvage robot for floating objects on the water surface, which solves the technical problems of poor power and motion adaptability of the salvage mechanism of existing unmanned salvage robots. Most unmanned salvage robots use a fixed structure for their salvage rods or require independent motors to drive extension and retraction, which cannot dynamically adjust their posture according to the salvage stage (water entry-lifting-unloading), and are prone to problems such as items slipping or residues during lifting or unloading.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: A visual recognition adaptive salvage robot for floating objects on the water surface includes a conveyor belt installed between a first mounting plate and a second mounting plate, both of which are mounted on the top surface of a buoyancy base. It also includes: a drive mechanism for moving the conveyor belt; multiple sets of salvage mechanisms, equidistantly mounted on the conveyor belt, each salvage mechanism comprising: a mounting box mounted on the conveyor belt; and multiple salvage boxes equidistantly mounted on the mounting box, each salvage box containing multiple vertical plates. Each vertical plate has a salvage rod slidably connected to the salvage box, and a first spring is installed between the vertical plate and the inner wall of the salvage box. The multiple vertical rods rotate... The system includes a moving connection, with multiple cams mounted on the vertical rod that abut against the vertical plate, and a gear mounted on the lower end of the vertical rod; a rack, slidably mounted inside the mounting box, meshing with the multiple gears, with a slide rod mounted on one end and a second spring mounted between the other end and the mounting box, the slide rod passing through one side of the mounting box and slidably connected to the mounting box; a collecting mechanism for receiving items transported by multiple sets of the retrieval mechanism; wherein, the second mounting plate has an annular guide groove adapted to the conveyor belt track, and one end of the slide rod is located in the annular guide groove; the annular guide groove is composed of a first guide groove and a second guide groove of different depths.

[0007] Preferably, the driving mechanism includes: a drive roller rotatably mounted on the first mounting plate and the second mounting plate; a driven roller rotatably mounted on the first mounting plate and the second mounting plate, and the conveyor belt sleeved on the drive roller and the driven roller; a mounting cover mounted on the first mounting plate, and a motor installed inside it, the power output shaft of the motor being fixedly connected to the drive roller; and a first transmission belt sleeved on the drive roller and the driven roller.

[0008] Preferably, the collection mechanism includes: a collection box installed on the top surface of the buoyancy seat, with an opening at the top and multiple removal slots on the side near the conveyor belt, the multiple removal slots matching multiple retrieval boxes; a roller pressing assembly for pressing the items collected in the collection box; and a transmission assembly for driving the roller pressing assembly to move back and forth.

[0009] Preferably, the roller pressing assembly includes: a mounting frame in which a roller pressing cylinder is rotatably mounted; a through hole extending through the mounting frame; and a lead screw nut mounted on the mounting frame.

[0010] Preferably, the transmission assembly includes: a reciprocating screw, rotatably connected to the collection box, one end of which extends outside the collection box and passes through the screw nut; a second transmission belt, sleeved on the power output shaft of the reciprocating screw and the motor; and a guide rod, passing through the through hole and slidably connected to the mounting bracket, with both ends fixedly connected to the collection box.

[0011] Preferably, the transmission assembly further includes: a door hinged to the collection box; a protective box installed inside the collection box, the protective box being slidably connected to the mounting bracket, and the reciprocating screw located directly below the protective box.

[0012] Preferably, it also includes: multiple actuators, all mounted on the bottom surface of the buoyancy seat.

[0013] Preferably, it further includes: a visual recognition robot, mounted on the top surface of the buoyancy seat; a battery box, mounted on the top surface of the buoyancy seat, for powering the visual recognition robot, the driver, and the motor; and a controller, mounted on the top surface of the battery box.

[0014] Preferably, the depth of the second guide groove is greater than the depth of the first guide groove.

[0015] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are: 1. The retrieval mechanism of this invention comprises a retrieval box, a vertical plate, a retrieval rod, a first spring, a vertical rod, a cam, a gear, a rack, and a slide rod. When the slide rod is in the first guide groove, the slide rod drives the rack to move, which in turn drives the vertical rod and the cam to rotate through the gear. The cam pushes the vertical plate to extend the retrieval rod out of the retrieval box, so that multiple retrieval rods form a transverse interception array in the width direction of the conveyor belt. Through the synergistic effect of the retrieval rods and the retrieval box, it can avoid missed retrieval due to excessive gaps or size differences in the items. There is no need to change the retrieval components for floating objects of different sizes, thus improving the versatility of the equipment.

[0016] 2. The retrieval mechanism in this invention comprises a retrieval box, a vertical plate, a retrieval rod, a first spring, a vertical rod, a cam, a gear, a rack, and a slide rod. When the slide rod enters the deeper second guide groove, the second spring rebounds, causing the rack to move in the opposite direction. The cam disengages from the vertical plate, and the first spring rebounds, causing the retrieval rod to retract into the retrieval box. This reduces the contact area between the retrieved item and the retrieval mechanism, lowers the frictional resistance during item unloading, and ensures that the item falls into the collection mechanism without residue under gravity. It also prevents small debris from getting stuck in the gaps of the retrieval rod and creates conditions for subsequent cleaning of the retrieval box, reducing the frequency of manual cleaning of unloading residue.

[0017] 3. The drive mechanism in this invention is equipped with a motor. When the motor drives the active roller to rotate, it drives the driven roller and the conveyor belt to run via the first transmission belt, thus completing the transport of the retrieved items. At the same time, the second transmission belt drives the reciprocating screw, which drives the roller pressing assembly to move back and forth, thus completing the roller pressing of the items in the collection box. The item transport and item compression are completed synchronously by a single motor, reducing the number of power components, reducing the power consumption of the whole machine, and extending the continuous operation time. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a three-dimensional view of the adaptive salvage robot for visual recognition of floating objects on the water surface in this invention; Figure 2 This is a schematic diagram of the assembly structure of the conveyor belt, the retrieval mechanism, and the collection mechanism in this invention. Figure 1 ; Figure 3 This is a schematic diagram of the assembly structure of the conveyor belt, the retrieval mechanism, and the collection mechanism in this invention. Figure 2 ; Figure 4 In this invention Figure 3 Enlarged schematic diagram of part A; Figure 5 This is a schematic diagram of the assembly structure of the driving mechanism and the collecting mechanism in this invention; Figure 6 This is a perspective view of the second mounting plate in this invention; Figure 7 This is a schematic diagram of the assembly structure of the roller pressing assembly and the reciprocating lead screw in this invention; Figure 8 This is a schematic diagram of the internal structure of the mounting box and the retrieval box in this invention; Figure 9 In this invention Figure 8 Enlarged schematic diagram of part B; Figure 10 In this invention Figure 8 Enlarged schematic diagram of part C; Figure 11 In this invention Figure 8 Enlarged schematic diagram of part D; Reference numerals: 100, Buoyancy seat; 101, First mounting plate; 102, Second mounting plate; 1021, First guide groove; 1022, Second guide groove; 103, Driving roller; 104, Driven roller; 105, Conveyor belt; 106, Mounting cover; 107, Motor; 108, First transmission belt; 109, Driver; 110, Retrieving mechanism; 111, Mounting box; 112, Retrieving box; 113, Vertical plate; 114, Retrieving rod; 115, First spring; 1161, Vertical rod; 1162, Cam ; 1163, Gear; 117, Rack; 118, Slide Rod; 119, Second Spring; 120, Battery Box; 121, Vision Recognition Robot; 122, Controller; 200, Collection Mechanism; 201, Collection Box; 202, Box Door; 203, Protective Box; 204, Material Removal Slot; 210, Roller Assembly; 211, Mounting Bracket; 212, Roller Cylinder; 213, Through Hole; 214, Lead Screw Nut; 220, Transmission Assembly; 221, Reciprocating Lead Screw; 222, Second Transmission Belt; 223, Guide Rod. Detailed Implementation

[0020] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of the present invention.

[0021] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0022] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that is mutually exclusive with other embodiments.

[0023] This invention is described in detail with reference to the accompanying drawings. When detailing the embodiments of this invention, for ease of explanation, the cross-sectional views illustrating the device structure may be partially enlarged, not to scale. Furthermore, the accompanying drawings are merely examples and should not be construed as limiting the scope of protection of this invention. In actual fabrication, the three-dimensional spatial dimensions of length, width, and depth should be included.

[0024] Furthermore, it should be noted in the description of this invention that the terms "first," "second," or "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0025] Unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" in this invention should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integrated connections; similarly, they can refer to mechanical connections, electrical connections, or direct connections, or indirect connections through an intermediate medium, or internal connections between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0026] Example 1: As Figure 1 , Figure 2 , Figure 6 and Figures 8-11 As shown, the water surface floating object visual recognition adaptive salvage robot includes a conveyor belt 105 installed between a first mounting plate 101 and a second mounting plate 102. Both the first mounting plate 101 and the second mounting plate 102 are mounted on the top surface of a buoyancy base 100. Multiple actuators 109 are mounted on the bottom surface of the buoyancy base 100. A visual recognition robot 121 and a battery box 120 are mounted on the top surface of the buoyancy base 100. The battery box 120 powers the visual recognition robot 121, the actuators 109, and the motor 107. A controller 122 is mounted on the top surface of the battery box 120. The controller 122 pre-stores the position coordinates of the docking point and achieves precise return through vector control of the actuators 109. The actuators 109 are miniature propellers, four in total, installed at the four corners of the bottom surface of the buoyancy base 100. Each actuator has a rated power of 50W and a maximum propulsion speed of 2m / s. Steering is achieved by controlling the speed difference between the diagonal actuators through the controller 122, with a minimum turning radius of 0.8m.

[0027] The water surface floating object visual recognition adaptive salvage robot also includes a drive mechanism, multiple sets of salvage mechanisms 110 and a set of collection mechanisms 200. The drive mechanism is used to move the conveyor belt 105.

[0028] Multiple sets of retrieval mechanisms 110 are equidistantly mounted on the conveyor belt 105. Each retrieval mechanism 110 includes a mounting box 111, multiple retrieval boxes 112, multiple vertical rods 1161, and a rack 117. The mounting box 111 is mounted on the conveyor belt 105. Multiple retrieval boxes 112 are equidistantly mounted on the mounting box 111. Multiple vertical plates 113 are installed inside each retrieval box 112. Retrieval rods 114 are mounted on each vertical plate 113 and are slidably connected to the retrieval box 112. A first spring 115 is installed between the vertical plate 113 and the inner wall of the retrieval box 112. Multiple vertical rods 1161 are rotatably connected to multiple retrieval boxes 112. Multiple cams 1162 are mounted on each vertical rod 1161 and contact multiple vertical plates 113. The lower end of each vertical rod 1161 extends into the mounting box 111 and is rotatably connected to the mounting box 111. A gear 1163 is mounted on the lower end of each vertical rod 1161.

[0029] The rack 117 is slidably installed inside the mounting box 111. The rack 117 is meshed with multiple gears 1163. A slide rod 118 is installed at one end of the rack 117. The slide rod 118 passes through one side of the mounting box 111 and is slidably connected to the mounting box 111. A second spring 119 is installed between the other end of the rack 117 and the mounting box 111.

[0030] The collection mechanism 200 is used to receive items transported by multiple sets of retrieval mechanisms 110.

[0031] An annular guide groove is formed on the second mounting plate 102, and the slide rod 118 is located in the annular guide groove. The annular guide groove consists of a first guide groove 1021 and a second guide groove 1022. The second guide groove 1022 is close to the collecting mechanism 200, and the depth of the second guide groove 1022 is greater than the depth of the first guide groove 1021. A miniature deep groove ball bearing is installed at the end of the slide rod 118, and the gap between the outer diameter of the bearing and the width of the guide groove is 0.1-0.2 mm. The connection between the first guide groove 1021 and the second guide groove 1022 adopts an arc transition to avoid the slide rod 118 from getting stuck. The inner walls of the first guide groove 1021 and the second guide groove 1022 are coated with polytetrafluoroethylene to reduce the coefficient of friction between the slide rod 118 and the guide groove.

[0032] Specifically, by activating multiple actuators 109, the buoyancy seat 100 is moved on the water surface. A visual recognition robot 121 facilitates the identification of items to be retrieved. The visual recognition robot 121 employs an embedded image recognition module based on YOLOv8, capable of effectively identifying objects at distances of 0.5-10m, with a horizontal recognition angle of 120°, and can identify floating objects with dimensions ≥5mm×5mm. Upon identifying a floating object, the visual recognition robot 121 sends the target coordinates to the controller 122. The controller 122 calculates the relative position of the buoyancy seat 100 and the target, and drives the actuators 109 to adjust the course, aligning the retrieval mechanism 110 with the target area.

[0033] When it is necessary to retrieve items from the water surface, the drive mechanism is activated, which drives the conveyor belt 105 to move clockwise, thereby driving the retrieval mechanism 110 to move. When the slide bar 118 in the retrieval mechanism 110 is in the first guide groove 1021, the second spring 119 is compressed. Multiple cams 1162 will push multiple vertical plates 113 and multiple retrieval rods 114 to move away from the vertical bar 1161. Multiple first springs 115 are compressed, and multiple retrieval rods 114 extend outside the retrieval box 112, so that the multiple retrieval rods 114 and the retrieval box 112 cooperate to better retrieve items from the water.

[0034] As the conveyor belt 105 moves, the retrieval mechanism 110 and the retrieved items follow the conveyor belt 105. When the slide bar 118 in the retrieval mechanism 110 is in the second guide groove 1022, since the depth of the second guide groove 1022 is greater than the depth of the first guide groove 1021, the second spring 119 will push the rack 117 to move closer to the second guide groove 1022, thereby causing the slide bar 118 to move away from the mounting box 111. When the rack 117 moves, it will drive multiple gears 1163 to rotate, thereby driving multiple vertical rods 1161 to rotate, thereby causing multiple cams 1162 to rotate, so that the convex end of the cam 1162 does not contact the vertical plate 113. At this time, under the influence of the rebound force of multiple first springs 115, multiple vertical plates 113 will move closer to the vertical rods 1161, thereby causing multiple retrieval rods 114 to move into the retrieval box 112.

[0035] This reduces the contact area between the salvaged item and the salvage mechanism 110, making it easier to transport the salvaged item to the collection mechanism 200.

[0036] like Figure 2 and Figure 5As shown, the drive mechanism includes a drive roller 103, a driven roller 104, a mounting cover 106, and a first transmission belt 108. The drive roller 103 is rotatably mounted on a first mounting plate 101 and a second mounting plate 102; the driven roller 104 is rotatably mounted on the first mounting plate 101 and the second mounting plate 102; a conveyor belt 105 is sleeved on the drive roller 103 and the driven roller 104; the mounting cover 106 is mounted on the first mounting plate 101, and a motor 107 is installed inside it; the power output shaft of the motor 107 is fixedly connected to the drive roller 103; the first transmission belt 108 is sleeved on the drive roller 103 and the driven roller 104.

[0037] Specifically, when the motor 107 is running, it will drive the drive roller 103 to rotate, which in turn drives the driven roller 104 to rotate via the first transmission belt 108. When the drive roller 103 and the driven roller 104 rotate, they will drive the conveyor belt 105 to rotate.

[0038] like Figure 3 and Figure 4 As shown, the collection mechanism 200 includes a collection box 201, which is installed on the top surface of the buoyancy seat 100. The collection box 201 has a cuboid structure and an opening at the top. Multiple removal slots 204 are provided on the side of the collection box 201 near the conveyor belt 105. The multiple removal slots 204 are matched with multiple retrieval boxes 112. The width of the removal slot 204 is 1.05 times the width of the retrieval box 112. The edges of the slots are rounded to ensure that the retrieval box 112 can pass through smoothly and clean up the debris on both sides.

[0039] Specifically, when the retrieval mechanism 110 approaches the collection box 201, the sliding rod 118 in the retrieval mechanism 110 will move into the second guide groove 1022, and multiple retrieval rods 114 will move into the interior of the retrieval box 112, thereby reducing the contact area between the retrieved item and the retrieval mechanism 110, making it easier to transport the retrieved item into the collection box 201.

[0040] Furthermore, when the retrieval rod 114 in the retrieval mechanism 110 moves into the retrieval box 112, the retrieval box 112 can pass through the removal groove 204, thereby cleaning both sides of the retrieval box 112 through the removal groove 204 and removing the debris attached to both sides of the retrieval box 112.

[0041] Working principle: In actual use, multiple actuators 109 are activated to move the buoyancy base 100 on the water surface. The visual recognition robot 121 identifies the items to be retrieved.

[0042] When it is necessary to retrieve items from the water surface, the motor 107 is started, which drives the active roller 103 to rotate, and then drives the driven roller 104 to rotate through the first transmission belt 108. When the active roller 103 and the driven roller 104 rotate, they will drive the conveyor belt 105 to move clockwise, which in turn drives multiple retrieval mechanisms 110 to move.

[0043] When the slide bar 118 in the retrieval mechanism 110 is in the first guide groove 1021, the second spring 119 is compressed, and multiple cams 1162 will push multiple vertical plates 113 and multiple retrieval rods 114 to move away from the vertical bar 1161. Multiple first springs 115 are compressed, and multiple retrieval rods 114 extend outside the retrieval box 112, expanding the lateral retrieval coverage area. This can effectively capture scattered floating objects (such as fallen leaves and small plastic pieces) within the coverage area of ​​the conveyor belt 105, avoiding missed retrieval due to excessive gaps between items.

[0044] As the conveyor belt 105 moves, when the slide bar 118 in the retrieval mechanism 110 is in the second guide groove 1022, since the depth of the second guide groove 1022 is greater than the depth of the first guide groove 1021, the second spring 119 will push the rack 117 to move closer to the second guide groove 1022, thereby causing the slide bar 118 to move away from the mounting box 111. When the rack 117 moves, it will drive multiple gears 1163 to rotate, thereby driving multiple vertical rods 1161 to rotate, thereby causing multiple cams 1162 to rotate, so that the convex end of the cam 1162 does not contact the vertical plate 113. At this time, under the influence of the rebound force of multiple first springs 115, multiple vertical plates 113 will move closer to the vertical rods 1161, thereby causing multiple retrieval rods 114 to move into the retrieval box 112.

[0045] This reduces the contact area between the retrieved item and the retrieval mechanism 110, making it easier to transport the retrieved item into the box. Furthermore, when the retrieval rod 114 in the retrieval mechanism 110 moves into the retrieval box 112, the retrieval box 112 can pass through the removal groove 204, allowing for the cleaning of both sides of the retrieval box 112 and the removal of debris adhering to the sides.

[0046] When the controller 122 detects that the battery power in the battery box 120 is less than 20%, the controller 122 will control the motor 107 to shut down and control multiple drivers 109 to move the buoyancy seat 100, so that the device returns to the preset docking point.

[0047] Example 2: Figure 3 , Figure 5 and Figure 7 As shown, while all other parts are the same as in Example 1, the difference between this example and Example 1 is that: The collection mechanism 200 also includes a roller pressing assembly 210 and a transmission assembly 220. The roller pressing assembly 210 is used to press the items collected in the collection box 201; the transmission assembly 220 is used to drive the roller pressing assembly 210 to move back and forth.

[0048] Specifically, the transmission component 220 drives the roller pressing component 210 to move back and forth, thereby causing the roller pressing component 210 to press the items in the collection box 201, so that the collection box 201 can store more items.

[0049] like Figure 7 As shown, the roller pressing assembly 210 includes a mounting bracket 211, a through hole 213, and a lead screw nut 214. The roller pressing cylinder 212 is rotatably mounted inside the mounting bracket 211; the through hole 213 is formed through the mounting bracket 211; and the lead screw nut 214 is mounted on the mounting bracket 211.

[0050] Specifically, the reciprocating mounting frame 211 drives the roller pressing cylinder 212 to reciprocate, thereby facilitating the pressing of items in the collection box 201 by the roller pressing cylinder 212.

[0051] like Figure 5 and Figure 7 As shown, the transmission assembly 220 includes a reciprocating screw 221, a second transmission belt 222, and a guide rod 223. The reciprocating screw 221 is rotatably connected to the collection box 201, with one end extending outside the collection box 201, and the reciprocating screw 221 passing through the screw nut 214; the second transmission belt 222 is sleeved on the reciprocating screw 221 and the power output shaft of the motor 107; the guide rod 223 passes through the through hole 213 and is slidably connected to the mounting bracket 211, with both ends of the guide rod 223 fixedly connected to the collection box 201.

[0052] Specifically, when the motor 107 is running, it drives the reciprocating screw 221 to rotate via the second transmission belt 222. When the reciprocating screw 221 rotates, the screw nut 214 drives the mounting frame 211 to move horizontally, which in turn drives the roller pressing cylinder 212 to move. By setting the guide rod 223, the stability of the mounting frame 211 during movement is improved.

[0053] like Figure 3 As shown, the transmission assembly 220 also includes a door 202 and a protective box 203. The door 202 is hinged to the collection box 201; the protective box 203 is installed inside the collection box 201 and is slidably connected to the mounting bracket 211, and the reciprocating screw 221 is located directly below the protective box 203.

[0054] Specifically, by setting a door 202, it is easy to take out the items collected in the collection box 201. By setting a protective box 203, the items conveyed by the retrieval mechanism 110 to the collection box 201 can be prevented from contacting the reciprocating screw 221, preventing debris from getting tangled or hitting the screw, thereby protecting the transmission accuracy of the reciprocating screw 221.

[0055] Working principle: In actual use, when retrieving items from the water, the conveyor belt 105 and the retrieval mechanism 110 will continuously transport the items into the collection box 201.

[0056] Furthermore, when the motor 107 is running, it will drive the reciprocating screw 221 to rotate through the second transmission belt 222. When the reciprocating screw 221 rotates, the screw nut 214 will drive the mounting frame 211 to move horizontally, which in turn will drive the roller pressing cylinder 212 to move. The moving roller pressing cylinder 212 will press the items in the collection box 201, so that the collection box 201 can store more salvaged items.

[0057] Furthermore, this device achieves both material retrieval and material rolling simultaneously by reusing the power of motor 107, eliminating the need for an additional rolling motor and reducing the overall power consumption of the machine.

[0058] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

[0059] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to specific implementations. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. A visual recognition adaptive salvage robot for floating objects on the water surface, comprising a conveyor belt installed between a first mounting plate and a second mounting plate, wherein both the first and second mounting plates are mounted on the top surface of a buoyancy base, characterized in that, Also includes: A drive mechanism is used to move the conveyor belt; Multiple sets of retrieval mechanisms are installed at equal intervals on the conveyor belt, and the retrieval mechanism includes: The mounting box is installed on the conveyor belt; Multiple scooping boxes are equidistantly installed on the mounting box. Each scooping box contains multiple vertical plates. Each vertical plate is equipped with a scooping rod that is slidably connected to the scooping box. A first spring is installed between the vertical plate and the inner wall of the scooping box. Multiple vertical rods are rotatably connected, and multiple cams that abut against vertical plates are installed on the vertical rods. Gears are installed at the lower ends of the vertical rods. A rack is slidably installed inside the mounting box and meshes with multiple gears. A slide rod is installed at one end of the rack, and a second spring is installed between the other end and the mounting box. The slide rod passes through one side of the mounting box and is slidably connected to the mounting box. A collection mechanism for receiving items transported by multiple sets of the aforementioned retrieval mechanisms; The second mounting plate has an annular guide groove adapted to the conveyor belt track, and one end of the slide rod is located in the annular guide groove; the annular guide groove is composed of a first guide groove and a second guide groove with different depths.

2. The adaptive salvage robot for visual recognition of floating objects on the water surface according to claim 1, characterized in that, The drive mechanism includes: The drive roller is rotatably mounted on the first mounting plate and the second mounting plate; The driven roller is rotatably mounted on the first mounting plate and the second mounting plate, and the conveyor belt is sleeved on the driving roller and the driven roller; A mounting cover is installed on the first mounting plate, and a motor is installed inside it. The power output shaft of the motor is fixedly connected to the drive roller. The first drive belt is fitted onto the driving roller and the driven roller.

3. The adaptive salvage robot for visual recognition of floating objects on the water surface according to claim 2, characterized in that, The collection mechanism includes: A collection box is installed on the top surface of the buoyancy seat. Its top is open, and multiple material removal slots are provided on the side of the box near the conveyor belt. The multiple material removal slots are matched with multiple material retrieval boxes. A rolling assembly for rolling the items collected in the collection box; A transmission component is used to drive the roller pressing component to reciprocate.

4. The adaptive salvage robot for visual recognition of floating objects on the water surface according to claim 3, characterized in that, The rolling assembly includes: The mounting frame has a roller cylinder rotatably mounted inside it; A through hole is formed in the mounting bracket; The lead screw nut is mounted on the mounting bracket.

5. The adaptive salvage robot for visual recognition of floating objects on the water surface according to claim 4, characterized in that, The transmission assembly includes: A reciprocating lead screw is rotatably connected to the collection box, with one end extending outside the collection box and passing through the lead screw nut; The second transmission belt is fitted onto the power output shaft of the reciprocating lead screw and the motor; A guide rod passes through the through hole and is slidably connected to the mounting bracket, with its two ends fixedly connected to the collection box.

6. The adaptive salvage robot for visual recognition of floating objects on the water surface according to claim 5, characterized in that, The transmission assembly also includes: The door is hinged to the collection box; A protective box is installed inside the collection box. The protective box is slidably connected to the mounting frame, and the reciprocating screw is located directly below the protective box.

7. The adaptive salvage robot for visual recognition of floating objects on the water surface according to claim 2, characterized in that, Also includes: Multiple actuators are mounted on the bottom surface of the buoyancy seat.

8. The adaptive salvage robot for visual recognition of floating objects on the water surface according to claim 7, characterized in that, Also includes: A visual recognition robot is installed on the top surface of the buoyancy seat; A battery box, mounted on the top surface of the buoyancy base, is used to power the vision recognition robot, the driver, and the motor; The controller is installed on the top surface of the battery box.

9. The adaptive salvage robot for visual recognition of floating objects on the water surface according to claim 1, characterized in that, The depth of the second guide groove is greater than the depth of the first guide groove.

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