A device and method for treating marine litter

Abstract

The application discloses a kind of sea garbage governance device and method, belong to environmental governance and marine ecological restoration field, wherein sea garbage governance device includes the garbage collection device that can realize small garbage transmission and large garbage grabbing, and the garbage interception device for intercepting garbage drifting to the direction of coast.Garbage collection device and garbage interception device are both floating device, and the two sides of garbage collection device are connected with garbage interception device.Garbage collection device includes floating platform, steel structure frame, front garbage collection frame, garbage transmission structure, multi-degree-of-freedom manipulator, rear garbage collection frame, floating bucket and the like.The application sets floating garbage collection device on the path of drifting garbage, cooperates with garbage interception device, uses green energy to automatically transmit small garbage and automatically grab and recycle large garbage, improves the collection efficiency and collection effect of different types of sea garbage, and solves the problem that current sea garbage automatic cleaning device collects single type of garbage.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of environmental governance and marine ecological restoration, and in particular to a device and method for treating marine litter. BACKGROUND

[0002] Marine litter treatment is a complex and urgent global environmental challenge. It involves ecological protection, human health, economic development and other aspects. Traditional marine litter cleaning usually involves manual picking up on the beach or manual fishing with small boats, which not only consumes manpower and resources, but also has very low cleaning efficiency, and cannot effectively treat marine litter. Therefore, some automatic collection devices for marine litter have been applied at home and abroad to improve the treatment effect of marine litter.

[0003] Plastic products account for the largest proportion of marine litter (60-80%), including plastic bags, plastic bottles, food packaging, and foam plastic. These litters are usually small in size and can be easily recycled using existing automatic collection devices. However, in addition to small litters, foam barrels, fishing nets and gear, bamboo poles, and driftwood are also commonly found in marine litter. These litters are large in size or long in length, and cannot be recycled by existing automatic collection devices, which often cause problems such as jamming and overloading of the transmission structure of existing devices, and to some extent limit the treatment effect of automatic collection devices. SUMMARY

[0004] The purpose of the present application is to provide a device and method for treating marine litter, which sets a floating litter collection device on the path of the drifting litter in combination with a litter interception device. The sea current collects the marine litter through the litter interception device to the litter collection device, and the litter collection device can recycle different types of marine litter, thereby improving the treatment capacity of marine litter.

[0005] To achieve the above purpose, the present application provides a device for treating marine litter, which comprises a litter collection device for recycling marine litter and a litter interception device for intercepting litter drifting towards the shore. The front part of the litter collection device is fixed by an anchor cable set towards the sea in the onshore direction, the tail part of the litter collection device is fixed by an anchor cable set towards the shore, and the two sides of the litter collection device are connected with the litter interception device.

[0006] The litter collection device comprises:

[0007] A floating platform for floating on the sea surface to provide buoyancy for the entire litter collection device;

[0008] A steel structure frame for forming a stainless steel skeleton of the floating platform and the rear litter collection frame;

[0009] A multi-degree-of-freedom mechanical arm assembly is arranged on a steel structure frame and has a linear movement function for identifying and grabbing large garbage;

[0010] A front garbage collection frame is arranged for guiding small marine garbage for front collection;

[0011] A rear garbage collection frame is arranged for collecting various garbage collected by the front garbage collection frame and the multi-degree-of-freedom mechanical arm assembly;

[0012] A garbage conveying structure is arranged between the front garbage collection frame and the rear garbage collection frame for conveying small garbage in the front garbage collection frame to the rear garbage collection frame;

[0013] The multi-degree-of-freedom mechanical arm assembly is arranged on both sides of the front garbage collection frame, the garbage conveying structure and the rear garbage collection frame in a plane, and includes a mechanical arm one and a mechanical arm two, the free end of the mechanical arm one is provided with a vision module for identifying large garbage, and the free end of the mechanical arm two is provided with a mechanical grabbing claw for grabbing large garbage,

[0014] The rear garbage collection frame is arranged for collecting various garbage collected by the conveying structure and the mechanical arm;

[0015] A floating bucket is arranged on both sides or the bottom of the floating platform for providing auxiliary buoyancy.

[0016] Preferably, the anchor cable one is symmetrically arranged about the center line of the garbage collection device and is obliquely arranged on both sides of the garbage collection device, and the anchor cable two is symmetrically arranged about the center line of the garbage collection device and is obliquely arranged on both sides of the garbage collection device.

[0017] Preferably, the steel structure frame includes a platform frame and a collection frame, the collection frame is arranged at the top end of the platform frame, the platform frame is a stainless steel skeleton of the floating platform, and the collection frame is a stainless steel fixed frame of the rear garbage collection frame.

[0018] Preferably, the floating platform includes a plurality of floating pipes arranged in the stainless steel skeleton, the floating pipes are connected through connecting pieces, the floating pipes are made of reinforced HDPE material, a plurality of linearly arranged handrail pipes are symmetrically arranged at the top end of both sides of the floating pipes, and the plurality of handrail pipes on one side of the floating pipes are fixed in series through a handrail frame.

[0019] Preferably, the rear garbage collection frame includes a plurality of closure plates arranged on both sides and the rear side of the collection frame, the front side of the rear garbage collection frame is open, the top end of the rear garbage collection frame is provided with a solar panel, and the solar panel is connected with a storage battery arranged on the floating platform.

[0020] Preferably, the front garbage collection frame comprises a horizontal collection plate and an inclined collection plate connected with the horizontal collection plate and arranged obliquely upward, both sides of the horizontal collection plate and the inclined collection plate are connected with the steel structure frame, and a plurality of water-permeable holes are arranged on the horizontal collection plate and the inclined collection plate.

[0021] Preferably, the garbage transmission structure is arranged above the inclined collection plate, the garbage transmission structure comprises a shell connected with the steel structure frame, a motor is arranged on the shell, the motor is connected with one end of a rotating shaft I through a speed reducer, both ends of the rotating shaft I are rotationally connected with the shell, a rotating shaft II is rotationally arranged on the shell away from one end of the rotating shaft I, a plurality of rotating bodies are arranged on the rotating shaft I and the rotating shaft II, a sprocket I is arranged between adjacent rotating bodies on the rotating shaft I, a sprocket II is arranged between adjacent rotating bodies on the rotating shaft II, the sprocket I is connected with the sprocket through a chain, a rake mechanical hand driven by the chain is arranged on the chain, and the rake mechanical hand is used for conveying the garbage of the front garbage collection frame into the rear garbage collection frame.

[0022] Preferably, the mechanical arm I and the mechanical arm II are connected with the platform frame through linear modules, a stainless steel reinforcing plate is welded on the platform frame, the stainless steel reinforcing plate is connected with the linear modules through bolts, and an anti-skid gasket is arranged between the stainless steel reinforcing plate and the bottom end of the linear modules.

[0023] The visual module comprises a main visual camera and an auxiliary camera, a fixing frame is arranged at the free end of the mechanical arm I, the main visual camera and the auxiliary camera are respectively installed on both sides of the fixing frame, the main visual camera adopts an RGB-D depth camera, color images and depth information of the large garbage are acquired, and the auxiliary camera adopts a wide-angle infrared camera and is used for supplementing visual information in night and low-light scenes.

[0024] Preferably, the garbage interception device adopts an oil containment boom wrapped with special rubber on a polyethylene float.

[0025] The application provides a sea garbage treatment method, which comprises the following steps:

[0026] In the process of random movement of the sea garbage to the coast, the garbage is intercepted by the garbage interception device and is concentrated in front of the central garbage collection device under the action of the sea current, and the small garbage enters the front garbage collection frame;

[0027] In the process of random movement of the sea garbage to the coast, the garbage is intercepted by the garbage interception device and is concentrated in front of the central garbage collection device under the action of the sea current, and the small garbage enters the front garbage collection frame;

[0028] Step three, the color image, depth information, visual information data collected in step two are transmitted to the upper computer through wireless communication, the data training samples are extracted, the sample is labeled with garbage class + 2D bounding box + 3D key point, and image flipping, brightness adjustment, contrast adjustment, salt spray simulation and occlusion simulation are performed;

[0029] Step four, using the improved YOLOv8-L marine version as the basic model, the specific large garbage in the RGB image is detected in real time, and the large garbage class and 2D bounding box are output;

[0030] Step five, based on the depth data, the improved PV-RCNN algorithm is combined to map the 2D bounding box of the garbage to a 3D point cloud area, extract the geometric features of the garbage surface, calculate the three-dimensional coordinates and attitude angle of the large garbage, and identify the large garbage;

[0031] Step six, after the identification is completed, the upper computer controls the movement of the mechanical arm, the upper computer performs secondary identification of the large garbage through the vision module, and then the mechanical grabbing claw is used to grab the large garbage. After the large garbage is grabbed, it is moved along the preset path to the upper side of the rear garbage collection frame, and the large garbage is placed in the garbage collection bag of the rear garbage collection frame, and the collection of the large garbage is completed.

[0032] Step seven, through the circulation transmission of the chain driven by the motor of the garbage conveying structure, the rake mechanical hand on the chain continuously lifts the garbage in the front garbage collection frame along the inclined surface to the top and falls into the garbage collection bag of the rear garbage collection frame, and the collection of the small garbage is completed.

[0033] Step eight, the solar panel generates electricity using solar energy and stores it in the battery. The battery provides continuous power for the motor, linear module and mechanical arm. The motor of the electric garbage conveying structure is set to an interval starting mode, and finally the garbage collection bag in the rear garbage collection frame is replaced by the garbage cleaning personnel at regular intervals.

[0034] Therefore, the sea garbage treatment device has the following beneficial effects:

[0035] 1. The floating garbage collection device is arranged on the path of the drifting garbage and cooperates with the garbage intercepting device, so that the sea garbage is automatically collected by the sea current, the manual collection by boat is reduced, the cost is reduced, the labor intensity of the workers is reduced, and the collection efficiency of the sea garbage is improved.

[0036] 2. The linear module cooperates with the mechanical arm, the vision module and the mechanical grabbing hand to collect the large garbage, the small garbage is collected by the garbage conveying structure, the garbage is classified and collected, the collection type of the garbage is expanded, the problem that the small garbage conveying structure is blocked by the large garbage is prevented, and the service life of the garbage conveying structure is improved.

[0037] 3、The present application provides main buoyancy and auxiliary buoyancy for the whole garbage collection device through the floating platform and the floating bucket, realizes stable floating of the device on the sea surface, and provides the overall structural strength of the device through the steel structure frame, so that the device can withstand long-time sea current impact; the garbage transmission structure is provided between the front garbage collection frame and the rear garbage collection frame, the chain circulation transmission is utilized, the rake mechanical hand is driven to continuously lift the garbage of the front garbage collection frame along the slope to the top and drop into the rear garbage collection frame, automatic garbage collection of small garbage is realized, and the collection efficiency of sea garbage is improved.

[0038] The technical solutions of the present application are described in further detail below with reference to the drawings and examples. BRIEF DESCRIPTION OF DRAWINGS

[0039] Figure 1 It is a structure schematic view of the sea garbage treatment device of the embodiment of the present application.

[0040] Figure 2 It is a whole structure schematic view of the garbage collection device of the embodiment of the present application.

[0041] Figure 3 It is a front view of the steel structure frame of the embodiment of the present application.

[0042] Figure 4 It is a side view of the steel structure frame of the embodiment of the present application.

[0043] Figure 5 It is a top view of the steel structure frame of the embodiment of the present application.

[0044] Figure 6 It is a connection schematic view of the platform frame and the collection frame of the embodiment of the present application.

[0045] Figure 7 It is a front view of the floating platform of the embodiment of the present application.

[0046] Figure 8 It is a top view of the floating platform of the embodiment of the present application.

[0047] Figure 9 It is a connection structure schematic view of the embodiment of the present application.

[0048] Figure 10 It is a side view of the front garbage collection frame of the embodiment of the present application.

[0049] Figure 11 It is a top view of the garbage transmission structure of the embodiment of the present application.

[0050] Figure 12 It is a side view of the rake mechanical hand of the embodiment of the present application.

[0051] Figure 13Rake hand mechanical arm perspective view of the embodiment of the present application;

[0052] Figure 14 Single pontoon structure schematic diagram of the embodiment of the present application;

[0053] Figure 15 Camera installation schematic diagram on the fixed frame of the embodiment of the present application;

[0054] Figure 16 Panel model diagram of the garbage collection device of the embodiment of the present application;

[0055] Figure 17 Hydrodynamic model diagram of the garbage collection device of the embodiment of the present application;

[0056] Figure 18 Mooring system modeling schematic diagram of the embodiment of the present application.

[0057] Reference signs

[0058] 1, garbage collection device; 11, floating platform; 111, floating pipe; 112, connecting piece; 113, handrail pipe; 114, handrail frame; 115, fixing hole;

[0059] 12, front garbage collection frame; 121, horizontal collection plate; 122, inclined collection plate; 123, water permeable hole; 124, side frame;

[0060] 13, rear garbage collection frame; 131, solar panel;

[0061] 14, garbage transmission structure; 141, shell; 142, motor; 143, rotating shaft one; 144, rotating shaft two; 145, rotating body; 146, chain wheel one; 147, chain wheel two; 148, rake hand mechanical arm; 149, chain;

[0062] 15, steel structure frame; 151, platform frame; 152, collection frame;

[0063] 16, floating bucket;

[0064] 17, anchor cable one; 18, anchor cable two;

[0065] 19, mechanical arm one; 20, mechanical arm two; 21, linear module; 22, main vision camera; 23, auxiliary camera; 24, fixed frame; 25, mechanical grabbing claw; 26, mounting plate one; 27, mounting plate two; 28, rotating motor; 29, pitching motor;

[0066] 2, garbage interception device. DETAILED DESCRIPTION

[0067] In order to make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the embodiments of the present application are further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the embodiments of the present application and should not be used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application. The examples of the embodiments are shown in the drawings, wherein the same or similar reference signs represent the same or similar elements or elements having the same or similar functions throughout.

[0068] It should be noted that the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or server comprising a series of steps or units does not have to be limited to only those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0069] Similar reference signs and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0070] In the description of the present application, it should be noted that the terms "upper", "lower", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of the present application is usually placed, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be understood as limiting the present application.

[0071] In the description of the present application, it should also be noted that unless otherwise explicitly specified and limited, the terms "providing", "installing", "connecting" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances.

[0072] Embodiments

[0073] As Figure 1As shown, the sea litter treatment device of the present application comprises a litter collecting device 1 for sea litter collection and a litter intercepting device 2 for intercepting litter drifting towards the shore. The front part of the litter collecting device 1 is fixed by anchor cable one 17 arranged towards the oncoming wave direction, and the tail part of the litter collecting device 1 is fixed by anchor cable two 18 arranged towards the shore direction. Anchor cable one 17 is symmetrically arranged about the center line of the litter collecting device 1 and is obliquely arranged on both sides of the litter collecting device 1, and anchor cable two 18 is symmetrically arranged about the center line of the litter collecting device 1 and is obliquely arranged on both sides of the litter collecting device 1.

[0074] The present embodiment is an example of a sea litter treatment device arranged in a certain deep water approach channel project in a certain sea area. In the present embodiment, the litter collecting device 1 adopts a four-point mooring method, in which two anchor cables one 17 arranged towards the oncoming wave direction are symmetrically arranged at an angle of about 20 degrees with the center line of the litter collecting device 1, mainly for limiting the longitudinal movement of the litter collecting device 1 when the wave comes from the sea; the tail part of the anchor cable two 18 is symmetrically arranged at an angle of 45 degrees with the center line of the litter collecting device 1, mainly for limiting the transverse movement of the collecting device. Anchor cable one 17 and anchor cable two 18 are made of ultra-high molecular weight polyethylene cable, with a diameter of 44 mm, and the length is three times the local high tide water depth according to relevant specifications, each being 50 meters. The litter intercepting device 2 is directly fixed at one end to the litter collecting device 1, and the other end is arranged with 3 anchor chains according to the local terrain and navigation requirements, mainly for limiting the transverse movement of the intercepting device. 1 or 2 anchor chains are arranged every 20m in the middle, for limiting the movement of the intercepting device in the direction of the oncoming wave. The anchor chain is made of ultra-high molecular weight polyethylene cable, with a diameter of 28 mm, and the length is not less than 36 meters and 20 meters, of which the 6 cables near the litter collecting device 1 are 36 meters long.

[0075] As shown in the figure, Figure 2 As shown, the litter collecting device 1 comprises a floating platform 11 for providing buoyancy for the entire litter collecting device 1, a front litter collecting frame 12 for guiding sea litter for pre-collection, a rear litter collecting frame 13 for collecting sea litter guided by the front litter collecting frame 12, a litter conveying structure 14 for conveying litter of the front litter collecting frame 12 to the rear litter collecting frame 13, a steel structure frame 15 for constituting the stainless steel framework of the floating platform 11 and the rear litter collecting frame 13, and a floating barrel 16 for providing auxiliary buoyancy. The steel structure frame 15 is provided with a multi-degree-of-freedom mechanical arm assembly with linear movement function, which is used for identifying and grabbing large litter. The multi-degree-of-freedom mechanical arm assembly is distributed on both sides of the front litter collecting frame 12, the litter conveying structure 14 and the rear litter collecting frame 13 in the plane. The multi-degree-of-freedom mechanical arm assembly comprises a mechanical arm one 19 and a mechanical arm two 20, the free end of the mechanical arm one 19 is provided with a vision module for identifying large litter, and the free end of the mechanical arm two 20 is provided with a mechanical grabbing claw 25 for grabbing large litter.

[0076] As shown in Figure 3 , Figure 4 , Figure 5 , Figure 6 , the steel structure frame 15 includes a platform frame 151 and a collection frame 152, the collection frame 152 is arranged at the top end of the platform frame 151. The platform frame 151 is a stainless steel skeleton of the floating platform 11, and the collection frame 152 is a stainless steel fixed frame of the rear garbage collection frame 13.

[0077] As shown in Figure 7 , Figure 8 , Figure 9 , the floating platform 11 includes a plurality of floating pipes 111 arranged in the stainless steel skeleton, and the floating pipes 111 are connected by connecting pieces 112 (the connecting pieces 112 are provided with fixing holes 115, and the floating pipes 111 are inserted into the fixing holes 115 of the connecting pieces 112 and fixedly connected with the connecting pieces 112, wherein the connecting pieces 112 can be provided with three holes or two holes for connecting two or three groups of floating pipes 111). The floating pipe 111 is made of reinforced HDPE material, and a plurality of linearly arranged handrail pipes 113 are symmetrically arranged at the top end of the floating pipe 111 on both sides. A plurality of handrail pipes 113 on one side of the floating pipe 111 are fixedly connected in series through a handrail frame 114.

[0078] The rear garbage collection frame 13 includes a closing plate arranged on both sides and the rear side of the collection frame 152, and the front side of the rear garbage collection frame 13 is open. The top end of the rear garbage collection frame 13 is provided with a solar panel 131, and the solar panel 131 is connected with a storage battery arranged on the floating platform 11.

[0079] As shown in Figure 10 , the front garbage collection frame 12 includes a horizontal collection plate 121 and an inclined collection plate 122 connected with the horizontal collection plate 121 and arranged obliquely upward, and both sides of the horizontal collection plate 121 and the inclined collection plate 122 are connected with the steel structure frame 15. A plurality of water permeable holes 123 are arranged on the horizontal collection plate 121 and the inclined collection plate 122, which allows seawater to pass through while intercepting garbage. The front garbage collection frame 12 further includes a side frame 124 arranged on both sides and connected with the steel structure frame 15, and a plurality of water permeable holes 123 are also arranged on the side frame 124.

[0080] As shown in Figure 11 , Figure 12 , Figure 13As shown, the garbage conveying structure 14 is arranged between the front garbage collection frame 12 and the rear garbage collection frame 13 and above the inclined collection plate 122. The garbage conveying structure 14 comprises a shell 141 connected with the steel structure frame 15, and a motor 142 is arranged on the shell 141. The motor 142 is connected with one end of a rotating shaft I 143 through a speed reducer. The two ends of the rotating shaft I 143 are rotationally connected with the shell 141, and a rotating shaft II 144 is rotationally arranged on the shell 141 away from the one end of the rotating shaft I 143. A plurality of rotating bodies 145 are arranged on the rotating shaft I 143 and the rotating shaft II 144. A chain wheel I 146 is arranged between adjacent rotating bodies 145 on the rotating shaft I 143, and a chain wheel II 147 is arranged between adjacent rotating bodies 145 on the rotating shaft II 144. The chain wheel I 146 is connected with the chain wheel through a chain 149, and a rake mechanical hand 148 is arranged on the chain 149 and driven by the chain 149. The rake mechanical hand 148 is used to convey the garbage in the front garbage collection frame 12 into the rear garbage collection frame 13. As shown in the figure, Figure 14 As shown, the floating buckets 16 are arranged on both sides of the floating platform 11 to increase the remaining buoyancy of the garbage collection device 1.

[0081] The mechanical arm I 19 and the mechanical arm II 20 are connected with the platform frame 151 through the linear module 21. A 20mm-thick stainless steel reinforcing plate (size 500mm×300mm) is welded on the platform frame 151. The reinforcing plate and the frame beam are full-welded with a welding seam height≥8mm. The stainless steel reinforcing plate is connected with the linear module 21 through high-strength bolts. The bottom ends of the mechanical arm I 19 and the mechanical arm II 20 are connected with the sliders of the linear module 21 through high-strength bolts to strengthen the connection stability and resist the reaction force when the mechanical arms grab garbage and the sea state impact. Anti-skid washers (polytetrafluoroethylene material) are arranged between the stainless steel reinforcing plate and the bottom end of the linear module 21 and between the mechanical arms and the sliders of the linear module 21 to prevent the high-strength bolts from loosening due to long-term shaking. The visual module comprises a main visual camera 22 and an auxiliary camera 23. The free end of the mechanical arm I 19 is provided with a fixing frame 24, and the main visual camera 22 and the auxiliary camera 23 are respectively installed on both sides of the fixing frame 24. A rotary motor 28 is installed on the fixing frame 24. The output shaft of the rotary motor 28 penetrates through the fixing frame 24 and is connected with two installation plates I 26. The two installation plates I 26 are arranged on both sides of the fixing frame 24.

[0082] As shown in the figure, Figure 15As shown, the mounting plate one 26 is provided with a pitch motor 29, the output shaft of the pitch motor 29 penetrates the mounting plate one 26 and is connected with the mounting plate two 27. The mounting plate two 27 is provided with two, which are distributed on the two sides of the fixed frame 24, and the main visual camera 22 and the auxiliary camera 23 are respectively mounted on the respective mounting plate two 27. The main visual camera 22 and the auxiliary camera 23 can be rotated by the rotating motor 28, and the pitch angle of the main visual camera 22 and the auxiliary camera 23 can be adjusted by the pitch motor 29, so as to realize the adjustment of the scanning angle of the main visual camera 22 and the auxiliary camera 23.

[0083] The main visual camera 22 adopts an RGB-D depth camera to obtain the color image and depth information of the large garbage, and the auxiliary camera 23 adopts a wide-angle infrared camera, which is used in night and low-light (such as overcast and foggy) scenes to supplement the visual information and avoid recognition failure caused by insufficient light. The main visual field range covers a range of 10m by 5m in front of the garbage collection device in the horizontal direction and 1.5m above the sea surface to 0.5m below the sea surface in the vertical direction.

[0084] The two sides of the garbage collection device 1 are connected with the garbage intercepting device 2. The entire garbage intercepting device 2 adopts an oil containment boom with a special rubber outer package of polyethylene float. The height of the garbage intercepting device 2 is 1100mm, of which the height above water is 390mm and the underwater depth is 710mm, which is mainly determined according to the size of the garbage in the engineering sea area. The garbage intercepting device 2 takes 20m as the basic unit, has large buoyancy reserve and good vertical stability, has universal quick connectors and anchor chain fixing connectors, is connected quickly and reliably, and is equipped with night light markers, which are eye-catching and easy to identify. The normal service life is 6 years, which can meet the time requirements of the project.

[0085] The anchor cable one 17, the anchor cable two 18 and the anchor chain are anchored through anchor blocks, and the anchor blocks adopt concrete anchor blocks.

[0086] In this embodiment, OrcaFlex time domain coupling analysis software is used for strength calculation. In the calculation, the same direction most dangerous condition is used for incidence calculation, the wave spectrum is JONSWAP spectrum, and the spectrum peak factor γ value is 3.3 according to API specification. The model adopts SESAM / GeniE to establish the sea main body structure panel model according to the structure design of the garbage collection device 1 and the garbage intercepting device 2, and the frequency domain calculation is carried out in SESAM / HydroD to obtain the hydrodynamic parameters of the floating body, such as added mass, potential flow damping, RAO, average slow drift force and the like. The panel model and the hydrodynamic model of the garbage collection device 1 are shown in Figure 16 、 Figure 17

[0087] ​The garbage collecting device 1 of the embodiment adopts a distributed four-point mooring system, anchor cable 1 17 and anchor cable 2 18 are set with an initial pre-tension of 50kN, the oil containment boom is moored by setting the anchor chain with an initial pre-tension of 1kN, and the mooring system modeling is as shown in Figure 18

[0088] The anchor cable stress analysis results are shown in Tables 2, 3 and 4:

[0089] Table 2: Motion response of the garbage collecting device

[0090] ;

[0091] Table 3: Maximum mooring tension of the anchor cable of the garbage collecting device

[0092] ;

[0093] Table 4: Maximum mooring tension of the anchor cable of the garbage collecting device

[0094] ;

[0095] According to the above analysis results, it can be obtained that the garbage collecting device 1 and the garbage collecting device 2 of the embodiment adopt the current anchor chain plane arrangement, which is feasible and can meet the operation safety under the 110-year sea condition high tide condition of the sea garbage collecting device 1.

[0096] The sea garbage treatment method provided by the application comprises the following steps:

[0097] Step 1: The sea garbage is intercepted by the garbage collecting device 2 in the process of random movement towards the coast, and is concentrated in front of the garbage collecting device 1 under the action of the sea current, and the small garbage enters the front garbage collecting frame 12;

[0098] Step 2: The main vision camera 22 and the auxiliary camera 23 move to the target position through the linear module 21, the color image of the large garbage is acquired through the main vision camera 22 for category identification, the depth information of the large garbage near the garbage collecting device 1 is acquired for 3D pose positioning, and the auxiliary camera 23 supplements the visual information;

[0099] Step 3: The color image, depth information and visual information data collected in step 2 are transmitted to the upper computer through wireless communication, the data training samples are extracted, the samples are labeled with garbage category + 2D boundary box + 3D key point, and image flipping, brightness adjustment, contrast adjustment, salt spray simulation and occlusion simulation are performed. The specific steps are as follows:

[0100] ​Collect various visual data for bamboo poles, large foam, large driftwood, etc. in different sea conditions (sunny, cloudy, wave splashing water), different postures (inclined, lying, partially soaked) to form at least 5000 images as algorithm training samples, each sample labeled with garbage category + 2D bounding box + 3D key point. Image flipping, brightness / contrast adjustment, salt spray simulation (add noise), partial occlusion simulation (simulate being occluded by other garbage) processing is performed to improve the model's anti-interference ability.

[0101] Step four, use the improved YOLOv8-L marine version (optimize seawater reflection suppression algorithm) as the basic model to detect specific large garbage in real time in the RGB image, output the category (bamboo pole / foam / fishing net) and 2D bounding box, the detection frame rate is ≥25fps, and the recognition accuracy is ≥95% (for garbage with visibility ≥50%).

[0102] Step five, based on the depth data of the RGB-D camera, combined with the improved PV-RCNN algorithm, the 2D bounding box of the large garbage is mapped to the 3D point cloud region, the geometric features of the garbage surface (such as the axis of the bamboo pole and the center surface of the foam) are extracted, and the three-dimensional coordinates (X / Y / Z, relative to the base coordinate system of the mechanical arm) and attitude angle (roll angle / pitch angle / yaw angle) of the large garbage are calculated, with an error of ≤±20mm (position) and ≤±2° (attitude).

[0103] Step six, after the identification is completed, the upper computer controls the movement of the mechanical arm, the upper computer performs secondary identification of the large garbage through the vision module, and then the large garbage is grabbed by the mechanical grabbing claw 25. After grabbing the large garbage, it moves along the preset path to above the rear garbage collection frame 13, and places the large garbage in the garbage collection bag of the rear garbage collection frame 13, completing the collection of the large garbage. The specific steps are as follows:

[0104] The upper computer detects specific large garbage through the vision module for 3 consecutive frames (and the garbage is stationary / slowly moving, speed ≤0.3m / s), which forms a trigger condition, and automatically sends a grabbing instruction. The mechanical arm two 20 moves from the standby position to 1m above the garbage positioned by the vision system, and the vision system confirms the garbage pose again. The mechanical arm two 20 controls the end mechanical grabbing claw 25 according to the pose estimation result, slowly descends to the grabbing point, and detects the contact force through the mechanical grabbing claw 25 force sensor (range 0-100N, accuracy 0.1N) after contacting the garbage. When the force value reaches the preset threshold (bamboo pole 8-12N, foam 5-8N), the mechanical grabbing claw 25 is closed and locked. After grabbing the garbage, the mechanical arm two 20 moves along the preset path to above the rear garbage collection frame 13, and the mechanical grabbing claw 25 opens to put the garbage in.

[0105] The mechanical arm two 20 can determine the optimal grabbing point (such as the midpoint of the bamboo pole, the center of gravity of the foam) according to the garbage pose, and detect whether there is an obstacle (such as an intercepting device, other garbage) in the grabbing path, and if there is, an obstacle avoidance path is automatically planned.

[0106] The mechanical arm one 19, the mechanical arm two 20, the linear module 21 and the mechanical grabbing claw 25 all adopt existing structures.

[0107] Step seven, through the motor 142 of the garbage conveying structure 14 drives the circulation transmission of the chain 149, the rake grabbing mechanical hand 148 on the chain 149 continuously lifts the garbage in the front garbage collection frame 12 along the slope to the top and falls into the garbage collection bag in the rear garbage collection frame 13, and small garbage collection is completed.

[0108] Step eight, the solar panel uses solar power generation and stores in the battery, the battery provides continuous power for the motor 142, the linear module 21 and the mechanical arm, and the motor 142 is set to an interval starting mode, and the garbage collection bag in the rear garbage collection frame 13 is replaced by the garbage cleaning personnel regularly.

[0109] In the application, the multi-degree-of-freedom mechanical arm assembly recognizes and grabs large garbage, and all the algorithms used are existing algorithms.

[0110] Finally, it should be noted that: the above examples are only used to illustrate the technical solutions of the present application, but not to limit it, although the present application has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that: it can still modify or replace the technical solutions of the present application, and these modifications or equivalent replacements cannot make the modified technical solutions deviate from the spirit and scope of the technical solutions of the present application.

Claims

1. A method for managing marine litter, characterized by: The device for treating sea-borne garbage includes a garbage collection device for collecting garbage and a garbage blocking device for blocking garbage drifting towards the coast, the front part of the garbage collection device is fixed by an anchor cable arranged towards the sea, the tail part of the garbage collection device is fixed by an anchor cable arranged towards the coast, and the two sides of the garbage collection device are connected with the garbage blocking device; The garbage collection device includes: a floating platform for floating on the sea to provide buoyancy for the entire garbage collection device; a steel structure frame for constituting the floating platform and the rear garbage collection frame; a multi-degree-of-freedom mechanical arm assembly arranged on the steel structure frame and having a linear movement function for identifying and grabbing large garbage; a front garbage collection frame for guiding small sea-borne garbage for front collection; a rear garbage collection frame for collecting various garbage collected by the front garbage collection frame and the multi-degree-of-freedom mechanical arm assembly; a garbage conveying structure arranged between the front garbage collection frame and the rear garbage collection frame for conveying small garbage in the front garbage collection frame to the rear garbage collection frame; the multi-degree-of-freedom mechanical arm assembly is distributed on both sides of the front garbage collection frame, the garbage conveying structure, and the rear garbage collection frame in a plane, the multi-degree-of-freedom mechanical arm assembly includes a first mechanical arm and a second mechanical arm, the free end of the first mechanical arm is provided with a vision module for identifying large garbage, and the free end of the second mechanical arm is provided with a mechanical grabbing claw for grabbing large garbage, a floating bucket arranged on both sides or the bottom of the floating platform for providing auxiliary buoyancy; the steel structure frame includes a platform frame and a collection frame; the first mechanical arm and the second mechanical arm are connected with the platform frame through linear modules, the platform frame is welded with a stainless steel reinforcing plate, the stainless steel reinforcing plate is connected with the linear modules through bolts, and an anti-skid gasket is arranged between the stainless steel reinforcing plate and the bottom end of the linear modules; the vision module includes a main vision camera and an auxiliary camera, the free end of the first mechanical arm is provided with a fixing frame, the main vision camera and the auxiliary camera are respectively installed on both sides of the fixing frame, the main vision camera adopts an RGB-D depth camera to obtain color images and depth information of large garbage, and the auxiliary camera adopts a wide-angle infrared camera to supplement visual information in night or low-light scenes; the method for treating sea-borne garbage includes the following steps: step one, sea-borne garbage is intercepted by the garbage blocking device during random movement towards the coast and is concentrated in front of the central garbage collection device under the action of sea current, and small garbage enters the front garbage collection frame; step two, the main vision camera and the auxiliary camera move to a target position through the linear modules, the main vision camera obtains color images of large garbage near the garbage collection device for category identification and obtains depth information of the large garbage for 3D pose positioning, and the auxiliary camera supplements visual information; step three, color images, depth information, and visual information data collected in step two are transmitted to an upper computer through wireless communication, data training samples are extracted, the samples are labeled with garbage categories, 2D boundary boxes, and 3D key points, and image flipping, brightness adjustment, contrast adjustment, salt spray simulation, and occlusion simulation are performed. Step four, using the improved YOLOv8-L marine version as the basis model, real-time detection of specific large garbage in RGB images, outputting the large garbage category and 2D bounding box; Step five, based on depth data, combined with the improved PV-RCNN algorithm, the 2D bounding box of the garbage is mapped to a 3D point cloud area, the geometric features of the garbage surface are extracted, the three-dimensional coordinates and attitude angle of the large garbage are calculated, and the large garbage is identified; Step six, after the identification is completed, the upper computer controls the movement of the mechanical arm, the upper computer performs secondary identification of the large garbage through the vision module, and then the mechanical grabbing claw is used to grab the large garbage. After the large garbage is grabbed, it is moved along the preset path to the top of the rear garbage collection frame, and the large garbage is placed in the garbage collection bag of the rear garbage collection frame, completing the collection of the large garbage.

2. The method of claim 1, wherein: The anchor cable is symmetrically arranged about the center line of the garbage collection device and is obliquely arranged on both sides of the garbage collection device.

3. The method of claim 1, wherein: The collection frame is arranged at the top end of the platform frame, the platform frame is a stainless steel skeleton of the floating platform, and the collection frame is a stainless steel fixed frame of the rear garbage collection frame.

4. The method of claim 3, wherein: The floating platform includes a plurality of floating pipes arranged in the stainless steel skeleton, the floating pipes are connected through reinforcing connecting pieces, the floating pipes are made of reinforced HDPE material, and a plurality of linearly arranged handrail pipes are symmetrically arranged at the top ends of the two sides of the floating pipes.

5. The method of claim 4, wherein: The rear garbage collection frame includes closed plates arranged on both sides and the rear side of the collection frame, the front side of the rear garbage collection frame is open, and the top end of the rear garbage collection frame is provided with a solar panel connected with a storage battery arranged on the floating platform.

6. The method of claim 5, wherein: The front garbage collection frame includes a horizontal collection plate and an inclined collection plate connected with the horizontal collection plate and arranged obliquely upward, the two sides of the horizontal collection plate and the inclined collection plate are connected with the steel structure frame, and a plurality of water permeable holes are arranged on the horizontal collection plate and the inclined collection plate.

7. The method of claim 6, wherein: The garbage conveying structure is arranged above the inclined collection plate, and the garbage conveying structure includes an outer shell connected with the steel structure frame, a motor arranged on the outer shell, and a rotating shaft two rotatably arranged on the outer shell away from one end of the rotating shaft one. A plurality of rotating bodies are arranged on the rotating shaft one and the rotating shaft two, a sprocket one is arranged between adjacent rotating bodies on the rotating shaft one, a sprocket two is arranged between adjacent rotating bodies on the rotating shaft two, the sprocket one is connected with the sprocket two through a chain, and a rake grabbing manipulator driven by the chain is arranged on the chain. The rake grabbing manipulator is used for conveying the garbage in the front garbage collection frame into the rear garbage collection frame.

8. The method of claim 1, wherein: The garbage interception device adopts an oil containment boom wrapped with special rubber.

9. The method of claim 7, wherein, The method further includes the following steps: Step seven, through the circulation transmission of the motor of the garbage conveying structure, the rake grabbing manipulator on the chain is used to continuously lift the small garbage entering the front garbage collection frame along the inclined surface to the top and fall into the garbage collection bag of the rear garbage collection frame, completing the collection of the small garbage. Step eight, solar panels use solar energy to generate electricity and store it in the battery, which provides continuous power for the motor, linear module and mechanical arm, the motor of the garbage conveying structure is set in advance in the interval starting mode, and finally the garbage collection bag in the rear garbage collection frame is replaced regularly by the garbage cleaning personnel.

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