Distributed perception and coordination based ocean current floating object recovery robot cluster

Abstract

The present application relates to the technical field of ocean floating object recycling, and discloses a current floating object recycling robot cluster based on distributed sensing and cooperation, which comprises at least two groups of robot bodies, each group of robot bodies is provided with a sensing and power module, a primary energy module and a floating object collecting module; the primary energy module integrates a solar power supply unit and a flywheel structure; the floating object collecting module comprises a sea surface intercepting unit capable of automatic resetting and an internal collecting and storing unit with multiple rotating rollers; the multiple groups of robot bodies can switch between cruising mode and fixed-point cooperative mode. The present application can realize single-machine autonomous cruising recycling and multi-machine cooperative large-scale hunting, realizes long-term self-power operation at sea through solar energy and wave energy, has high stability, high recycling efficiency and high sustainability, and solves the problems of limited operation range, insufficient power and inability to continuously operate of the existing marine garbage treatment device.

Description

Technical Field

[0001] This invention relates to the field of marine floating debris recovery technology, specifically to a cluster of ocean current floating debris recovery robots based on distributed sensing and collaboration. Background Technology

[0002] Marine debris patches pose a devastating threat to marine ecosystems. For example, the Ring of Fire, roughly the size of Europe, is primarily composed of floating plastic waste, mainly originating from coastal pollution, ship emissions, and river estuaries. These debris is formed by the convergence of Pacific Ocean currents. Microplastics, formed from the decomposition of plastics in marine debris, can cause illness and even death when ingested by marine life. Furthermore, these microplastics accumulate through the food chain, ultimately threatening human food safety. In addition, debris patches damage marine landscapes, hinder the development of marine tourism, and severely impact the economic development of coastal and island communities.

[0003] To address the increasingly serious problem of marine debris, existing treatment technologies suffer from the following main shortcomings: Traditional ship salvage mode: using dedicated garbage collection vessels for fixed-point or patrol salvage, which has high operating costs, high fuel consumption, and is severely restricted by sea conditions, making it impossible to achieve all-weather, large-scale continuous operation; Fixed interception devices: Fixed interception nets / fences are set up at river mouths or near the sea. They can only passively intercept garbage and cannot adapt to tidal changes and strong wind and wave impacts. After interception, garbage cleanup still requires manual intervention, resulting in low operational efficiency. Single-unit unmanned cleaning device: Most existing unmanned surface garbage cleaners operate as single units with limited sensing range. When faced with large-area, high-density ocean current garbage accumulation areas, the single-unit processing capacity is insufficient, and it is impossible to form a large-scale governance effect. At the same time, when faced with thick, irregularly shaped plastic garbage, problems such as insufficient power, excessive energy consumption, and operation failure often occur, and it is impossible to achieve long-term autonomous operation at sea. Summary of the Invention

[0004] The purpose of this invention is to overcome the above-mentioned defects of the prior art and provide a cluster of ocean current floating debris recovery robots based on distributed perception and collaboration. This cluster can achieve autonomous single-robot cruise recovery, multi-robot collaborative fixed-point capture, and long-term autonomous operation at sea through multi-energy coupling utilization. It also features high stability, high recovery efficiency and high sustainability.

[0005] This invention is achieved through the following technical solution.

[0006] The present invention relates to a distributed sensing and collaborative ocean current floating debris recovery robot cluster, comprising at least two robot bodies, each robot body being equipped with a sensing and power module, an energy supply module, and a floating debris collection module. The energy supply module includes a primary energy module, which includes a solar panel, a battery, a drive motor, and a flywheel. The solar panel is electrically connected to the battery, the battery supplies power to the drive motor, the drive motor is connected to the flywheel via a transmission, and the flywheel is used to maintain the stability of the robot's body's posture during sea surface operations through rotational inertia. The floating debris collection module includes a surface interception unit and an internal collection and storage unit. The surface interception unit is located between two adjacent robot bodies and includes an interception net, a tightening rope, an intermediate connecting body, a telescopic belt, and a winding mechanism. One end of the interception net is connected to the fixed end of one of the robot bodies, and the other end is connected to the intermediate connecting body. The two ends of the telescopic belt are respectively connected to the intermediate connecting body and the other robot body. The two ends of the tightening rope are respectively connected to the intermediate connecting body and the winding mechanism. The winding mechanism can drive the tightening rope to wind up, forming a floating debris containment space with the interception net and the robot body. The telescopic belt can drive the surface interception unit to reset to the initial interception state after the containment operation is completed. The internal collection and storage unit is located at the lower part of the robot body and includes a water-permeable collection net cover. The collection net cover has an internal collection chamber and an internal storage chamber distributed vertically. The internal collection chamber is connected to the garbage inlet end of the robot body. The internal collection chamber is equipped with a multi-stage rotating roller group. The multi-stage rotating roller group is used to drive floating objects into the internal collection chamber, prevent floating objects from flowing back, and compress the floating objects in multiple stages before transporting them to the internal storage chamber. The perception and power module includes an image acquisition unit and a thruster. The image acquisition unit is used to acquire the position information of floating objects on the sea surface, and the thruster is used to drive the robot body to move. The robot swarm has both a cruise mode and a fixed-point collaborative mode; In cruise mode, a single robot body autonomously cruises in a designated sea area using thrusters, identifies floating objects using an image acquisition unit, and completes independent recovery operations. In the fixed-point collaborative mode, multiple robot bodies are anchored to the target sea area through the seabed fixed anchoring structure. They form a continuous interception defense line perpendicular to the ocean current direction through the sea surface interception unit. When the intercepted floating objects reach the preset size, the corresponding winding mechanism is controlled to wind up the objects and gather them to the corresponding garbage inlet end to complete the centralized recycling operation.

[0007] Furthermore, the energy supply module also includes a secondary energy module that is activated only in the fixed-point collaborative mode. The secondary energy module includes a fixed pulley, a transmission chain, a counterweight, a seabed anchor, and a generator. The fixed pulley is connected to the generator via a rotating shaft, and the generator is electrically connected to the battery. The transmission chain is wound around the fixed pulley, with one end of the transmission chain fixedly connected to the seabed anchor and the other end fixedly connected to the counterweight. The seabed anchor is anchored to the seabed. When the robot body floats up and down with the waves, it drives the fixed pulley to rotate relative to the transmission chain, thereby driving the generator to generate electricity, converting wave energy into electrical energy stored in the battery. The secondary energy module converts wave energy into electrical energy to replenish the battery, realizing the self-powered operation of the device, which can operate continuously at sea for a long time.

[0008] Furthermore, the internal collection chamber includes a primary collection chamber and a secondary collection chamber arranged sequentially along the waste conveying path; the multi-stage rotating roller assembly includes a collection rotating roller located between the waste inlet end and the primary collection chamber, and a primary rotating roller and a secondary rotating roller located between the primary collection chamber and the secondary collection chamber.

[0009] Furthermore, the counterweight is located in the secondary collection chamber. The inner wall of the secondary collection chamber can be equipped with a slide rail that slides with the counterweight to serve as a guide. When the robot body floats with the waves, the counterweight moves downward to compress the collected floating objects again, further increasing the garbage capacity.

[0010] Furthermore, the secondary energy module also includes an adjustment mechanism for driving and adjusting the position of the counterweight in the secondary collection chamber; during the centralized waste collection operation, the adjustment mechanism drives the counterweight to the top of the secondary collection chamber to avoid the waste collection path and prevent waste from accumulating on the upper surface of the counterweight.

[0011] Alternatively, the top of the counterweight can be designed as a sloping structure, with the cross-sectional area of ​​the counterweight being smaller than that of the secondary collection chamber. This eliminates the need for an adjustment mechanism, allowing the waste to slide off the top of the counterweight on its own.

[0012] Furthermore, the collecting rotating roller, the first-stage rotating roller, and the second-stage rotating roller each include at least two rollers, including at least one active drive roller. The roller spacing of each group of rotating rollers is 5~20cm. The rotation direction of each group of rotating rollers is consistent with the garbage conveying direction, which is used to drive the water flow to transport floating objects into the internal storage chamber, while preventing floating objects from flowing back to the sea surface.

[0013] Furthermore, the roller spacing in the collecting rotating roller is greater than the roller spacing in the first-stage rotating roller and the second-stage rotating roller, achieving a step-by-step compression effect and increasing the amount of waste that can be contained.

[0014] Furthermore, a clutch assembly is provided below the flywheel, and the clutch assembly is connected to the winding mechanism through a transmission mechanism. When the speed of the flywheel reaches a preset threshold, the clutch assembly closes, transmitting the rotational power of the flywheel to the winding mechanism, driving the winding rope to complete the winding operation, thereby releasing the rotational energy to provide high torque driving power for the floating object collection module, solving the problems of insufficient power and high energy consumption when facing heavy piles of garbage.

[0015] Furthermore, the collection net is completely submerged below sea level, and the collection net has a detachable structure, or the bottom of the collection net is equipped with an openable sealing cover for unloading operations after waste recycling.

[0016] Furthermore, the image acquisition unit is a high-definition camera, and the thruster is a propeller thruster, a variable pitch thruster, or a vector thruster.

[0017] The beneficial effects of this invention are: This solution possesses distributed sensing and collaborative operation capabilities, and can flexibly switch between patrol mode and fixed-point collaborative mode. It can achieve small-scale autonomous patrol and recovery through a single unit, or form a large-scale interception and defense line through a multi-unit cluster. It can achieve collaborative encirclement and centralized recovery of large-area ocean current debris accumulation areas, solving the problems of insufficient processing capacity and inability to manage on a large scale in existing single-unit operations.

[0018] The flywheel structure achieves dual functions. On the one hand, the rotational inertia of the flywheel maintains the stability of the robot's posture on the sea surface, greatly reducing the impact of ocean currents and waves on operational stability. On the other hand, the flywheel stores and rapidly releases energy, providing a large torque driving force for garbage collection and retrieval, solving the problems of insufficient power and excessive energy consumption of existing devices when facing thick piles of garbage.

[0019] The device employs a dual energy supply system combining solar and wave energy. The primary energy module provides basic power and energy storage for the flywheel through solar energy. In stationary mode, the secondary energy module converts wave energy into electrical energy to replenish the battery, enabling the device to operate self-powered. It can operate continuously at sea for extended periods without the need for frequent resupply trips, significantly reducing operating costs.

[0020] The floating debris collection module combines efficient containment and anti-backflow compression collection functions. The sea surface interception units between adjacent robots can form a continuous interception defense line. By reeling and gathering, the debris is contained. After the operation is completed, it can automatically reset to achieve sustainable interception. The internal multi-stage rotating roller group can drive water flow to assist the debris to enter, while achieving step-by-step compression, increasing storage capacity, and effectively preventing the debris from flowing back to the sea surface, greatly improving recycling efficiency. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of the 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 invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0023] Figure 1 This is a schematic diagram of the overall structure of the robot cluster in the fixed-point mode in Embodiment 1 of the present invention; Figure 2 This is a schematic diagram of the single-robot main body cruise mode in Embodiment 1 of the present invention; Figure 3 This is a schematic diagram of the first cross-sectional structure of the robot cluster in Embodiment 1 of the present invention; Figure 4 This is a schematic diagram of the second cross-sectional structure of the robot cluster in Embodiment 1 of the present invention; Figure 5 This is a schematic diagram of the external structure of the primary energy module in Embodiment 1 of the present invention; Figure 6 This is a schematic diagram of the internal cross-sectional structure of the primary energy module in Embodiment 1 of the present invention; Figure 7 This is a schematic diagram of the operation process of the secondary energy module in Embodiment 1 of the present invention; Figure 8 This is a schematic diagram of the sea surface interception and collection process of the floating object collection module in Embodiment 1 of the present invention; Figure 9 This is an assembly structure diagram of the sea surface interception structure of adjacent robot bodies in Embodiment 1 of the present invention; Figure 10 This is a diagram showing the interconnected structure of multiple robot clusters in Embodiment 1 of the present invention; Figure 11 This is a first internal cross-sectional view of the floating object collection module in Embodiment 1 of the present invention; Figure 12 This is a second internal cross-sectional view of the floating object collection module in Embodiment 1 of the present invention; Figure 13 This is a schematic diagram of the internal collection process of the robot device in Embodiment 3 of the present invention; Figure 14 This is a partial cross-sectional view of the robot body in Embodiment 2 of the present invention; In the diagram: 1-Robot body, 2-Primary energy module, 201-Solar panel, 202-Support, 203-Cover plate, 21-Power compartment, 210-Power compartment shell, 211-Battery, 212-Drive motor, 213-Internal support, 214-Reduction gear, 215-Flywheel, 216-Clutch assembly, 3-Floating debris collection module, 311-Interception net, 312-Tightening rope, 313-Intermediate connector, 314-Telescopic belt, 315-Right fixed end, 316-Left fixed end, 317-Rewinding mechanism, 318-Transmission mechanism. 32-Internal collection chamber, 320-Primary collection chamber, 3201-Secondary collection chamber, 321-Collection net, 322-Separator plate, 326-Primary rotating roller, 327-Secondary rotating roller, 328-Grading plate, 329-Collection rotating roller, 33-Internal storage chamber, 34-Garbage inlet end, 4-Secondary energy module, 41-Generator, 42-Regulating motor, 45-Fixed pulley, 46-Drive chain, 47-Counterweight, 471-Hole, 48-Seabed anchor, 51-Camera, 52-Thruster, 6-Horizon line, 7-Floating debris. Detailed Implementation

[0024] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and are not intended to limit the scope of the invention.

[0025] In the description of the embodiments of the present invention, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention. In addition, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0026] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0027] Furthermore, in the description of this invention, unless otherwise stated, "a plurality of" means two or more. Example 1

[0028] like Figures 1-12 As shown, the ocean current floating debris recovery robot cluster based on distributed sensing and collaboration provided in this embodiment includes at least two robot bodies 1, a primary energy module 2, a floating debris collection module 3, a secondary energy module 4, and a sensing and power module. The robot device is arranged from top to bottom as follows: solar panel 201, power compartment 21, robot body 1, and collection net 321. The collection net 321 is designed to be water-permeable and detachable, making it easy to remove the debris. The solar panel 201 is located above the power compartment 21 and is fixed to the cover plate 203 below by a bracket 202. The cover plate 203 covers the top of the power compartment 21, and the power compartment 21 is fixedly connected to the robot body 1 below. The collection net 321 is connected to the lower end of the robot body 1. The robot body 1 is flush with the sea level 6 and can float on the sea surface. In this embodiment, the robot body 1 is made of a high-molecular composite material with a density lower than water to ensure buoyancy.

[0029] The perception and propulsion module includes a camera 51 (image acquisition unit) and a thruster 52. The camera 51 is fixed to the top of the robot body 1, and the thruster 52 is installed at the tail of the robot body 1. The robot body 1 is fixed to the seabed by a transmission chain 46 and a seabed anchor 48, forming a fixed-point anchoring structure to prevent the device from drifting with ocean currents.

[0030] Specifically, the perception and power module includes a high-definition camera, a thruster, a main controller, and a wireless communication unit. The main controller uses an IP67-rated waterproof embedded industrial control board.

[0031] The image acquisition unit is an IP68 waterproof high-definition camera, fixed on the top of the robot body. The lens is coated with a hydrophobic and anti-reflective coating, which can adapt to complex working environments such as strong light and fog at sea. The camera acquires images of the sea surface in real time. The lightweight target detection algorithm built into the main controller completes the identification and positioning of floating objects on the sea surface, and simultaneously identifies obstacles and the positions of adjacent robots, providing complete environmental perception data for robot motion control.

[0032] The thrusters can be propeller thrusters, variable pitch thrusters, or vector thrusters, which are suitable for different scenarios such as routine near-shore patrols, long-term operations in mid-to-far seas, and collaborative capture operations in the open ocean. The main controller can adjust the thrust and direction of the thrusters in a closed loop according to the sensing data and operation instructions to achieve omnidirectional movement and precise attitude control of the robot.

[0033] The robots also integrate a positioning module, and each group of robots communicates with the control center through a wireless communication unit, making it easy for staff to check the robot's location and working status.

[0034] The power compartment 21 is equipped with a battery 211, a drive motor 212, a reduction gear 214, and a flywheel 215. The collection net cover 321 is equipped with an internal collection chamber 32 and an internal storage chamber 33, with the internal collection chamber 32 located above the internal storage chamber 33. The internal collection chamber 32 is divided into a primary collection chamber 320 and a secondary collection chamber 3201. The primary collection chamber 320 is located below the waste inlet end 34, and multiple sets of collection rotating rollers 329 are connected between the primary collection chamber 320 and the waste inlet end 34. The secondary collection chamber 3201 is equipped with a counterweight 47, and the primary collection chamber 320 and the secondary collection chamber 3201 are separated by multiple rotating rollers.

[0035] The primary energy module 2 mainly includes a solar panel 201, a battery 211, a drive motor 212, a reduction gear 214, and a flywheel 215. The battery 211 obtains power through the solar panel 201 and the generator 41 of the secondary energy module 4, which in turn drives the drive motor 212 to continuously rotate the flywheel 215 through the reduction gear 214, achieving a balancing and stabilizing effect on the robot body 1. The battery 211 also supplies power to the winding motor in the winding mechanism 317, which drives the winding reel to rotate, thereby tightening and loosening the rope 312 and providing driving force for the collection and containment of floating garbage. In this embodiment, during the winding process of the winding mechanism 317, the battery 211 stops supplying power to the rotating roller, prioritizing sufficient power for the winding operation.

[0036] The secondary energy module 4 mainly includes a fixed pulley 45, a transmission chain 46, a counterweight 47, and a fixed end on the seabed. The counterweight 47 is made of a metal with a density greater than water. The fixed pulley 45 is located inside the power compartment 21 and is positioned below the flywheel 215. The fixed pulley 45 is connected to the generator 41 via a rotating shaft. The transmission chain 46 passes around the fixed pulley 45, with one end connected to the fixed anchor 48 on the seabed and the other end fixed to the counterweight 47. The counterweight 47 has a hole 471 in the middle. The transmission chain 46 is connected to the fixed anchor 48 on the seabed through the hole 471. The device floats up and down using wave energy, which in turn drives the fixed pulley 45 to rotate, thus generating electricity.

[0037] In this embodiment, the counterweight 47 is designed independently of the collection net 321 and does not interfere with the garbage collection operation.

[0038] The external interception part of the floating object collection module 3 includes an interception net 311, a tightening rope 312, an intermediate connector 313, and a telescopic belt 314. The interception net 311 is set between the two robot bodies 1, with half of it above the sea surface. One end of the interception net 311 is connected to the left fixed end 316 of the robot body 1, and the other end is fixed to the intermediate connector 313. The intermediate connector 313 is connected to the telescopic belt 314, the interception net 311, and the tightening rope 312. The interception net 311 is distributed in an arc shape on the sea surface. The telescopic belt 314 is made of flexible elastic material, which can be stretched when pulled and can be reset by its own elasticity after the operation is completed. Alternatively, the telescopic belt 314 is wound around a spring coil, and the telescopic belt 314 automatically unwinds when pulled. The intermediate connector 313 is connected to the right fixed end 315 of the other robot body 1 through the telescopic belt 314, forming an overall interception of the sea surface. One end of the tightening rope 312 is connected to the intermediate connector 313, and the other end is fixed to the winding mechanism 317.

[0039] The internal collection section of the floating debris collection module 3 includes a collection net cover 321, an internal collection chamber 32, and an internal storage chamber 33. Both the internal collection chamber 32 and the internal storage chamber 33 are located inside the collection net cover 321, which is entirely submerged below sea level. Two sets of rotating rollers, a primary rotating roller 326 and a secondary rotating roller 327, are installed on the side of the primary collection chamber 320. A grading plate 328 is provided between the primary and secondary rotating rollers 326 and 327. By increasing the number of rollers in the height direction, the efficiency of debris entering the internal storage chamber 33 is improved. The roller spacing of the collection rotating roller 329 is greater than that of the primary and secondary rotating rollers 326 and 327. Therefore, during the debris collection process, the collection rotating roller 329 first performs a preliminary compression of the debris, and then the primary and secondary rotating rollers 326 and 327 perform a secondary compression, reducing the debris volume and increasing the device's debris storage capacity.

[0040] In this embodiment, each set of rotating rollers includes two rollers, one of which is a driving roller and the other is a driven roller. The driving roller is driven by a drive motor. The rotating rollers can facilitate the rapid collection of garbage and prevent garbage from leaving the collection chamber. On the other hand, they can perform preliminary compression of garbage.

[0041] The robot cluster in this embodiment has two operating modes: cruise mode and fixed-point collaborative mode. The specific operation process is as follows: I. Cruise Mode (Distributed Perception and Interception) Each recovery robot is independently equipped with a camera 51 and a thruster 52. In this embodiment, the thruster 52 is a vector thruster. The recovery robot controls its movement direction through the thruster and servo motor. The direction control system is electrically connected to the camera 51, and can perform directional movement and recovery within a certain area based on the position of the floating object 7 detected by the camera 51. In conventional deployment, multiple robot bodies 1 are fixedly connected by the interception net 311 and can move autonomously within a certain range. A single unit can be responsible for the interception and recovery task within a certain area. In cruise mode, the secondary energy module 4 is not activated.

[0042] II. Fixed-point collaborative mode (multi-group collaborative cluster interception) In ocean current areas with a large amount of floating debris, when a single unit cannot complete the interception and recovery operation, the system switches to a multi-robot collaborative encirclement and cleanup mode. First, multiple units are secured to the target area using seabed anchors 48 to prevent them from drifting with the ocean current. Then, the interception net 311 between the units intercepts the converging floating debris, forming a continuous interception line perpendicular to the ocean current. During the interception operation, the telescopic belt 314, the interception net 311, and the tightening rope 312 are connected via a central connector 313. The telescopic belt 314 connects to the robot body 1 on the left end, and the other side of the interception net 311 is fixed to the robot body 1 on the right end. The interception net 311 and the telescopic belt 314 are at the same height, with half of it above the sea surface for easy interception of floating debris. The tightening rope 312 is initially below the water surface.

[0043] When the intercepting net 311 has collected enough floating debris, the winding mechanism 317 shortens the tightening rope 312. This, along with the tightening rope 312, the robot body 1, the intercepting net 311, and the intermediate connector 313, forms a closed containment space, quickly gathering the floating debris to the device's waste inlet end 34 for internal collection. During this process, the telescopic belt 314 connected to the other end of the intermediate connector 313 is stretched as the intermediate connector 313 moves. After all the debris has entered the device, the telescopic belt 314 automatically returns the entire interception device to its initial interception state through its elasticity, achieving continuous interception operations. In the fixed-point collaborative mode, the secondary energy module 4 is activated synchronously.

[0044] III. Waste Collection Process Inside the Device After being encircled and compressed externally, the floating garbage gathers at the garbage inlet 34 of the device. Upon entering the device, it first enters the primary collection chamber 320. The collection roller 329 above the primary collection chamber 320 rotates, driving the water flow at the inlet to carry the garbage into the interior and perform preliminary compression. The primary collection chamber 320 and the secondary collection chamber 3201 are separated by multi-stage rotating rollers. After passing through the rotating rollers, the garbage undergoes secondary compression and enters the internal storage chamber 33 for storage.

[0045] IV. Operation of Level 2 Energy Module 4 The fixed pulley 45 and generator 41 of the secondary energy module 4 are both located inside the power compartment 21 and below the flywheel 215. One end of the transmission chain 46 is fixed to the counterweight 47, and the other end passes through the middle hole 471 of the counterweight 47 and is connected to the seabed fixed anchor 48. The seabed fixed anchor 48 remains stationary, and the fixed pulley 45 floats up and down with the waves along with the whole device. The transmission chain 46 drives the fixed pulley 45 to rotate, and the fixed pulley 45 drives the generator 41 to generate electricity and store the generated electricity in the battery 211 to power the various electrical components of the device. Example 2

[0046] The only difference between this embodiment and Embodiment 1 is that this embodiment uses a flywheel 215 to store energy to drive the winding mechanism 317, instead of integrating a winding motor into the winding mechanism 317 for driving. This solves the problem that direct driving by the winding motor requires a large torque and has high equipment cost.

[0047] Specifically, in this embodiment, a clutch assembly 216 is provided below the flywheel 215. In this embodiment, the clutch assembly 216 can be an electromagnetic clutch or other types of clutch. The clutch assembly 216 is connected to the transmission mechanism 318. The clutch assembly 216 is used to connect with the output shaft of the flywheel 215 after the flywheel speed reaches the set value, and transmit the power to the winding mechanism 317 through the transmission mechanism 318 (such as a transmission gear set, transmission shaft, transmission belt and other transmission components). The winding reel in the winding mechanism 317 is rotated by the power transmitted by the flywheel 215, realizing the winding and unwinding of the tightening rope 312, and providing driving force for the collection and containment of external floating garbage.

[0048] During operation, the drive motor 212 drives the flywheel 215 to rotate. When the flywheel 215 reaches the set speed, the clutch assembly 216 closes and is connected to the output shaft of the flywheel 215 to convert the rotational energy of the flywheel 215 into the rotational winding power of the winding mechanism 317, so as to realize the winding and dragging work when the garbage is heavy. Repeat the above steps until the tightening rope 312 is contracted to the set length, so that the garbage enters the collection net cover 321.

[0049] In this embodiment, the winding mechanism 317 is configured as a unidirectional winding structure with a ratchet mechanism, thereby preventing the tightened rope 312 from loosening during the flywheel charging process and ensuring the stability of the capture operation. After collection, it can be manually reset, or an electric drive mechanism can be set to drive the pawl to release for automatic reset. The remaining structure and operation process of this embodiment are completely consistent with that of Embodiment 1, and will not be described again here. Example 3

[0050] The only difference between this embodiment and embodiment 1 is that, in order to improve the overall integration of the robot, the counterweight 47 is placed in the secondary collection chamber 3201.

[0051] To avoid obstructing the entry of waste into the secondary collection chamber 3201, this embodiment includes an adjusting motor 42 connected to a fixed pulley 45. Upon startup, the adjusting motor 42 drives the fixed pulley 45 to rotate, controlling the vertical position of the adjusting counterweight 47 within the secondary collection chamber 3201. During centralized waste collection, the adjusting motor 42 drives the counterweight 47 to the top of the device, avoiding the waste collection path. In other alternative embodiments, an electric push rod can be directly connected to the counterweight 47 to drive its lifting and lowering, eliminating the need for the adjusting motor 42 to drive the fixed pulley 45.

[0052] Furthermore, in this embodiment, a position sensor is provided on the top of the intermediate grading plate 328, the partition plate 322, and the secondary collection chamber 3201 to detect the position of the counterweight 47. The position sensor is electrically connected to the rotating roller drive device. When the counterweight 47 is flush with the intermediate grading plate 328, the primary rotating roller 326 starts running, driving the waste into the area below the counterweight 47. When the counterweight 47 is at the top, both the primary rotating roller 326 and the secondary rotating roller 327 start running, and the waste inside the primary collection chamber 320 can enter the secondary collection chamber 3201.

[0053] As the device moves with the waves, the counterweight 47 moves downwards, compressing the floating garbage below and reducing its volume. This process repeats, avoiding any restriction on the movement of the counterweight 47 by the garbage, and cleverly compressing the garbage into the storage chamber for collection. When garbage is collected externally, a large amount of floating garbage converges at the garbage inlet 34. At this time, the secondary energy module 4 stops operating, confining the counterweight 47 to the top. The primary rotating roller 326 and the secondary rotating roller 327 operate simultaneously. After the storage chamber is full, the counterweight 47 moves downwards to compress and store the garbage. The remaining structure and operation process of this embodiment are completely consistent with that of Embodiment 1, and will not be described again here.

[0054] The above embodiments are only for illustrating the technical concept and features of the present invention, and are intended to enable those skilled in the art to understand and implement the present invention. They should not be construed as limiting the scope of protection of the present invention. All equivalent changes or modifications made in accordance with the spirit and essence of the present invention should be covered within the scope of protection of the present invention.

Claims

1. A cluster of ocean current floating debris recovery robots based on distributed sensing and collaboration, comprising at least two robot bodies, each robot body equipped with a sensing and power module, an energy supply module, and a floating debris collection module, characterized in that: The energy supply module includes a primary energy module, which includes a solar panel, a battery, a drive motor, and a flywheel. The solar panel is electrically connected to the battery, the battery supplies power to the drive motor, the drive motor is connected to the flywheel via a transmission, and the flywheel is used to maintain the stability of the robot's body's posture during sea surface operations through rotational inertia. The floating debris collection module includes a surface interception unit and an internal collection and storage unit. The surface interception unit is located between two adjacent robot bodies and includes an interception net, a tightening rope, an intermediate connecting body, a telescopic belt, and a winding mechanism. One end of the interception net is connected to the fixed end of one of the robot bodies, and the other end is connected to the intermediate connecting body. The two ends of the telescopic belt are respectively connected to the intermediate connecting body and the other robot body. The two ends of the tightening rope are respectively connected to the intermediate connecting body and the winding mechanism. The winding mechanism can drive the tightening rope to wind up, forming a floating debris containment space with the interception net and the robot body. The telescopic belt can drive the surface interception unit to reset to the initial interception state after the containment operation is completed. The internal collection and storage unit is located at the lower part of the robot body and includes a water-permeable collection net cover. The collection net cover has an internal collection chamber and an internal storage chamber distributed vertically. The internal collection chamber is connected to the garbage inlet end of the robot body. The internal collection chamber is equipped with a multi-stage rotating roller group. The multi-stage rotating roller group is used to drive floating objects into the internal collection chamber, prevent floating objects from flowing back, and compress the floating objects in multiple stages before transporting them to the internal storage chamber. The perception and power module includes an image acquisition unit and a thruster. The image acquisition unit is used to acquire the position information of floating objects on the sea surface, and the thruster is used to drive the robot body to move. The robot swarm has both a cruise mode and a fixed-point collaborative mode; In cruise mode, a single robot body autonomously cruises in a designated sea area using thrusters, identifies floating objects using an image acquisition unit, and completes independent recovery operations. In the fixed-point collaborative mode, multiple robot bodies are anchored to the target sea area through the seabed fixed anchoring structure. They form a continuous interception defense line perpendicular to the ocean current direction through the sea surface interception unit. When the intercepted floating objects reach the preset size, the corresponding winding mechanism is controlled to wind up the objects and gather them to the corresponding garbage inlet end to complete the centralized recycling operation.

2. The ocean current floating debris recovery robot cluster based on distributed sensing and collaboration according to claim 1, characterized in that: The energy supply module also includes a secondary energy module that is only activated in the fixed-point collaborative mode. The secondary energy module includes a fixed pulley, a transmission chain, a counterweight, a seabed anchor, and a generator. The fixed pulley is connected to the generator via a rotating shaft, and the generator is electrically connected to the battery. The transmission chain is wound around the fixed pulley, with one end of the transmission chain fixedly connected to the seabed anchor and the other end fixedly connected to the counterweight. The seabed anchor is anchored to the seabed. When the robot body floats up and down with the waves, it drives the fixed pulley to rotate relative to the transmission chain, thereby driving the generator to generate electricity and converting wave energy into electrical energy stored in the battery.

3. The ocean current floating debris recovery robot cluster based on distributed sensing and collaboration according to claim 2, characterized in that: The internal collection chamber includes a primary collection chamber and a secondary collection chamber arranged sequentially along the waste conveying path; the multi-stage rotating roller assembly includes a collection rotating roller located between the waste inlet end and the primary collection chamber, and a primary rotating roller and a secondary rotating roller located between the primary collection chamber and the secondary collection chamber.

4. The ocean current floating debris recovery robot swarm based on distributed sensing and collaboration according to claim 3, characterized in that: The counterweight is located in the secondary collection chamber. When the robot body floats with the waves, the counterweight moves downward to compress the collected floating objects again.

5. The ocean current floating debris recovery robot cluster based on distributed sensing and collaboration according to claim 4, characterized in that: The secondary energy module also includes an adjustment mechanism for driving and adjusting the position of the counterweight in the secondary collection chamber; during the centralized waste collection operation, the adjustment mechanism drives the counterweight to be raised to the top of the secondary collection chamber to avoid the waste collection path.

6. The ocean current floating debris recovery robot swarm based on distributed sensing and collaboration according to any one of claims 3-5, characterized in that: The collection roller, the first-stage roller, and the second-stage roller each include at least one active drive roller. The roller spacing between each group of rollers is 5 to 20 cm. The rotation direction of each group of rollers is consistent with the garbage conveying direction, which is used to drive the water flow to transport floating objects into the internal storage chamber, while preventing floating objects from flowing back to the sea surface.

7. The ocean current floating debris recovery robot cluster based on distributed sensing and collaboration according to claim 6, characterized in that: The distance between the rollers of the collecting rotating roller is greater than the distance between the first-stage rotating roller and the second-stage rotating roller, so as to achieve the gradual compression of the floating objects.

8. The ocean current floating debris recovery robot swarm based on distributed sensing and collaboration according to any one of claims 1-5, characterized in that: A clutch assembly is located below the flywheel. The clutch assembly is connected to the winding mechanism via a transmission mechanism. When the speed of the flywheel reaches a preset threshold, the clutch assembly closes, transmitting the rotational power of the flywheel to the winding mechanism, driving the winding rope to complete the winding operation, thereby releasing the rotational energy stored to provide high torque driving power for the floating object collection module.

9. The ocean current floating debris recovery robot cluster based on distributed sensing and collaboration according to claim 1, characterized in that: The collection net cover is a detachable structure, or the bottom of the collection net cover is equipped with an openable sealing cover for unloading operations after waste recycling.

10. The ocean current floating debris recovery robot swarm based on distributed sensing and collaboration according to claim 1, characterized in that: The image acquisition unit is a camera, and the thruster is a propeller thruster, a variable pitch thruster, or a vector thruster.

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