A marine debris sorting and collection platform based on baffle flow guidance and ratchet anti-backflow mechanism

Abstract

This utility model provides a marine debris sorting and collection platform based on baffle guidance and ratchet anti-backflow, applied in the field of marine debris collection technology. It includes a hull structure, a target recognition module, a baffle guidance mechanism, a ratchet anti-backflow mechanism, and an auxiliary grabbing mechanism. The main hull of the hull structure sequentially forms a feeding space, a guiding space, and a sorting and collection space. Baffles are installed in the guiding space to form two guiding channels, and sorting plates are installed in the sorting and collection space to form four sorting and collection compartments. The baffle guidance mechanism is used to change the movement path of the debris, and the ratchet anti-backflow mechanism is used to prevent the debris from reversing. The auxiliary grabbing mechanism is mounted on a support frame and is used to grab and process debris that is blocked, overlapping, or has abnormal guidance. The target recognition module is mounted on the support frame and is used to identify marine debris in the sea area in front of the hull and in the collection area inside the hull. This platform can realize the guidance, sorting, compartmentalized collection, and anti-backflow temporary storage of marine debris.

Description

Technical Field

[0001] This utility model belongs to the field of marine debris cleaning technology, specifically relating to a marine debris sorting and collection platform based on baffles for guiding flow and ratchet for preventing backflow. Background Technology

[0002] With the continuous increase in coastal production activities, inland river discharges into the sea, and maritime transportation operations, large amounts of floating waste such as plastic bags, plastic bottles, branches, and leaves are constantly accumulating in nearshore waters, harbor basins, and river-sea confluence areas, forming marine debris. Marine debris is complex in type and varies greatly in form, and is significantly affected by wind, waves, currents, and drift. If it is not collected and sorted effectively and in a timely manner during surface operations, it will not only easily cause marine ecological environment pollution, but also increase the difficulty of subsequent transfer, sorting, and resource recovery, thereby increasing the overall cost of governance.

[0003] Most existing marine debris collection devices focus on surface retrieval or mixed recycling. Their overall structure is usually based on a single collection chamber or a simple receiving space. The hull lacks a zoned collection structure that matches the entry path of the debris, which makes it easy for different types of marine debris to mix and accumulate after entering the device, making it difficult to complete the sorting and temporary storage directly during the collection stage.

[0004] Meanwhile, the hull structures of some existing devices prioritize floating support or salvage functions, neglecting the layout and connection between internal intake, transition, and sorting collection spaces. This can lead to issues like waste retention, backtracking, and chaotic accumulation during continuous operation, impacting collection stability and sorting efficiency. Especially in complex aquatic environments, existing devices generally suffer from low utilization rates of internal collection space, insufficient independence of sorting spaces, and limited adaptability to different types of floating waste, failing to meet the practical needs for continuous, sorted, and efficient collection of marine debris. Utility Model Content

[0005] In view of the above-mentioned problems in the existing technology, the purpose of this utility model is to provide a marine debris sorting and collection platform based on baffle guidance and ratchet anti-backflow.

[0006] A marine debris sorting and collection platform based on baffle guidance and ratchet anti-backflow mechanism includes a hull structure, a target recognition module, a support frame, a baffle guidance mechanism, a ratchet anti-backflow mechanism, and an auxiliary gripping mechanism. The hull structure includes a main hull and two individual boats respectively located on both sides of the main hull. The two individual boats are connected to the main hull via front and rear fixed rods. The main hull has an open bow, a closed stern, and a hollow bottom. Inside the main hull, with the front and rear fixed rods as boundaries, a feeding space, a guiding space, and a sorting and collection space are sequentially formed along the length direction. A partition is installed within the guiding space. A partition divides the flow guiding space into two flow guiding channels, and the partition extends rearward to the classification and collection space to divide the classification and collection space into two independent compartments; each of the two independent compartments is equipped with a classification plate to divide the classification and collection space into four classification and collection compartments; the baffle flow guiding mechanism is respectively located at the position of the front fixed rod corresponding to the partition and the position of the rear fixed rod corresponding to the classification plate; the ratchet-type anti-backflow mechanism is respectively located in the two flow guiding channels and in the four classification and collection compartments; the support frame is installed on the hull structure, and the target recognition module and the auxiliary grasping mechanism are both installed on the support frame.

[0007] Preferably, the baffle guiding mechanism includes a servo motor and a servo motor baffle; the servo motor is mounted on the front fixed rod or the rear fixed rod, the servo motor baffle is rotatably connected to the partition or the sorting plate, and the servo motor is drivenly connected to the servo motor baffle.

[0008] Preferably, the ratchet-type anti-backflow mechanism includes a ratchet, a pawl, a rotating rod, and a ratchet baffle; the ratchet is mounted on the side wall of the hull, one end of the rotating rod is rotatably connected to the ratchet, and the other end is rotatably connected to the side wall of the hull, and the ratchet baffle is fixedly connected to the rotating rod; the side wall of the hull is provided with a pawl that cooperates with the ratchet at the position corresponding to the ratchet.

[0009] Preferably, the support frame includes a main frame, a camera bracket, and a moving platform. The main frame is fixedly connected to the hull structure, the camera bracket is fixedly connected to the main frame, and the moving platform is slidably connected to the main frame. A linear slide rail is provided on the main frame. The target recognition module is mounted on the camera bracket, and the auxiliary grasping mechanism is mounted on the moving platform.

[0010] Preferably, the auxiliary gripping mechanism includes a robotic arm, a central gimbal, and a soft pneumatic gripper; the robotic arm is mounted on the mobile platform, and the soft pneumatic gripper is connected to the end of the robotic arm via the central gimbal.

[0011] Preferably, the robotic arm includes a mounting base mounted on the mobile platform, a rotating base disposed on the mounting base, a first joint connected to the rotating base, a first robotic arm link connected to the first joint, a second joint connected to the first robotic arm link, a wrist joint connected to the second joint, a second robotic arm link connected to the wrist joint, and an end connector disposed at the end of the second robotic arm link. The rotating base, the first robotic arm link, and the wrist joint are respectively driven connected to a servo drive mechanism.

[0012] Preferably, the central gimbal includes a miniature air pump, a controller, a rope end fixer, fastening bolts, a flange, a silicone tube, an air tube, a solenoid valve, a gimbal frame, a fixed bracket, and a gimbal servo motor; the miniature air pump, controller, air tube, and solenoid valve are installed on the top of the gimbal frame, and the gimbal servo motor, flange, and silicone tube are installed on the bottom of the gimbal frame; the gimbal servo motor is installed on the gimbal frame via the fixed bracket and fastening bolts, the gimbal servo motor is connected to the soft pneumatic gripper via the flange, and the miniature air pump is connected to the silicone tube via the air tube.

[0013] Preferably, the soft pneumatic gripper includes a clamp, an air chamber, a strain limiting layer, a vision module, and a palm surface; the clamp is disposed on the top of the soft pneumatic gripper and connected to the central gimbal, the air chamber and the strain limiting layer are disposed inside the soft pneumatic gripper, the palm surface is disposed on the bottom of the soft pneumatic gripper, and the vision module is disposed on the bottom of the soft pneumatic gripper.

[0014] Preferably, the target recognition module includes a first recognition camera, a second recognition camera, and a main control unit. The first recognition camera is mounted on a camera bracket and faces the direction of the ship's movement. The second recognition camera is mounted on a support frame and faces the interior of the main hull. The main control unit is electrically connected to the first recognition camera, the second recognition camera, the baffle guiding mechanism, and the auxiliary grasping mechanism.

[0015] The beneficial effects of this utility model are as follows: This marine debris sorting and collection platform based on baffle guidance and ratchet anti-backflow, by setting the hull structure as a catamaran structure and forming a feeding space, a guiding space and a sorting and collection space in sequence inside the main hull, allows marine debris to continuously enter and move along a path from front to back. This not only helps to improve the stability of the platform when operating on the water surface, but also helps to realize the integrated arrangement of debris collection, guidance and sorting and temporary storage, thereby improving the problems of insufficient internal space utilization and weak sorting and collection capacity of existing devices.

[0016] By setting up partitions in the flow guidance space to form two flow guidance channels, and setting up classification plates in the classification collection space to form four classification collection compartments, and in conjunction with the baffle flow guidance mechanism set at the front and rear fixed rods, marine debris entering the ship's hull can be guided by different paths and collected in different compartments, thereby reducing the mixing and accumulation of different types of debris, improving the classification effect and subsequent processing convenience of marine debris collection.

[0017] By installing a ratchet-type anti-backflow mechanism in the flow channel and the sorting collection compartment, the ratchet, pawl, rotating rod and ratchet baffle are used to form a one-way limiting effect on marine debris that has entered the collection area. This can effectively prevent the debris from reversing due to water flow impact, ship swaying or subsequent debris compression, which helps to improve the stability of the collection process and the ability to operate continuously.

[0018] By setting up a target recognition module and an auxiliary gripping mechanism, which includes a mobile platform, a robotic arm, a central gimbal, and a soft pneumatic gripper, the platform can supplement the gripping and transfer of target waste when it is overlapped, blocked, entangled, or has abnormal flow. This improves the platform's adaptability to complex working conditions and different forms of marine debris, and further enhances the overall efficiency of sorting and collection. Attached Figure Description

[0019] The accompanying drawings are provided to further illustrate the present invention and form part of the specification. They are used together with the embodiments of the present invention to explain the present invention, but do not constitute a limitation thereof. In the drawings:

[0020] Figure 1 This is a schematic diagram of the structure of this utility model;

[0021] Figure 2 This is a structural schematic diagram of the hull of this utility model;

[0022] Figure 3 This is a schematic diagram of the structure of this utility model. Figure 2 Enlarged view of point A in the middle;

[0023] Figure 4 This is a schematic diagram of the structure of this utility model. Figure 2 Enlarged view at point B in the middle;

[0024] Figure 5 This is a structural schematic diagram of the bracket of this utility model;

[0025] Figure 6 This is a schematic diagram of the structure of the robotic arm of this utility model;

[0026] Figure 7 This is a schematic diagram of the structure of the central gimbal of this utility model;

[0027] Figure 8 This is a cross-sectional view of the software startup gripper of this utility model.

[0028] The diagram is marked as follows:

[0029] 1. Hull structure; 101. Main hull; 102. Monohull; 103. Forward fixed rod; 104. Aft fixed rod; 105. Ratchet; 106. Pawl; 107. Rotating rod; 108. Ratchet baffle; 109. Steering gear; 110. Steering gear baffle;

[0030] 2. Target recognition module;

[0031] 3. Support frame; 301. Camera bracket; 302. Moving platform; 303. Main frame;

[0032] 4. Robotic arm; 401. Mounting base; 402. Rotating base; 403. Servo motor 1; 404. First joint; 405. Servo motor 2; 406. First robotic arm link; 407. Servo motor 3; 408. Second joint; 409. Servo motor 4; 410. Wrist joint; 411. Second robotic arm link; 412. End effector.

[0033] 5. Central gimbal; 501. Miniature air pump; 502. Power cord; 503. Controller; 504. Rope end fastener; 505. Fastening bolt; 506. Flange; 507. Silicone tubing; 508. Air hose; 509. Solenoid valve; 510. Gimbal frame; 511. Mounting bracket; 512. Gimbal servo motor;

[0034] 6. Soft pneumatic gripper; 601. Fixture; 602. Air chamber; 603. Strain limiting layer; 604. Vision module; 605. Palm surface. Detailed Implementation

[0035] Example 1

[0036] like Figures 1 to 8As shown, a marine debris sorting and collection platform based on baffle guidance and ratchet anti-backflow includes a hull structure 1, a target recognition module 2, an auxiliary grasping mechanism, and a baffle guidance mechanism and a ratchet anti-backflow mechanism installed inside the hull structure 1. The hull structure 1 serves as the basic load-bearing unit of the entire platform, providing buoyancy support, navigation stability, and debris collection space. The target recognition module 2 collects images of marine debris in front of and inside the hull. The baffle guidance mechanism guides and allocates the entry path of marine debris according to the recognition results. The ratchet anti-backflow mechanism unidirectionally limits the debris that has entered the collection channel and sorting space. The auxiliary grasping mechanism performs supplementary sorting in cases of multiple overlapping targets, abnormal guidance, blockage, or entanglement, thus enabling the platform to perform automatic recognition, guidance and sorting, anti-backflow temporary storage, and auxiliary grasping functions.

[0037] In this embodiment, as Figure 2 As shown, the hull structure 1 includes a main hull 101 and two individual boats 102 respectively disposed on both sides of the main hull 101. The two individual boats 102 are connected and fixed to the main hull 101 by a front fixing rod 103 and a rear fixing rod 104, thus forming a catamaran structure. The main hull 101 serves as the main space for waste entry, diversion, and sorting collection. The two individual boats 102 are used to improve the buoyancy and lateral stability of the entire platform when operating on the water surface, and reduce the impact of hull swaying on diversion, sorting, and auxiliary grasping actions.

[0038] Furthermore, the bow of the main hull 101 is open to receive floating debris on the water surface during platform cruising or directional navigation; the stern of the main hull 101 is closed to limit and temporarily store marine debris entering the main hull 101; the bottom of the main hull 101 is perforated to allow seawater to drain out promptly during debris entry, reducing water accumulation and load-bearing pressure inside the hull. Through this combination of an open bow, a closed stern, and a drainage system at the bottom, marine debris can smoothly enter the platform under the guidance of the hull's forward movement and water flow, while minimizing the adverse effects of large amounts of seawater retention on navigation stability and collection efficiency.

[0039] The interior of the main hull 101 is divided into three functional areas along its length by a forward fixed rod 103 and a rear fixed rod 104: a feeding space near the bow, a flow guiding space between the forward and rear fixed rods 103 and 104, and a sorting and collection space between the rear fixed rod 104 and the stern. The feeding space receives marine debris initially entering the platform; the flow guiding space distributes the debris along its path; and the sorting and collection space stores the debris that has already been distributed. This front-to-back partitioned structure creates a continuous flow path for the debris within the platform, facilitating both natural flow and subsequent sorting and collection.

[0040] A partition is installed within the flow guidance space, dividing it into two flow channels. The partition extends rearward to a sorting and collection space, further dividing it into two independent compartments. Each of these compartments contains a sorting plate, further dividing the two compartments into four sorting and collection compartments. This combination of partitions and sorting plates creates a structural pattern integrating two flow channels and four sorting and collection compartments within the platform. This provides independent collection locations for different types of marine debris, such as branches, leaves, plastic bags, and plastic bottles, preventing mixed accumulation of different types of waste and improving the convenience of subsequent unified processing and resource utilization.

[0041] like Figure 4 As shown, baffle guiding mechanisms are installed at the positions of the partition corresponding to the front fixed rod 103 and the sorting plate corresponding to the rear fixed rod 104. Each baffle guiding mechanism includes a servo motor 109 and a servo motor baffle 110. The servo motor 109 is mounted on the front fixed rod 103 or the rear fixed rod 104. The servo motor baffle 110 is rotatably connected to the partition or the sorting plate, and the servo motor 109 is driven to rotate around the connecting axis. By installing baffle guiding mechanisms between the feeding space and the guiding space, and between the guiding space and the sorting collection space, two-stage guidance control can be implemented during waste movement. The front baffle guides the waste entering the platform to the corresponding guiding channel, while the rear baffle further distributes the waste to the corresponding sorting collection compartment. This two-stage guiding method improves the controllability of the waste sorting path, allowing different types of waste to flow along different routes and be collected in different compartments after entering the platform.

[0042] like Figure 3As shown, ratchet-type anti-backflow mechanisms are installed in the two flow channels and at the entrances of the four classification collection compartments. The ratchet-type anti-backflow mechanism includes a ratchet 105, a pawl 106, a rotating rod 107, and a ratchet baffle 108. The ratchet 105 is mounted on the side wall of the hull. One end of the rotating rod 107 is rotatably connected to the ratchet 105, and the other end is rotatably connected to the side wall of the hull. The ratchet baffle 108 is fixedly connected to the rotating rod 107, so that when the rotating rod 107 rotates, it drives the ratchet baffle 108 to swing synchronously, thus opening or closing the channel. A pawl 106, corresponding to the position of the ratchet 105 on the side wall of the hull, is installed to restrict the ratchet 105 from rotating in the opposite direction. Through the unidirectional engagement between the ratchet 105 and the pawl 106, the ratchet baffle 108 can rotate in the forward direction and allow the waste to pass through when it moves forward in the feeding direction. However, when the waste tends to move in the reverse direction due to backflow from the water flow, hull swaying, or subsequent waste compression, the pawl 106 acts as a backstop against the ratchet 105, thereby preventing the waste from retreating from the guide channel or the entrance of the sorting collection compartment. Thus, the platform not only allows waste to enter but also enables unidirectional temporary storage of waste after it enters, improving collection stability.

[0043] A support frame 3 is installed on the hull structure 1. The support frame 3 is used to carry the target identification module 2 and the auxiliary grasping mechanism. Figure 5 As shown, the support frame 3 includes a main frame 303, a camera bracket 301, and a mobile platform 302. The main frame 303 is fixedly connected to the hull structure 1, and the camera bracket 301 is fixedly connected to the main frame 303. It is used to mount the target recognition module 2 near the bow of the ship to obtain a better forward water surface observation angle. The mobile platform 302 is slidably connected to the main frame 303. A linear slide rail is provided on the main frame 303, which allows the mobile platform 302 to move back and forth along the linear slide rail, thereby driving the auxiliary grasping mechanism to move within a certain range above the hull, expanding the coverage area and operational flexibility of the auxiliary grasping mechanism.

[0044] In this embodiment, the mobile platform 302 is engaged with a linear slide rail via a slider and is driven by a linear drive unit mounted on the main frame 303. The linear drive unit can be a lead screw motor, a synchronous belt drive assembly, or a gear and rack drive assembly.

[0045] The target recognition module 2 is mounted on the support frame 3. To make the structure of the target recognition module 2 clear and unambiguous, in this embodiment, the target recognition module 2 includes a first recognition camera, a second recognition camera, and a main control unit. Both the first and second recognition cameras are waterproof camera components and are electrically or communicatively connected to the main control unit, respectively. The first recognition camera is mounted on the camera bracket 301 and faces the direction of the ship's movement. Its image acquisition area is located in the sea area in front of the ship and is used to acquire images of marine debris that has not yet entered the interior of the ship's structure 1. The second recognition camera is mounted on the support frame 3 and faces the interior of the main hull 101. Its image acquisition area covers the feeding space, the guiding space, and the sorting and collection space and is used to acquire images of the location, distribution, and accumulation state of marine debris that has entered the interior of the ship. The main control unit outputs corresponding control signals to the baffle guiding mechanism or the auxiliary gripping mechanism based on the image information acquired by the first and second recognition cameras.

[0046] In this embodiment, when the target recognition module identifies images of marine debris, it can employ image recognition methods known in the art. For example, it can acquire images of marine debris using a camera component and determine the type, location, and distribution of the debris based on image features. Since image acquisition and debris target recognition technologies are already capable of identifying common floating objects such as plastic bottles, plastic bags, branches, and leaves, the target recognition module in this embodiment can provide corresponding recognition information for the baffle guiding mechanism and the auxiliary grasping mechanism.

[0047] The auxiliary gripping mechanism includes a robotic arm 4, a central gimbal 5, and a soft pneumatic gripper 6. The robotic arm 4 is mounted on a mobile platform 302. The end of the robotic arm 4 is connected to the soft pneumatic gripper 6 via the central gimbal 5. The robotic arm 4 is used to move the central gimbal 5 and the soft pneumatic gripper 6 to the vicinity of the target waste. The central gimbal 5 is used to adjust the gripping posture of the soft pneumatic gripper 6 and supply air to the soft pneumatic gripper 6. The soft pneumatic gripper 6 is used to flexibly wrap and grip the target waste.

[0048] like Figure 6As shown, the robotic arm 4 includes a mounting base 401, a rotating base 402, a servo motor 1 403, a first joint 404, a servo motor 2 405, a first robotic arm link 406, a servo motor 3 407, a second joint 408, a servo motor 409, a wrist joint 410, a second robotic arm link 411, and an end effector 412. Mounting base 401 is fixedly mounted on mobile platform 302. Rotating base 402 is mounted on top of mounting base 401 and driven to rotate by servo motor 1 403 to adjust the horizontal orientation of robotic arm 4. First joint 404 is mounted on rotating base 402 and connected to first robotic arm link 406. Servo motor 2 405 drives first robotic arm link 406 to move. The other end of first robotic arm link 406 is driven to connect to second joint 408 via servo motor 3 407. Second joint 408 is driven to connect to wrist joint 410 via servo motor 409. The other end of wrist joint 410 is connected to second robotic arm link 411. The other end of second robotic arm link 411 is connected to end connector 412.

[0049] Among them, servo motor 3 407 is responsible for the overall rotation of the second joint 408, thereby driving the subsequent servo motor 409, wrist joint 410, second robotic arm link 411, and end effector 412 to swing synchronously. Servo motor 409 independently drives wrist joint 410, thereby driving second robotic arm link 411 and end effector 412 to achieve individual adjustment of end effector posture.

[0050] Through the aforementioned multi-joint serial structure, the robotic arm 4 can complete horizontal rotation, arm segment swing, and end-effector posture adjustment, thereby enabling the gripper to approach any location of waste to be processed inside the ship's hull.

[0051] like Figure 7As shown, the central gimbal 5 is located at the end of the robotic arm 4 and is used to connect the soft pneumatic gripper 6 and adjust its gripping direction and angle. The central gimbal 5 includes a miniature air pump 501, a power cord 502, a controller 503, a rope end retainer 504, a fastening bolt 505, a flange 506, a silicone tube 507, an air tube 508, a solenoid valve 509, a gimbal frame 510, a fixed bracket 511, and a gimbal servo motor 512. The power cord 502 connects to the electronic control components to provide power. A miniature air pump 501, controller 503, air hose 508, and solenoid valve 509 are mounted on the top of the gimbal frame 510. A gimbal servo 512, flange 506, and silicone hose 507 are mounted on the bottom of the gimbal frame 510. The gimbal servo 512 is mounted on the gimbal frame 510 via a fixing bracket 511 and fastening bolts 505, and connected to the soft pneumatic gripper 6 via the flange 506. The miniature air pump 501 is connected to the soft pneumatic gripper 6 via air hose 508 and silicone hose 507, providing pneumatic drive for the soft pneumatic gripper 6. The solenoid valve 509 controls the air supply. A rope end holder 504 organizes the electrical wires and air pipes. Through this structural arrangement, the central gimbal 5 can not only achieve end-effector attitude adjustment but also integrate gripper air supply and control components, improving the integration level of the end effector unit.

[0052] like Figure 8 As shown, the soft pneumatic gripper 6 is a flexible gripping component, including a clamp 601, an air chamber 602, a strain limiting layer 603, and a palm surface 605. The clamp 601 is located at the upper end of the soft pneumatic gripper 6 and is connected to the flange 506 of the central gimbal 5; the air chamber 602 is located inside the soft pneumatic gripper 6 and is connected to the silicone tube 507; the strain limiting layer 603 is located on one side of the air chamber 602 and is used to limit the elongation and deformation of the air chamber 602 on that side; the palm surface 605 is located on the side of the soft pneumatic gripper 6 that is used to contact marine debris and is used to adhere to the surface of the target debris and form a covering or clamp.

[0053] During operation, the gas output from the miniature air pump 501 enters the air chamber 602 via the air pipe 508, solenoid valve 509, and silicone tube 507, causing the air chamber 602 to expand. Due to the strain-limiting layer 603 restricting the elongation of one side of the air chamber 602, a deformation difference is created on both sides of the air chamber 602, causing the soft pneumatic gripper 6 to bend in a predetermined direction, thereby causing the palm surface 605 to adhere to the surface of the target debris. When the solenoid valve 509 switches to the depressurization state, the gas inside the air chamber 602 is discharged, and the soft pneumatic gripper 6 returns to its initial state based on its own elasticity, releasing the captured marine debris.

[0054] Furthermore, to improve the gripping accuracy of the soft pneumatic gripper 6, a vision module 604 is installed at the bottom of the soft pneumatic gripper 6. The vision module 604 is a near-field image acquisition component, preferably a waterproof encapsulated miniature camera component. The vision module 604 is fixedly installed at the bottom of the soft pneumatic gripper 6 and is positioned facing the gripping area below the palm surface 605. The vision module 604 is electrically connected to the controller 503 via wires and is used to acquire near-field image information of the target waste when the soft pneumatic gripper 6 approaches the target waste. The controller 503 determines the position, orientation, and overlap state of the target waste relative to the palm surface 605 based on the near-field image information acquired by the vision module 604, and controls the gimbal servo 512 to adjust the attitude of the soft pneumatic gripper 6 so that the palm surface 605 can accurately contact the target waste.

[0055] Among them, the vision module 604 is used to assist in close-range grasping and positioning, and the target recognition module 2 is used for garbage recognition in a large area in front of the hull and inside the hull. The two are distinguished from each other in terms of installation location, collection range and target.

[0056] In this embodiment, the platform works as follows:

[0057] When the platform performs patrol or directional navigation missions on the water, the first identification camera collects image information of the sea area in front of the hull to determine whether there is marine debris ahead and its approximate location and type. After the platform approaches the target debris, the marine debris enters the feeding space at the front of the main hull 101 under the action of the hull's forward movement, the water current, and the guidance of the open bow structure.

[0058] Once marine debris enters the feeding space, the main control unit controls the servo motor 109 at the front fixed rod 103 to rotate the corresponding servo motor baffle 110 to a predetermined position based on the acquired image information, thereby guiding the marine debris into one of the two guide channels. When the marine debris continues to move backward along the guide channel to the vicinity of the rear fixed rod 104, the main control unit controls the servo motor 109 at the rear fixed rod 104 to rotate the corresponding servo motor baffle 110 to a predetermined position, thereby further guiding the marine debris into the corresponding compartments of the four classified collection compartments. Through the cooperation of the front and rear servo motor baffles 110, different types of marine debris can be directed into different classified collection compartments, achieving guided sorting and temporary storage in separate compartments.

[0059] During the process of marine debris passing through the guide channel and entering the sorting and collection compartment, a ratchet-type anti-backflow mechanism provides unidirectional control over the debris. When the debris pushes the ratchet baffle 108 in the feeding direction, the ratchet 105 rotates in the forward direction, and the ratchet baffle 108 opens to allow the debris to pass through. When the debris is affected by reverse water flow, hull swaying, or accumulation and compression within the compartment, causing a tendency to backflow, the pawl 106 cooperates with the ratchet 105 to restrict the ratchet 105 from rotating in the reverse direction, keeping the ratchet baffle 108 in an anti-backflow state, thereby preventing the debris from retreating backward. Thus, marine debris that has entered the guide channel or sorting and collection compartment can be stably stored temporarily, preventing backflow during continuous operation.

[0060] The second identification camera continuously collects images of the interior of the main hull 101 during the platform collection process to determine whether the waste has successfully entered the corresponding flow channel and sorting collection compartment, and whether there is overlap, entanglement, blockage, or flow abnormality. When the second identification camera detects any of the above-mentioned abnormalities inside the hull, the main control unit controls the auxiliary grabbing mechanism to perform supplementary operations.

[0061] When the auxiliary gripping mechanism is working, the mobile platform 302 moves along the linear slide rail on the main frame 303, bringing the robotic arm 4 to the area where the target waste is located. Subsequently, the robotic arm 4, through the coordinated actions of the rotating base 402, the first joint 404, the second joint 408, and the wrist joint 410, brings the central gimbal 5 and the soft pneumatic gripper 6 closer to the target waste. After the soft pneumatic gripper 6 approaches the target waste, the vision module 604 acquires close-range image information of the target waste, and the controller 503 controls the gimbal servo 512 to adjust the orientation and contact angle of the soft pneumatic gripper 6 based on this close-range image information.

[0062] After the soft pneumatic gripper 6 completes its attitude adjustment, the controller 503 starts the micro air pump 501 and controls the solenoid valve 509 to open the corresponding air path, allowing gas to enter the air chamber 602 through the air pipe 508 and silicone tube 507. After the air chamber 602 inflates, under the constraint of the strain limiting layer 603, it causes the soft pneumatic gripper 6 to bend in a specific direction, so that the palm surface 605 fits against the surface of the target waste and forms a covering or clamp. After the gripping is completed, the robotic arm 4 transfers the target waste to the top of the corresponding sorting and collection compartment. The controller 503 controls the solenoid valve 509 to switch to the depressurization state, allowing the gas in the air chamber 602 to be discharged, and the soft pneumatic gripper 6 resets and releases the waste. Thus, the auxiliary gripping mechanism can supplement the gripping and transfer of marine debris that is blocked, overlapping, entangled, or has entered the path, improving the platform's continuous sorting and collection capability in complex water environments.

[0063] Once the waste in the sorting and collection compartment reaches the set capacity, the platform stops collecting waste and returns to the designated location for unloading. After unloading, the platform can continue with the next round of marine debris identification, feeding, diversion and sorting, backflow prevention storage, and assisted grabbing operations.

[0064] The above description is merely a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A marine debris sorting and collection platform based on baffle guidance and ratchet anti-backflow, characterized in that, It includes the hull structure (1), target recognition module (2), support frame (3), baffle guiding mechanism, ratchet anti-backflow mechanism and auxiliary gripping mechanism; The hull structure (1) includes a main hull (101) and two single boats (102) respectively disposed on both sides of the main hull (101). The two single boats (102) are connected to the main hull (101) by a front fixing rod (103) and a rear fixing rod (104). The bow of the main hull (101) is an open structure, the stern is a closed structure, and the bottom is a hollow structure. The interior of the main hull (101) is divided into a feeding space, a flow guiding space, and a classification and collection space along the length direction, with the positions of the front fixed rod (103) and the rear fixed rod (104) as the boundary. A partition is provided within the flow guiding space, which divides the flow guiding space into two flow guiding channels. The partition extends rearward to the sorting and collection space, thereby dividing the sorting and collection space into two independent compartments. Each of the two independent compartments is provided with a sorting plate, thereby dividing the sorting and collection space into four sorting and collection compartments. The baffle guiding mechanism is respectively located at the position of the front fixed rod (103) corresponding to the partition and at the position of the rear fixed rod (104) corresponding to the sorting plate; The ratchet-type anti-backflow mechanism is respectively installed in the two flow channels and the four classification collection chambers; The support frame (3) is installed on the hull structure (1), and the target identification module (2) and the auxiliary grasping mechanism are both installed on the support frame (3).

2. The marine debris sorting and collection platform based on baffle guidance and ratchet anti-backflow as described in claim 1, characterized in that, The baffle guide mechanism includes a servo motor (109) and a servo motor baffle (110); the servo motor (109) is mounted on the front fixed rod (103) or the rear fixed rod (104), the servo motor baffle (110) is rotatably connected to the partition or the sorting plate, and the servo motor (109) is driven to connect with the servo motor baffle (110).

3. The marine debris sorting and collection platform based on baffle guidance and ratchet anti-backflow as described in claim 1, characterized in that, The ratchet-type anti-backflow mechanism includes a ratchet (105), a pawl (106), a rotating rod (107), and a ratchet baffle (108). The ratchet (105) is installed on the side wall of the hull. One end of the rotating rod (107) is rotatably connected to the ratchet (105), and the other end is rotatably connected to the side wall of the hull. The ratchet baffle (108) is fixedly connected to the rotating rod (107). The side wall of the hull is provided with a pawl (106) that cooperates with the ratchet (105) at the position corresponding to the ratchet (105).

4. The marine debris sorting and collection platform based on baffle guidance and ratchet anti-backflow as described in claim 1, characterized in that, The support frame (3) includes a main frame (303), a camera bracket (301), and a moving platform (302). The main frame (303) is fixedly connected to the hull structure (1), the camera bracket (301) is fixedly connected to the main frame (303), and the moving platform (302) is slidably connected to the main frame (303). A linear slide rail is provided on the main frame (303). The target recognition module (2) is mounted on the camera bracket (301), and the auxiliary grasping mechanism is mounted on the mobile platform (302).

5. The marine debris sorting and collection platform based on baffle guidance and ratchet anti-backflow as described in claim 4, characterized in that, The auxiliary gripping mechanism includes a robotic arm (4), a central gimbal (5), and a soft pneumatic gripper (6); the robotic arm (4) is mounted on the mobile platform (302), and the soft pneumatic gripper (6) is connected to the end of the robotic arm (4) through the central gimbal (5).

6. The marine debris sorting and collection platform based on baffle guidance and ratchet anti-backflow as described in claim 5, characterized in that, The robotic arm (4) includes a mounting base (401) mounted on the mobile platform (302), a rotating base (402) disposed on the mounting base (401), a first joint (404) connected to the rotating base (402), a first robotic arm link (406) connected to the first joint (404), a second joint (408) connected to the first robotic arm link (406), a wrist joint (410) connected to the second joint (408), a second robotic arm link (411) connected to the wrist joint (410), and an end connector (412) disposed at the end of the second robotic arm link (411). The rotating base (402), the first robotic arm link (406), and the wrist joint (410) are respectively driven connected to a servo drive mechanism.

7. The marine debris sorting and collection platform based on baffle guidance and ratchet anti-backflow as described in claim 5, characterized in that, The central gimbal (5) includes a miniature air pump (501), a controller (503), a rope end fixer (504), a fastening bolt (505), a flange (506), a silicone tube (507), an air tube (508), a solenoid valve (509), a gimbal frame (510), a fixed bracket (511), and a gimbal servo motor (512). The micro air pump (501), controller (503), air pipe (508) and solenoid valve (509) are installed on the top of the gimbal frame (510), and the gimbal servo (512), flange (506) and silicone tube (507) are installed on the bottom of the gimbal frame (510). The gimbal servo (512) is mounted on the gimbal frame (510) via the fixed bracket (511) and fastening bolts (505). The gimbal servo (512) is connected to the soft pneumatic gripper (6) via the flange (506). The micro air pump (501) is connected to the silicone tube (507) via the air pipe (508).

8. The marine debris sorting and collection platform based on baffle guidance and ratchet anti-backflow as described in claim 5, characterized in that, The soft pneumatic gripper (6) includes a clamp (601), an air chamber (602), a strain limiting layer (603), a vision module (604), and a palm surface (605). The clamp (601) is located on the top of the soft pneumatic gripper (6) and connected to the central gimbal (5). The air chamber (602) and the strain limiting layer (603) are located inside the soft pneumatic gripper (6). The palm surface (605) is located at the bottom of the soft pneumatic gripper (6). The vision module (604) is located at the bottom of the soft pneumatic gripper (6).

9. The marine debris sorting and collection platform based on baffle guidance and ratchet anti-backflow as described in claim 1, characterized in that, The target recognition module (2) includes a first recognition camera, a second recognition camera and a main control unit. The first recognition camera is mounted on a camera bracket (301) and faces the direction of the ship's movement. The second recognition camera is mounted on a support frame (3) and faces the interior of the main hull (101). The main control unit is electrically connected to the first recognition camera, the second recognition camera, the baffle guiding mechanism and the auxiliary grasping mechanism.

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