Autonomous Underwater Robot Developed for Marine Pollution Control

TR202419656A1Pending Publication Date: 2026-06-22ORİON INNOVATİON BİLGİ TEKNOLOJİLERİ ANONİM ŞİRKETİ
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Patent Information

Application Number
TR202419656
Authority / Receiving Office
TR · TR
Patent Type
Applications
Current Assignee / Owner
Filing Date
2024-12-18
Publication Date
2026-06-22

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Abstract

The invention relates to an autonomous underwater robot (1) that was developed to reduce increasing human-caused pollution in the seas and to protect marine life, and which can detect and dispose of ghost nets and fishing sinkers that cause heavy metal pollution, which threaten underwater life.
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Description

1 TARIFF Autonomous Underwater Robot Developed for Marine Pollution Control Technical Area The invention will help reduce the increasing human-caused pollution in the seas and protect marine life. Ghost 5, developed to protect marine life in particular. Detection and disposal of fishing nets and lead weights that cause heavy metal pollution. It involves an autonomous underwater robot that enables this. State of the Art Marine pollution is caused by the dumping of chemical, industrial, agricultural, and domestic waste into the seas. It is a type of environmental pollution that occurs in bodies of water on the earth's surface due to mixing or other factors. Sea 10 Most sources of pollution are land-based. Pollution frequently occurs through agricultural surface runoff, It is caused by diffuse pollution, such as debris and dust blown by the wind. It is a type of water pollution. Nutrient pollution is caused by the excessive discharge of nutrients into the seas. They are pollutants. Mostly professional divers are involved in cleaning up underwater pollution. It is used. Divers dive to specific areas and only to specific depths. They tie ropes to cut or pull up the ghost nets they find. They use these methods. Using divers is quite costly. Human life is at stake. Because it is a subject of interest, it also involves many risks. The depth at which diving is done and the nets found. Its size is limited by the physical capabilities of the divers. It's also quite short in terms of time, 20... It is slow. https: / / www.stellardefence.com / product_category / uzaktan-kumandali-sualti-araci-rov- The Tortuga remote-controlled underwater vehicles featured on the models / website are connected to the center via cable. They are connected vehicles. They are controlled and managed by a central authority. They have autonomous features. There isn't one. It's more designed for cleaning and repairing marine buoys and oil rigs. 25 And they are used for purposes such as environmental protection, against marine pollution. No such practices have been encountered. https: / / guernseypress.com / news / uk-news / 2019 / 04 / 30 / new-undersea-technology-could- The website help-stop-ghost-nets-damaging-aquatic-life / detects ghost networks. The text refers to sonar. Developed by a university in England, this device can detect water in 30°C increments. 2 It can locate the ghost nets underneath using sonar. Apart from that, there is no other... It has no technological features. The nets that are detected are retrieved by divers. https: / / www.blueye robotics.com / blog / ghost-nets-and-how-technology-comes-to-the- The rescue website mentions a robot called X3 ROV. This robot is an underwater stealth robot. It is used for network finding purposes and can only perform visual location detection. Detection 5 The net, which has been prepared, is brought to the surface with the help of ropes and balloons attached by the divers. The website can be found at https: / / balticsea2020.org / english / images / Bilagor / Ghost_net_EN_final.pdf This text describes an underwater robot that detects ghost nets. This robot is used for general underwater observation. It is a robot used for this purpose. It locates the position of the ghost net using its camera. Then professional divers go to that location and remove the nets. This robot is connected to the center via a cable 10 It is connected. It is controlled and managed by the center. It has no autonomous features. Underwater. object recognition (image processing), underwater mapping, autonomous decision-making, and its... It does not have advanced technological features such as those mentioned. Patent application number TR2022 / 021356, which is included in the prior art. In the document, preventing marine pollution and cleaning up marine slime that forms in the sea 15 For this purpose, it is used in a floating manner to collect the garbage found on and within the sea surface. the water collected in the bucket, through the mesh bag inside the bucket Waste liquid substances such as gasoline and oil are separated and released into the sea as clean water. A seawater purification device that performs the purification process is described. The device described in the application document is for cleaning sea slime. 20 used are ghost nets and fishing sinkers that cause heavy metal pollution. It does not offer an autonomous solution that enables its detection and elimination. In the tools and methods mentioned above and in some scientific studies encountered... The problem of ghost networks is enormous, and the fight against them is equally difficult. It is understood that this is the case. A comprehensive 25-year plan is needed to reduce and eliminate this problem. In addition to awareness and participation, it is cost-effective and facilitates the solution. Devices equipped with advanced technology are also needed. Today, ghost nets and heavy metals pose a particular threat to marine life. enabling the detection and disposal of fishing sinkers that cause pollution. Structures are needed. 30 3 In conclusion, solutions that address the needs described above are relevant to the subject. Due to its shortcomings, it has become necessary to make improvements in the relevant technical field. Brief Description of Find The invention was created by drawing inspiration from existing situations and overcoming the aforementioned drawbacks. It aims to solve. 5 The aim of this invention is to eliminate ghost nets and heavy metals that threaten marine life. a system that enables the detection and disposal of fishing sinkers that cause pollution It is the development of an autonomous underwater robot. The invention is an underwater robot;  Advanced technology, AI-powered autonomous movement (diving, searching, 10 It has features such as disposal, surfacing, fault detection, etc.  Underwater mapping and obstacle avoidance, collision avoidance with ultrasonic sensors It has advanced navigation features such as prevention.  Object recognition (image processing) with advanced underwater cameras, networks, It has the ability to detect shipwrecks and other plastic and metal debris. 15  Detecting metals buried underground using a metal detector. is able to do so.  It breaks down nets and other waste underwater using its cutting / crushing cylinders. It can be placed in the waste collection bin. Thus, this high-cost process is eliminated. The waste is brought to the surface by divers, then transported away and disposed of. 20 This eliminates the need for these procedures.  Ghost nets, some of which can be very large and long (kilometers), are broken down into pieces. It has the ability to dispose of waste. This makes it a much more cost-effective solution. It is able to produce.  Much deeper than the maximum depths divers can dive to, for example 1000 25 or because it has the ability to dive to depths such as 2000 meters, Waste at these depths, which poses a deadly risk to human life, can also be easily accessed. It has the ability to access and destroy.  Thanks to its autonomous movement capability, it differs from other similar underwater robots. According to this, it requires fewer personnel in operational terms. 30 4  It detects potential malfunctions in the vehicle through advanced software and sensors. autonomous correction of errors that it can solve, and errors that it cannot solve. It also has the ability to report to the center. The structural and characteristic features and all the advantages of the invention are given in the figures below. Thanks to the detailed explanation written with references to these figures, a clearer 5 This will be understood as such, and therefore the evaluation will also take these forms and detailed explanations into account. This should be done taking that into consideration. Ways to Help Understand the Discovery Figure 1 shows a representative illustration of the underwater robot that is the subject of the invention. Figure 2 shows a representative illustration of the cylinder located in the underwater robot that is the subject of the invention. 10 Figure 3 shows a representation of the central command unit located in the underwater robot that is the subject of the invention. It is a representation. Figure 4 shows a robotic arm head included in the underwater robot that is the subject of the invention. It is a representative illustration of its structure. Figure 5 shows another 15 of the robotic arm head located on the underwater robot that is the subject of the invention. It is a representative illustration of its structure. Figure 6 shows another aspect of the robotic arm head included in the underwater robot that is the subject of the invention. It is a representative illustration of its structure. Explanation of Part References 1. Underwater robot 20 2. Main body 3. Main power unit 4. Backup power unit 5. Communication module 6. Cylinder 25 7. Waste collection bin 8. Electric motor 9. Chain 10. Ultrasonic sensor 11. Main camera 5 12. Auxiliary camera 13. Lighting unit 14. Propeller 15. Propeller motor 16. Metal detector 10 17. Fin wing 18. Submersion / ascent tank 19. Central Command Unit 20. Robotic arm 21. Catch head 15 22. Central Processing Unit Detailed Description of Find In this detailed explanation, the preferred underwater robot (1) that is the subject of the invention is described. Their structures are explained solely to facilitate a better understanding of the subject. This invention will help reduce the increasing human-caused pollution in the seas and save marine life. Ghosts, developed to protect marine life in particular, pose a threat. Detection and disposal of fishing nets and lead weights that cause heavy metal pollution. It is related to an autonomous underwater robot (1) that enables this. 6 The underwater robot shown in Figure 1 (1);  Made of high-strength composite (polycarbonate) material, suitable for depths up to 2000 meters. made to be waterproof, resistant to seawater corrosion and rust. the main body which is durable (2),  Li-Ion, Li-Mh, FePO4-Iron Phosphate or any other type, charge 5 capable of supplying power to all elements, with a capacity of 10 kWh and higher. main power unit (3),  Charge of any kind, whether ion, Li-Mh, FePO4-iron phosphate or any other type. main power unit (3) which can be used, with a capacity of 3KWh and higher It automatically activates in case of malfunction or power loss. 10 and a backup power unit (4) that provides power only to priority elements,  Communication that enables communication with the main control center on shore or on the ship module (5),  Teeth that interlock and rotate in opposite directions, shredding teeth made of steel or 15 made of carbide, whose teeth both crush and grind when they rotate oppositely. cylinders (6),  A 1 cubic meter or higher container that collects the waste that has been ground by passing through the cylinders (6). Waste collection bin (7) which is in the form of steel wire mesh, with volume.  electrical energy from the main power unit (3) and, if necessary, from the backup power unit (4) It works by connecting two cylinders (6) that rotate in reverse with the gears on them and 20 electric, with a power of 5 Hp and higher, giving power to the cylinders (6). Electric motor (8) which receives its supply from the main power source (3),  Steel chain (9) that transmits power from the electric motor (8) to the cylinders (6),  electrical energy from the main power unit (3) and, if necessary, from the backup power unit (4) working by emitting sound waves, the underwater robot (1) 25 preventing collisions with objects and also underwater maps ultrasonic sensors that enable the creation of (10),  powered by receiving electrical energy from the main power unit (3), 120 or larger It has a large lens that allows it to capture images at a minimum angle of 128°. Capable of shooting 4K and 8K video at Mega Pixel resolution, minimum 60fps shooting. fast, with a minimum ISO value of 30000 for low-light environments, UV Waterproof digital motherboard with ultraviolet (ultraviolet) and IR (infrared) sensors. camera (11),  It operates by receiving electrical energy from the main power unit (3), minimum 128 Mega Capable of shooting 4K and 8K video at pixel resolution, with a minimum shooting speed of 60fps, 35 7 UV protection with a minimum ISO value of 30000 for low-light environments. waterproof digital scanner with ultraviolet (ultraviolet) and IR (infrared) sensors. auxiliary camera (12),  The main camera (11) and which operate by receiving electrical energy from the main power unit (3). 5 positioned to illuminate the viewing angles of the auxiliary camera (12) (13) is a lighting unit that emits LED white light with a power of at least 50W.  five-bladed propeller made of stainless steel (14),  electrical energy from the main power unit (3) and, if necessary, from the backup power unit (4) working by taking, directly connected to the propeller (14) without any gears in between, forward and capable of reversing, 10 with 20KW and more power. The propeller motor (15), which transmits all the power to the propeller (14),  It operates by receiving electrical energy from the main power unit (3), below the underwater surface. fishing sinkers, lead weights broken off from nets, metal discarded from ships It detects pieces and similar scrap metal objects up to 30cm below the ground. Eden metal detector (16), 15  The underwater robot (1) operates by receiving electrical energy from the main power unit (3). Like fish, it can easily change direction and dive deep and rise to the surface. fin wings that enable it to come out (17),  electrical energy from the main power unit (3) and, if necessary, from the backup power unit (4) The underwater robot (1) works by taking in water, diving and emptying water 20 submerged / surfaced tanks (18) that allow it to surface,  The underwater robot (1) can be monitored while it is on the surface (on a boat, on land, etc.), enabling intervention with the underwater robot (1) when necessary, It has a tablet-shaped LCD screen structure, on which the underwater robot (1) is located. Central command unit 25 is a Linux-based computer with specialized software. (19),  It operates by receiving electrical energy from the main power unit (3), in a three-dimensional plane, Having a two-pronged structure that can move up / down and left / right, large number (preferably 4) ultrasonic sensors (10), main camera (11) and capture waste materials detected by auxiliary cameras (12), 30 if the object is a mesh, it carries the object to the cylinders (6) for grinding, if the object If it's a small object like a fishing sinker, catch the object and put it in the waste collection bin. (7) robotic arm (20),  The robotic arm (20) operates by receiving electrical energy from the main power unit (3). Features include holding objects, squeezing, cutting with scissors, handling thick ropes, and 35 8 used for various purposes such as cutting metals and scraping the seabed, The catching heads (21) are designed to be easily attached and detached.  Main power unit (3) and backup power if needed, located in the main body (2). central command unit (19) which operates by receiving electrical energy from unit (4) remotely managed via the communication module (5) central 5 AI-powered autonomous movement that communicates with the command unit (19) (capable of diving, searching, disposing of, surfacing, troubleshooting, etc.) It has at least a 16-core CPU, a 256-core GPU, 64GB of DDR5 RAM, and 2 TB of storage. a more powerful computer consisting of NVME SSD storage unit 10 in a flexible structure that will allow the addition of hardware options which, by giving power to the propeller motor (15), the propeller (14) is operated and water six robots (1) return to the starting point (ship or point on the shore) by operating the fin wings (17) that enable the underwater robot to perform its operation (1) by operating the lighting unit (13) which enables its movement underwater. Illumination of the viewing angles of the camera (11) and the auxiliary camera (12) 15 providing images from the main camera (11) and the auxiliary camera (12). by processing (image processing) they identify underwater objects and the sea ultrasonic sensors (10) determine whether there is a ghost net underneath. By processing data, the underwater robot continuously calculates the distance to objects. (1) data from ultrasonic sensors (10) that prevents collisions with objects 20 Continuously working and making 3D underwater mapping from metal detector (16) By processing the incoming data, we can identify underwater waste metals (fishing sinkers, net sinkers, and electric motor (8), chain (9), which detects the location of other small metals) and grinding by controlling its cylinders (6), robotic arm (20) and gripping heads (21) the collection, shredding, grinding of waste materials and waste collection 25 by controlling the diving / surging tanks (18) that enable it to be thrown into the reservoir (7). Managing the submersion and surfacing operations of the underwater robot (1), Taking action on errors by actively performing error detection processes. central processing unit (22) that performs its operations It includes. 30 The robotic arm (20) in the system (1) is used for different purposes and can be easily used There are removable and attachable catch heads (21). Each catch head (21) During the changeover, the underwater robot (1) does not need to surface. Capture The underwater robot (8) can change its headings (21) itself. This capture 9 The first of its (21) heads has a three-fingered structure and each finger has two joints (Figure 4). The said catching head (21) has two fingers in one direction and the other finger in the opposite direction and When closed, they nestle together, allowing them to hold, squeeze, and squeeze objects, like scissors. It has the ability to cut. The second structure of the catching head (21) is thick It is shaped like a circular saw that can cut ropes and metals (Figure 5). Catch head 5 (21), in its third structure, it moves by rotating the bottom of the water up to 30 cm. It has a structure capable of scraping (Figure 6). The catching heads (21) are on the side of the underwater robot (1). It is on the side. Depending on the task requirement, it is placed in its place by the underwater robot (1). Another catching head (21) is attached. The subject of the invention is an underwater robot (1); it can recognize underwater objects, avoid underwater collisions, 10 underwater mapping, detection and removal of metal objects below the seabed, robotics Control of the arm (20), submersion / emergence from water, active troubleshooting / resolve production, having an autonomous movement algorithm, defining the movement area, waste It has disposal properties. The central processing unit (22) stores 15 in its internal memory for the process of recognizing underwater objects. pre-loaded tens of thousands of ghost nets, sunken vessels, plastic waste and the like. It has high-resolution photographs. The underwater robot's (1) advanced main camera Images obtained from (11) and auxiliary cameras (12) are used to analyze the central processing unit. (22) is processed by the graphics processor and compared with the photos in memory. The comparison determines whether it is ghost net or plastic waste. 20 When the central processing unit (22) detects the ghost network, the capture on the robotic arm (20) gripping of the network by means of the head (21) and cutting shredding cylinders (6) It ensures that it is placed in the location. The signal sent by the central processing unit (22) As a result, the electric motor (8) starts working and the cylinders (6) are driven by the chain (9) It rotates. The cylinders (6), whose representative image is presented in Figure 2, rotate towards each other to form a ghost 25 The mesh begins to break apart. The broken ghost mesh enters the waste collection bin (7). The mesh If it runs out and the waste collection bin (7) is not full, the central processing unit (22) underwater This allows the robot (1) to continue on its way. If the waste collection bin (7) is full and the network If not finished, the central processing unit (22) brings the underwater robot (1) to the surface, waste empty the collection container (7) and return the underwater robot (1) to the same point where it remains for 30 minutes. This allows it to continue breaking down the network from the ground. No matter how big the network is, this It can be completely destroyed by continuous partial disintegration. The underwater robot (1) can destroy many In this case, plastic net floats and similar plastic objects are attached to these ghost nets. It also breaks down waste. The underwater robot (1) also breaks down all other waste such as plastic bottles in underwater scanning. It also detects and disposes of plastic waste. The central processing unit (22) uses ultrasonic sensors for underwater collision avoidance operation. (10) by processing the obtained data in real time, the distance to objects detects in real time and gives navigation commands to the underwater robot (1) accordingly. For example, if an obstacle is detected in the front and there is no obstacle on the right side. If there is no object, a command center operation such as "turn 20 degrees to the right, slow down by 5 m / s". unit (22) can be given. In another example, the underwater robot (1) can be given to the underwater floor. While moving closely, an obstacle 5m high and 7m wide appears in front of it. This In this case, the course of the underwater robot (1) is determined by the central processing unit (22) 10 To overcome the obstacle without changing direction, ascend 6m, continue straight, and if there is no obstacle, descend 6m. Commands such as "continue on your way" can be given. All these commands and decisions are centralized. is given autonomously by the processing unit (22). The underwater robot (1) avoids collisions with slow or fast moving underwater creatures. It has the capability of a central processing unit (22), fin wings (17) and a powerful propeller 15 by sending a signal to its motor (15) it can easily perform sudden maneuvers It provides. The underwater robot (1) can move in all directions (right, left, up and down) and between 0-360 degrees. It can maneuver in all angles. The central processing unit (22) receives all 20 signals from all directions for the underwater mapping operation. By processing the ultrasonic sensor (10) data, the underwater robot (1) has a 50m diameter around it. It creates a map of the area. The central processing unit (22) stores this map in its memory. It records. The central processing unit (22) continuously scans for the underwater robot (1) while it is in motion. by performing this task and combining all these map fragments to create a complete underwater map of that region. can remove. 25 Central processing unit (22), detection and removal of metal objects below the bottom surface For the procedure, metal objects can be detected up to 30cm below the bottom surface using a metal detector (16). It can detect. The central processing unit (22) detects a metal object under the surface. If it does, the point where the signal is received will be determined by moving the seabed by up to 30 cm. It scrapes by means of the grapple head (21) in the scraping structure. The central processing unit (22), 30 He moves the metal detector (16) over the same surface again. If the object has come to the surface, central processing unit (22) three-fingered gripper head with two joints on each finger 11 (21) picks up the object and the object is collected by means of robotic arm (20) for waste collection. It allows the object to be thrown into the container (7). If the object is a little large (for example, larger than 30cm using a three-fingered grasping head (21) in which each finger has two joints (large). picks up the object and the object is cut by the robotic arm (20) and the cutting / shredding cylinders (6) This allows it to be placed on top. If the metal object is very large and heavy, the central processing step is 5. The unit (22) reports this situation to the central command unit (19), the location of the object (position and It marks the coordinates in its memory and leaves the object in place. Central processing unit (22) Communication between the central command unit (19) and the representative representation of which is presented in Figure 3. This is done via the communication module (5). If the underwater robot (1) encounters a metal shipwreck, the metal detector (16) continuously monitors it for 10 minutes. gives a high signal. The central processing unit (22) determines the location (position and coordinates) of the wreck. It records the information in its memory and reports this situation to the central command unit (19). Central processing Communication module (5) between unit (22) and central command unit (19) It is accomplished through this means. In another scenario, the metal detector (16) bottom surface is, for example, 50 cm or more 15 If it receives a signal from a metal object deep underground and the robotic arm (20) digs, the metal If it does not surface, the central processing unit (22) determines the object's location (position and coordinates). It records the situation in its memory and reports this to the central command unit (19). The central processing unit (22) autonomously controls the robotic arm (20). Central The processing unit (22) can move the robotic arm (20) in all directions and at all angles. 20 The process of changing the gripper heads (21) of the robotic arm (20) is again centralized processing. Decisions are made and carried out autonomously by unit (22). The central processing unit (22) releases the main body (2) into the water and into the empty submersible / emerging tanks (18) by filling with water and changing the angles of the fin wings (17) the underwater robot (1) It allows it to dive underwater. 25 Central processing unit (22),  If the waste collection bin (7) is full, to empty the waste collection bin (7),  If the charge of the main power unit (3) and the backup power unit (4) is reduced (e.g. 15% (if it has fallen below) for charging the main power unit (3) and the backup power unit (4),  If a malfunction occurs that makes it impossible to continue the operation, 30 (for example, if one of the robotic arms (20) or the grasping heads (21) is broken), 12  In necessary cases, the central command unit (19) will give the "return home" command if given the gradual draining of the water in the submersible / surface tanks (18) and the fins By changing the angles of its wings (17), the underwater robot (1) can be brought to the surface of the water. It allows it to come out. 5 The central processing unit (22) is involved in the active error resolution / solution generation process;  If nets, wastes and similar objects get stuck in the crushing cylinders (6), the cylinders (6) It ejects objects by turning it in the opposite direction.  If there is a malfunction in the robotic arm (20) motors, the command unit (19) is notified to the center. It reports the situation and brings the underwater robot (1) to the surface. 10  If the signal goes out of range during communication with the central command unit (19) Turn the underwater robot (1) back in the direction it came from and the signal of the underwater robot (1) It allows it to enter its range.  If the processor gets too hot, it prioritizes some active tasks to the lowest priority. It cancels the process, and returns to normal 15 when the processor temperature reaches the operational range. It returns to its original settings.  If it freezes in terms of software, it automatically restarts itself.  ultrasonic sensors (10), main cameras (11), auxiliary cameras (12) and If there is a malfunction in the lighting units, this situation is reported to the control center. notifies unit (19). 20 The central processing unit (22) has an autonomous motion algorithm. Underwater robot (1) When left within a predetermined range of motion, the central processing unit (22) ultrasonic The mapping process starts immediately via sensors (10) and the route to be taken is determined. It creates a map that scans the entire area, avoiding obstacles on the map. Central processing The unit (22) performs the scan in three dimensions by means of ultrasonic sensors (10). It does so. The central processing unit (22) monitors not only the seabed surface but also the movement. It scans the entire volume of water in the area. The purpose of this three-dimensional scan is to detect ghost nets. not only on the seabed, but often some of it is at the bottom and some is suspended in the water. This is because of the central processing unit (22), when scanning as a task priority. It collects or disposes of the waste it encounters / detects, then resumes operations from where it left off within 30 days. It continues scanning and mapping. Central processing during autonomous movement. unit (22), recognizing underwater objects, avoiding underwater obstacles, underwater Continuing mapping, detecting and removing metal objects, robotic arm (20) 13 Control, submersion and emergence from water, active troubleshooting and waste disposal. It performs all of these operations as part of an autonomous movement algorithm. The area where the underwater robot (1) will work in the water is determined in advance by the central command unit. Latitude, longitude and depth information are entered into the central processing unit (22) by (19). is determined. 5

Claims

14 REQUESTS 1. Made of high-strength composite (polycarbonate) material, capable of withstanding depths up to 2000 meters. made to be waterproof, resistant to seawater corrosion and rust. to the main body which is resistant (2), Li-Ion, Li-Mh, FePO4-Iron Phosphate or other any type, rechargeable, with a capacity of 10 kWh or higher, 5 to the main power unit (3) which provides power to all elements, Ion, Li-Mh, FePO4-Iron Phosphate or any other type of rechargeable battery, 3 kWh and higher failure or depletion of power of the main power unit (3) which is in capacity It automatically activates in this situation and only powers priority elements. to the backup power unit (4), with the main control on shore or ship 10 to the communication module (5), which enables communication, with teeth interlocking in the opposite direction rotating structure, shredding teeth made of steel or carbide, teeth facing each other to cylinders (6) which both crush and grind when they turn, from the cylinders (6) a container with a volume of 1 cubic meter or more that collects the waste that has passed through and been ground. Waste collection bin (7) in the form of steel wire mesh, main power unit (3) and 15 It operates by taking electrical energy from the backup power unit (4) when needed, and on it connected to two cylinders (6) that rotate in opposite directions with gears and giving power to the cylinders (6), 5 Hp and having higher power, receiving its electrical supply from the main power source (3) steel chain that transmits power from the electric motor (8) to the cylinders (6) (9), electrical energy from the main power unit (3) and, if necessary, the backup power unit (4) 20 Working by receiving sound waves emitted by the underwater robot (1) to objects which prevents collisions and also enables the creation of underwater maps. by receiving electrical energy from the main power unit (3) to the ultrasonic sensors (10) that provide a large lens that allows the worker to capture images at an angle of 120 degrees or wider. 25 that has a minimum resolution of 128 Mega Pixels and can shoot 4K and 8K images. Minimum shooting speed of 60fps, minimum ISO of 30000 for low light conditions. water which has UV (ultraviolet) and IR (infrared) sensors by taking electrical energy from the main power unit (3) to the waterproof digital main camera (11). The device is capable of capturing 4K and 8K images with a minimum resolution of 128 megapixels. Minimum shooting speed of 60fps, minimum ISO 30000 for low light conditions. water which has UV (ultraviolet) and IR (infrared) sensors electrical energy from the main power unit (3) to the waterproof digital auxiliary camera (12). working by taking into account the viewing angles of the main camera (11) and the auxiliary camera (12) LED white light with a power of at least 50W, positioned to provide illumination. The emitting lighting unit (13) has a five-bladed propeller made of stainless steel. (14), electrical energy from the main power unit (3) and, if necessary, from the backup power unit (4) working by taking, directly connected to the propeller (14) without any gears in between, forward and All vehicles with the ability to reverse, with a power of 20KW and above from the main power unit (3) to the propeller motor (15) which transmits power to the propeller (14) It operates by using electrical energy, and it pulls fishing weights and nets from below the underwater surface. bullet fragments, metal scraps discarded from ships, and similar waste metals. The metal detector (16) which detects objects up to 30cm below the ground, main power The underwater robot (1) works by receiving electrical energy from unit (3) underwater like fish, it can easily change direction and dive deep and rise to the surface. providing fin wings (17), main power unit (3) and backup power if needed 10 The underwater robot (1) works by taking electrical energy from unit (4) and taking water from unit (4) submersion / surface tanks that allow the water to sink and then surface by releasing water. (18) the underwater robot (1) can be monitored while on the surface (on a boat, on land, etc.), tablet that enables intervention with the underwater robot (1) when necessary It has an LCD screen structure and on it is the underwater robot (1) water special 15 central command unit (19) is a Linux-based computer with software having, reducing the increasing human-caused pollution in the seas and marine developed to protect marine life, especially that which is threatened by underwater life. Detection of ghost nets and fishing sinkers that cause heavy metal pollution and an autonomous underwater robot (1) that enables disposal of waste; 20  It operates by receiving electrical energy from the main power unit (3), in a three-dimensional plane, Having a two-pronged structure that can move up / down and left / right, multiple (preferably 4) ultrasonic sensors (10), main Waste detected by camera (11) and auxiliary cameras (12) 25 that catches the materials, if the object is a net, the object is ground up. if the object is a small object like a fishing sinker, it carries it to the cylinders (6). The robotic arm (20) catches the object and throws it into the waste collection bin (7),  The robotic arm (20) operates by receiving electrical energy from the main power unit (3). Features include holding objects, squeezing, cutting with scissors, and handling thick ropes. Used for various purposes such as cutting metals and scraping the seabed, and 30 The catching heads (21) are designed to be easily attached and detached.  Main power unit (3) and backup power if needed, located in the main body (2). central command unit (19) which operates by receiving electrical energy from unit (4) remotely managed via the central communication module (5) AI-powered autonomous movement communicating with the command unit (19) 35 16 (diving, searching, disposal, surfacing, troubleshooting, etc.) capability It has at least a 16-core CPU, a 256-core GPU, and 64GB of DDR5 RAM. and a computer consisting of a 2 TB NVME SSD storage unit, a flexible system that will allow for the addition of powerful hardware options 5 of the propeller motor (15) which is in the structure, giving power to the propeller (14) to start and the underwater robot (1) to the starting point (ship or (17) which enables the turning operation (point on the shore) by operating the underwater robot (1) which enables its movement underwater, lighting By operating the unit (13), the view of the main camera (11) and the auxiliary camera (12) Main camera (11) and auxiliary camera 10 which provide illumination of the angles by processing the images obtained from the camera (12) sea Identifying objects underneath and determining whether there are ghost nets underwater. by processing data from ultrasonic sensors (10) to identify objects by constantly calculating the distance, the underwater robot (1) avoids colliding with objects by continuously processing the data from ultrasonic sensors (10) that prevents water 15 data from metal detector (16) that performs 3D mapping underneath. by processing underwater waste metals (fishing sinkers, net sinkers and other small metals) electric motor (8), chain (9), grinding which detects the location of metals) controlling its cylinders (6), robotic arm (20) and gripping heads (21) by collecting, shredding, grinding and processing waste materials. Submersible / surface tanks (18) that enable the discharge into the collection hopper (7) by controlling the underwater robot (1) to sink underwater and rise to the surface manages the processes, performs active error detection, and identifies errors. central processing unit (22) which takes action towards It includes. 25 2. The underwater robot mentioned in accordance with Claim 1 is (1), and its feature is; three-fingered structure. The said catching head (21) has two fingers, each finger having two joints. finger pointing in one direction and the other finger pointing in the opposite direction, and when closed, they interlock. thus having the ability to hold, squeeze, and cut objects like scissors. It contains a capture head (21). 30 3. The underwater robot mentioned in accordance with Claim 1 is (1), and its feature is; thick ropes and The catching head (21) is in the shape of a circular saw that can cut metals. It includes. 17 4. The underwater robot mentioned in accordance with Claim 1 is (1), and its feature is that it can clean the seabed by 30 The catching head has a structure that can rotate and scrape up to cm. (21) is included.

5. The underwater robot mentioned in accordance with Claim 1 is (1), and its feature is to retrieve objects underwater. For the recognition process, tens of thousands of ghost networks are pre-loaded into its internal memory, 5 The main website features high-resolution photographs of shipwrecks, plastic waste, and the like. with its processor the images obtained from the camera (11) and auxiliary cameras (12) by processing and comparing it with images in memory, and as a result of this comparison, the ghost central processing unit (22) which determines whether there is net or plastic waste It includes. 10 6. The underwater robot mentioned in accordance with Claim 1 is (1), and its feature is ghost net detection. when done, the net is grasped by means of the grasping head (21) on the robotic arm (20). and which enables the cutting and shredding cylinders (6) to be placed in the part where they are located, As a result of the signal it sends, the electric motor (8) is started and the chain (9) is activated rotating the cylinders (6), rotating the cylinders (6) against each other, the ghost of the cylinders (6) 15 it starts to break the net and the fragmented ghost net goes into the waste collection bin. (7) allows entry, if the net ends and the waste collection container (7) is not full, underwater if the waste collection bin (7) is full, which allows the robot (1) to continue on its way and if the net is not finished, the underwater robot (1) brings the waste collection container to the surface (7) emptying and returning the underwater robot (1) to the same point and the net from where it left off 20 It contains a central processing unit (22) which enables it to continue decomposition.

7. The underwater robot mentioned in accordance with Claim 1 is (1), and its feature is; underwater collision For prevention, data from ultrasonic sensors (10) are obtained in real time. It processes and determines the distance to objects in real time, and central processing unit (22) that gives navigation commands to the underwater robot (1) 25 It includes.

8. The underwater robot mentioned in accordance with Claim 1 is (1), and its feature is; fin wings (17) and by sending a signal to the powerful propeller motor (15), sudden maneuvers can be easily performed. to be able to do so and thus the underwater robot (1) in slow or fast moving water It contains a central processing unit (22) which prevents it from hitting six living creatures. 30 9. The underwater robot mentioned in accordance with Claim 1 is (1), and its feature is underwater mapping. For the process, water is processed by processing all ultrasonic sensor (10) data coming from all directions. 18 six robots (1) that map the area with a diameter of 50m around it, this map Continuous scanning for the underwater robot (1) that records to its own memory while in motion. by performing this task and combining all these map fragments to create a complete underwater map of that region. It contains a central processing unit (22) which outputs.

10. The underwater robot mentioned in accordance with Claim 1 is (1), and its feature is; 5 below the bottom surface. For the detection and removal of metal objects, a metal detector (16) is used. A metal detector that detects metal objects up to 30cm below the bottom surface. If an object is detected, the signal is received from a point up to 30 cm below the seabed. by means of the catching head (21) which can move and scrape by rotating scraping, moving the metal detector (16) over the same surface again, object surface 10 if it comes out, the three-fingered gripping head with two joints on each finger (21) using the object to pick up and the object to collect waste by means of the robotic arm (20) If the object is a little too big (e.g., larger than 30cm), it can be thrown into the container (7). (21) three-fingered gripping head with two joints on each finger (larger) using the object to pick up and cut / shred the object by means of the robotic arm (20) 15 if the metal object is too large and If it is heavy, report this situation to the central command unit (19), the location of the object (position and the central processing unit that marks the object in its memory (and its coordinates) and leaves the object in place. It contains unit (22).

11. The underwater robot mentioned in accordance with Claim 1 is (1), and its feature is; to the metal shipwreck 20 If encountered, the metal detector (16) receives the continuously high signal transmitted, locating the wreck. (marking its location and coordinates in its memory and transmitting this information to central command) It includes the central processing unit (22) which reports to the unit (19).

12. The underwater robot mentioned in accordance with Claim 1 is (1), and its feature is; robotic arm (20) 25 robotic arm (20) that moves autonomously in all directions and at all angles autonomously decides on the replacement of the capture heads (21) and the change It includes a central processing unit (22) which performs the function.

13. The underwater robot mentioned in accordance with Claim 1 is (1), and its features are:  If the waste collection bin (7) is full, to empty the waste collection bin (7),  If the charge of the main power unit (3) and the backup power unit (4) is low (e.g. 15-30%) charging the main power unit (3) and the backup power unit (4) if it has fallen below (in) for, 19  If a malfunction occurs that makes it impossible to continue the operation (for example, if one of the robotic arms (20) or the grasping heads (21) is broken),  In necessary cases, the central command unit (19) will give the "return home" command if given The gradual draining of the water in the submersible / surface tanks (18) and fin 5 By changing the angles of its wings (17), the underwater robot (1) can be made underwater. It contains a central processing unit (22) which enables it to come to the surface.

14. The underwater robot mentioned in accordance with Claim 1 is (1), and its feature is; active fault in the process of solving / generating a solution;  If nets, wastes and similar objects get stuck in the crushing cylinders (6), the cylinders will 10 (6) throwing objects out by turning them in the opposite direction,  If there is a malfunction in the robotic arm (20) motors, the command unit (19) is notified to the center. reporting this situation, brought the underwater robot (1) to the surface of the water,  If the signal goes out of range during communication with the central command unit (19) Turn the underwater robot (1) back in the direction it came from and the signal of the underwater robot (1) 15 enabling it to enter its range  If the processor gets too hot, it minimizes some of the active tasks. It cancels in sequence when the processor temperature reaches the operational range. returning to its normal settings,  If it freezes in a software sense, it automatically restarts itself, 20  ultrasonic sensors (10), main cameras (11), auxiliary cameras (12) and If there is a malfunction in the lighting units, this situation is reported to the control center. notify to the unit (19) It includes a central processing unit (22).

15. The underwater robot mentioned in accordance with Claim 1 is (1), and its feature is autonomous movement 25 The underwater robot (1) which has an algorithm, moves within a predetermined area. When released, mapping begins immediately via ultrasonic sensors (10). starting from the point of departure and traversing the route to be followed, avoiding obstacles on the map, across the entire area. It creates a scanning system by means of ultrasonic sensors (10) The scan is done in three dimensions, not just the seabed surface, but also the movement. scanning the entire volume of water in the area, ghost nets are found not only on the seabed. often three parts because some are at the bottom and some are suspended in the water. performing a 3D scan, and the tasks that it encounters / detects while scanning are prioritized. first collects or disposes of the waste it generates, then continues from where it left off. continuing to scan and map underwater during autonomous movement. Object recognition, obstacle avoidance underwater, continuing underwater mapping. detecting and removing metal objects, controlling the robotic arm (20) 5 handling, submersion and resurgence, active fault resolution and waste disposal performing all of its operations as part of an autonomous movement algorithm It includes a central processing unit (22).