CN108249081B - Waste recycling equipment combining fixation and flowing - Google Patents
Waste recycling equipment combining fixation and flowing Download PDFInfo
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- CN108249081B CN108249081B CN201810046330.2A CN201810046330A CN108249081B CN 108249081 B CN108249081 B CN 108249081B CN 201810046330 A CN201810046330 A CN 201810046330A CN 108249081 B CN108249081 B CN 108249081B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F3/00—Vehicles particularly adapted for collecting refuse
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F3/00—Vehicles particularly adapted for collecting refuse
- B65F2003/006—Constructional features relating to the tank of the refuse vehicle
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Abstract
The invention discloses a waste recovery device combining fixed and mobile and a working method thereof, the waste recovery device comprises a shell, a control mechanism and a fixed station, the control mechanism comprises a processor, a driving device, a first positioning device and a navigation device, the first positioning device acquires first position information, the navigation device generates a first driving route from the recovery device to the first position information, the shell comprises a transaction room, a storage room and a conveying device, the conveying device conveys the recovered waste to the storage room from the transaction room, the transaction room comprises a camera device, a first weighing device and a payment device, the camera device shoots images of the waste, the first weighing device is used for calculating the quality of the waste, the payment device is used for paying out currency, the storage room comprises a storage cabinet, the storage cabinet is used for storing the waste, the fixed station stores a single type of the waste, one fixed station corresponds to one type of the waste, the fixed station comprises a second positioning device for sending second position information of the fixed station to the processor.
Description
Technical Field
The invention relates to the field of waste treatment, in particular to waste recovery equipment combining fixation and flowing.
Background
With the development of economy, no matter in daily life or in the fields of industrial production and the like, various waste products are produced, and the yield of the waste products is continuously improved, so that the work of recycling the waste products is very important; the industrial waste is regularly and uniformly recycled by suppliers, generally has longer accumulation time and is easy to pollute the environment.
In the existing waste recovery, the waste with higher value is generally sent to a waste recovery company for sale after being purchased at home by a waste recovery intermediary business or directly sent to the waste recovery company for sale by residents, and most of the waste with low value such as paper, cloth, glass, plastics and the like is thrown into garbage, so that the resource waste is caused, the garbage treatment amount is increased, and even the environment is polluted.
Disclosure of Invention
The purpose of the invention is as follows: in order to overcome the disadvantages in the background art, the embodiment of the invention provides a waste recycling device combining fixing and flowing, which can effectively solve the problems related to the background art.
The technical scheme is as follows: a waste recycling device combining fixing and flowing comprises a shell, a control mechanism, a moving mechanism and a fixed station, wherein the control mechanism comprises a processor, a driving device, a first positioning device, a navigation device and a first storage device, the processor is respectively connected with the driving device, the first positioning device, the navigation device and the first storage device, the first positioning device is used for acquiring first position information and sending the first position information to the processor, the navigation device is used for generating a first driving route from the recycling device to the first position information and sending the first driving route to a storage chamber of the processor, the first storage device is used for storing unit price information of waste, the shell comprises a trading chamber, a conveying device and a transmission device, and the transmission device is connected with the driving device, the device comprises a transaction room, a processor, a storage cabinet, a first electronic control retractable door, a first weighing device and a payment device, wherein the transaction room is used for conveying recycled waste products to the storage room, the processor is respectively connected with the camera, the first weighing device and the payment device, the camera is used for shooting images of the waste products and sending the images to the processor, the first weighing device is used for calculating the quality of the waste products and sending the quality to the processor, the payment device is used for paying out money, the storage room comprises the storage cabinet, the storage cabinet is positioned on two sides of a conveying device and used for storing the waste products, the storage cabinet comprises the first electronic control retractable door which is connected with a driving device, the first electronic control retractable door and the storage cabinet establish a one-to-one corresponding relation with the waste products, and the relation is prestored in the processor, the first electronic control retractable door is used for controlling the entrance and exit of the waste, the moving mechanism is connected with the driving device and used for driving the recovery equipment to move, the fixed station is used for storing the waste of a single type, one fixed station corresponds to one waste type, the fixed station comprises a second positioning device, a second storage device and a second electronic control retractable door, the processor is respectively connected with the second positioning device and the second storage device, the second positioning device is used for sending second position information of the fixed station to the processor, the second storage device is used for storing the type and the capacity of the waste in the fixed station, and the second electronic control retractable door is connected with the driving device and used for controlling the entrance and exit of the waste.
As a preferable mode of the invention, the storage cabinet further comprises a first mechanical arm, and the first mechanical arm is connected with the driving device and is used for grabbing and placing the waste products in the storage cabinet and on the conveying device.
As a preferable mode of the present invention, the fixed station further includes a second mechanical arm, and the second mechanical arm is connected to the driving device and is configured to pick and place the waste in the fixed station and on the conveying device.
As a preferable mode of the present invention, the fixed station further includes a second weighing device, and the weighing device is connected to the processor, and is configured to calculate the quality of the waste in the fixed station and store the quality in the second storage device.
As a preferable mode of the invention, the housing further comprises an object stage, one side of the object stage close to the outside of the housing is provided with an electro-hydraulic push rod, and the electro-hydraulic push rod is connected with the driving device and is used for controlling the inclination angle of the object stage.
The method comprises the following working steps:
a) the processor receives a reservation request in real time, wherein the reservation request comprises a reservation place;
b) the first positioning device acquires first position information of the reserved place and sends the first position information to the processor, the processor guides the first position information into the navigation device, and the navigation device generates a first driving route from the recovery device to the first position information and sends the first driving route to the processor;
c) the processor outputs a first driving signal to the driving device, and the driving device drives the moving mechanism to drive according to the first driving route;
d) the camera device shoots images of the waste products and sends the images to the processor, and the processor analyzes the types and unit prices of the waste products according to the images;
e) the first weighing device calculates the quality of the waste and sends the quality to the processor, the processor calculates the price of the transaction and sends the price to the payment device, and the payment device pays the currency of the corresponding price;
f) the processor accumulates the quality of the same type of waste products sent by the first weighing device and judges whether the accumulated quality is larger than the capacity of the storage cabinet or not;
g) if so, the processor extracts a fixed station which is closest to the current position of the recovery equipment and has the same type with the overweight waste, and acquires second position information of the second positioning device;
h) the processor leads the second position information into the navigation device, and the navigation device generates a second driving route from the recovery device to the second position information and sends the second driving route to the processor;
i) the processor outputs a second driving signal to the driving device, and the driving device drives the moving mechanism to drive according to the second driving route.
As a preferred mode of the present invention, before step a, the method further comprises:
the processor acquires position information of a preset place in a preset area through a GPS, marks the position information of the preset place in the navigation device, and the preset place comprises an industrial area and a residential area;
the processor uses the preset place as a circle center and a preset distance as a radius to define a patrol area and leads the patrol area into the navigation device, and the navigation device automatically generates a patrol route and sends the patrol route to the processor;
the processor outputs a patrol signal to the driving device, and the driving device drives the moving mechanism to drive according to the patrol route.
As a preferred mode of the present invention, the method further comprises, after step f:
if not, the processor outputs a transmission signal to the driving device, and the driving device drives the transmission device to start;
the processor extracts a storage cabinet and a first electric control retractable door corresponding to the waste;
the processor outputs a first opening signal to the driving device, and the driving device drives the first electric control retractable door to open;
the processor outputs a first grabbing signal to the driving device, and the driving device drives the first mechanical arm to grab the waste on the conveying device into the storage cabinet.
As a preferred mode of the present invention, step i further includes, after:
the processor outputs a second opening signal to the driving device, and the driving device drives the second electric control retractable door to open;
the processor outputs a second grabbing signal to the driving device, and the driving device drives the second mechanical arm to grab the overweight waste products on the conveying device into the fixed station.
As a preferred embodiment of the present invention, step g further comprises:
the second weighing device sends the quality of the waste in the fixed station to the processor;
the processor calculates the sum of the quality sent by the second weighing device and the accumulated quality, and judges whether the sum is greater than the capacity of the fixed station;
if so, the processor acquires another fixed station which is closest to the current position of the recovery equipment and has the same type as the overweight waste except the fixed station;
if not, executing the step h.
The invention realizes the following beneficial effects:
the waste recycling equipment provided by the invention is particularly an automatic driving waste recycling vehicle, the recycling equipment is suitable for being applied to industrial areas and residential areas, and users reserve to go to the home to recycle waste; analyzing the type and unit price of the waste product according to the image shot by the camera device, calculating the quality of the waste product by the first weighing device, and calculating the price of the transaction by the processor; the fixed stations collectively recycle the waste products of the same type, and when the allowance of the storage cabinet is not enough to accommodate the waste products of the transaction, the fixed station with the closest distance is searched for transfer; when the allowance of the fixed station is not enough to accommodate the overweight waste product, searching the next fixed station for transferring; the waste products in the fixed station are regularly treated according to the types; the recycling plant is able to constantly transfer the waste products recycled at the user to a fixed station.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure. FIG. 1 is a schematic structural view of a waste recycling apparatus combining a fixed waste recycling apparatus and a mobile waste recycling apparatus provided by the present invention;
FIG. 2 is a schematic structural diagram of a fixed station according to the present invention;
FIG. 3 is a schematic view of a storage compartment according to the present invention;
FIG. 4 is a flow chart of a method for operating a waste recycling apparatus incorporating a fixed and mobile waste recycling system according to the present invention;
FIG. 5 is a flow chart of a method for patrolling a recycling facility in accordance with the present invention;
FIG. 6 is a flowchart of a method for storing a stocker according to the present invention;
fig. 7 is a flowchart of a fixed station power-over method provided in the present invention;
fig. 8 is a flowchart of a working method of the second weighing device according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
Example one
As shown in fig. 1, 2 and 3, a waste recycling device combining fixed recycling and mobile recycling includes a housing 1, a control mechanism 2, a mobile mechanism 3 and a fixed station 4, the control mechanism 2 includes a processor 5, a driving device 6, a first positioning device 7, a navigation device 8 and a first storage device 9, the processor 5 is connected with the driving device 6, the first positioning device 7, the navigation device 8 and the first storage device 9 respectively, the first positioning device 7 is used for acquiring first position information and sending the first position information to the processor 5, the navigation device 8 is used for generating a first driving route of the recycling device to the first position information and sending the first driving route to the processor 5, the first storage device 9 is used for storing unit price information of waste, the housing 1 includes a transaction chamber 10, a storage chamber 11 and a transmission device 12, the transmission device 12 is connected with the driving device 6, the transaction room 10 comprises a camera device 13, a first weighing device 14 and a payment device 15, the processor 5 is respectively connected with the camera device 13, the first weighing device 14 and the payment device 15, the camera device 13 is used for shooting images of the waste and sending the images to the processor 5, the first weighing device 14 is used for calculating the quality of the waste and sending the quality to the processor 5, the payment device 15 is used for paying out currency, the storage room 11 comprises a storage cabinet 16, the storage cabinet 16 is positioned on two sides of the conveying device 12, the storage cabinet 16 is used for storing the waste, the storage cabinet 16 comprises a first electric control telescopic door 17, the first electric control telescopic door 17 is connected with the driving device 6, the first electric control telescopic door 17 and the storage cabinet 16 are in one-to-one correspondence relationship with the waste and are pre-stored in the processor 5, the first electric control telescopic door 17 is used for controlling the input and output of the waste, the moving mechanism 3 is connected with the driving device 6 and used for driving the recycling equipment to move, the fixed station 4 is used for storing single types of waste products, one fixed station 4 corresponds to one type of waste product, the fixed station 4 comprises a second positioning device 18, a second storage device 19 and a second electric control retractable door 20, the processor 5 is respectively connected with the second positioning device 18 and the second storage device 19, the second positioning device 18 is used for sending second position information of the fixed station 4 to the processor 5, the second storage device 19 is used for storing the types and the capacities of the waste products in the fixed station 4, and the second electric control retractable door 20 is connected with the driving device 6 and used for controlling the inlet and outlet of the waste products.
The magazine 16 further comprises a first robot arm 21, the first robot arm 21 being connected to the drive device 6 for picking and placing the waste products in the magazine 16 and on the transport device 12.
The fixed station 4 also comprises a second robot 22, the second robot 22 being connected to the drive means 6 for picking up waste products inside the fixed station 4 and on the transport means 12.
The fixed station 4 also comprises second weighing means 23 connected to the processor 5 for calculating the quality of the waste inside the fixed station 4 and for storing the quality in the second storage means 19.
The shell 1 further comprises an object stage 24, one side, close to the outer portion of the shell 1, of the object stage 24 is provided with an electro-hydraulic push rod 25, and the electro-hydraulic push rod 25 is connected with the driving device 6 and used for controlling the inclination angle of the object stage 24.
Specifically, the invention provides a waste recycling device combining fixing and flowing, which comprises a shell 1, a control mechanism 2, a moving mechanism 3 and a fixing station 4, wherein the control mechanism 2 comprises a processor 5, a driving device 6, a first positioning device 7, a navigation device 8 and a first storage device 9, the shell 1 comprises a transaction room 10, a storage room 11, a conveying device 12 and a carrying platform 24, the transaction room 10 comprises a camera 13, a first weighing device 14 and a payment device 15, the storage room 11 comprises a storage cabinet 16, the storage cabinet 16 comprises a first electrically-controlled retractable door 17 and a first mechanical arm 21, the carrying platform 24 comprises an electro-hydraulic push rod 25, and the fixing station 4 comprises a second positioning device 18, a second storage device 19, a second electrically-controlled retractable door 20, a second mechanical arm 22 and a second weighing device 23.
Wherein the recycling apparatus is provided as a waste recycling vehicle having an automatic driving function, the recycling apparatus is suitably applied to densely populated areas and areas where factories are gathered, for example, residential areas and industrial areas, where a large amount of recyclable waste is easily generated. Casing 1 sets up to body construction, 1 afterbody of casing is provided with the door, transaction room 10 sets up with locker room 11 is adjacent, transaction room 10 is close to the door, the default is the closed condition of door, when the transaction goes on, processor 5 control door is opened, objective table 24 sets up between door and transaction room 10, the one end that objective table 24 is close to the door is provided with electric liquid push rod 25, objective table 24's the other end and 1 swing joint of casing, camera device 13 sets up in transaction room 10 top, be the first procedure of waste product process, secondly, be first weighing device 14 in proper order, conveyer 12 and first arm 21, payment device 15 is close to the door, the currency of each denomination has in advance in payment device 15. The invention is provided with a plurality of fixed stations 4, wherein each fixed station 4 corresponds to a waste type, one waste type can correspond to a plurality of fixed stations 4, the fixed stations 4 are preset at the periphery of a preset place and are convenient to butt with recycling equipment, the recycling equipment is in wireless connection with the fixed stations 4 through a processor 5, after the connection is successful, the processor 5 obtains the operation authority of the fixed stations 4, and the waste in the fixed stations 4 is recycled regularly by a specially-assigned person.
Example two
As shown in fig. 4, a working method of a combined fixed and mobile waste recovery plant comprises the following working steps:
a) the processor 5 receives a reservation request in real time, wherein the reservation request comprises a reservation place;
b) the first positioning device 7 acquires first position information of a reserved place and sends the first position information to the processor 5, the processor 5 introduces the first position information into the navigation device 8, and the navigation device 8 generates a first driving route from the recovery device to the first position information and sends the first driving route to the processor 5;
c) the processor 5 outputs a first driving signal to the driving device 6, and the driving device 6 drives the moving mechanism 3 to drive according to a first driving route;
d) the camera device 13 shoots images of the waste products and sends the images to the processor 5, and the processor 5 analyzes the types and unit prices of the waste products according to the images;
e) the first weighing device 14 calculates the mass of the waste and sends the mass to the processor 5, the processor 5 calculates the price of the transaction and sends the price to the payment device 15, and the payment device 15 pays the currency of the corresponding price;
f) the processor 5 accumulates the quality of the same type of waste products sent by the first weighing device 14, and judges whether the accumulated quality is greater than the capacity of the storage cabinet 16;
g) if yes, the processor 5 extracts the fixed station 4 which is closest to the current position of the recycling equipment and has the same type as the overweight waste, and acquires second position information of the second positioning device 18;
h) the processor 5 leads the second position information into the navigation device 8, and the navigation device 8 generates a second driving route from the recovery device to the second position information and sends the second driving route to the processor 5;
i) the processor 5 outputs a second driving signal to the driving device 6, and the driving device 6 drives the moving mechanism 3 to drive according to the second driving route.
As shown in fig. 5, before step a, the method further comprises:
the processor 5 acquires position information of a preset place in a preset area through a GPS, and the processor 5 marks the position information of the preset place in the navigation device 8, wherein the preset place comprises an industrial area and a residential area;
the processor 5 uses a preset place as a circle center and a preset distance as a radius to define a patrol area and guide the patrol area into the navigation device 8, and the navigation device 8 automatically generates a patrol route and sends the patrol route to the processor 5;
the processor 5 outputs a patrol signal to the driving device 6, and the driving device 6 drives the moving mechanism 3 to drive according to a patrol route.
As shown in fig. 6, after step f, the method further comprises:
if not, the processor 5 outputs a transmission signal to the driving device 6, and the driving device 6 drives the transmission device 12 to start;
the processor 5 extracts a storage cabinet 16 and a first electric control retractable door 17 corresponding to the waste;
the processor 5 outputs a first opening signal to the driving device 6, and the driving device 6 drives the first electric control retractable door 17 to open;
the processor 5 outputs a first grabbing signal to the driving device 6, and the driving device 6 drives the first mechanical arm 21 to grab the waste on the conveying device 12 into the storage cabinet 16.
As shown in fig. 7, step i further includes:
the processor 5 outputs a second opening signal to the driving device 6, and the driving device 6 drives the second electrically controlled retractable door 20 to open;
the processor 5 outputs a second gripping signal to the drive means 6, and the drive means 6 drives the second robot 22 to grip the overweight waste on the conveyor 12 into the fixed station 4.
Specifically, a patrol area of the recycling equipment is set, a reservation request is easily acquired in the patrol area, the residential area and the industrial area are used as preset places, the processor 5 marks position information of the residential area and the industrial area in the navigation device 8, the processor 5 defines the patrol area by taking the preset places as circle centers and the preset distances as radiuses, and the navigation device 8 generates patrol routes in the patrol areas and connected with the patrol areas and sends the patrol routes to the processor 5. For example, the recycling equipment is responsible for waste recycling service in city a, the processor 5 is connected with the GPS, the processor 5 acquires position information of residential areas and industrial areas in city a from the GPS, the processor 5 defines patrol areas with 1 km as a radius and takes the respective residential areas and industrial areas as centers of circles and marks the patrol areas in the navigation device 8, the navigation device 87 generates patrol routes in and connecting the patrol areas and sends the patrol routes to the processor 5, the recycling equipment patrols in the respective patrol areas, and reservation requests are more easily received in areas closer to the industrial areas and residential areas.
In the patrol process of the recycling equipment, a processor 5 receives an appointment request sent by a user in real time, the appointment request comprises an appointment place, a first positioning device 7 acquires first position information from the appointment place and sends the first position information to the processor 5, the processor 5 guides the first position information into a navigation device 8, the navigation device 8 generates a first driving route from the current position of the recycling equipment to the first position information, the current position of the recycling equipment is also acquired by the first positioning device 7, the processor 5 outputs a first driving signal to a driving device 6, the driving device 6 drives a moving mechanism 3 to drive according to the first driving route, when the recycling equipment reaches the appointment place, the user places waste to be recycled on a carrying platform 24, a third mechanical arm is arranged in a trading room 10 and connected with the driving device 6 and used for moving the waste, a camera 13 focuses on the carrying platform 24, the processor 5 searches the first storage device 9 for waste information corresponding to the image and unit price information corresponding to the waste information based on the image captured by the imaging device 13, the processor 5 extracts the search result, the third mechanical arm transfers the waste on the stage 24 to the first weighing device 14, the first weighing device 14 calculates the quality of the waste and transmits the quality to the processor 5, the processor 5 calculates the price of the current transaction by multiplying the quality by the unit price and transmits the price to the payment device 15, the payment device 15 outputs the money of the corresponding amount, and the payment device 15 can also perform online transaction. The first storage device 9 comprises a plurality of storage units, the storage units are in one-to-one correspondence with the types of the wastes, and the processor 5 stores the quality sent by the first weighing device 14 to the corresponding storage units one by one according to the types of the wastes.
After payment is finished, the waste products of the transaction are stored, the capacity of the storage cabinets 16 is known, the processor 5 needs to judge whether the allowance of the storage cabinet 16 corresponding to the waste products can contain the waste products of the transaction, the processor 5 accumulates the mass in the storage units corresponding to the types of the waste products and judges whether the accumulated mass is larger than the capacity of the storage cabinets 16, if yes, the waste products of the types are regarded as overweight waste products, the overweight waste products need to be stored in a unified mode, the processor 5 extracts the fixed stations 4 which are nearest to the current position of the recycling equipment and have the same types as the overweight waste products, all the overweight waste products are transferred to the fixed stations 4, and then the processor 5 resets the mass in the storage units after the overweight waste products are transferred to the fixed stations 4; if not, the waste of that type is stored in the holding bin 16.
EXAMPLE III
As shown in fig. 8, step g further includes:
the second weighing device 23 sends the quality of the waste inside the fixed station 4 to the processor 5;
the processor 5 calculates the sum of the quality sent by the second weighing device 23 and the accumulated quality and judges whether the sum is greater than the capacity of the fixed station 4;
if yes, the processor 5 acquires another fixed station 4 which is closest to the current position of the recycling equipment and has the same type as the overweight waste except the fixed station 4;
if not, executing the step h.
Specifically, in the step of transferring the overweight waste to the fixed station 4, the processor 5 extracts all the fixed stations 4 of the same type as the overweight waste, arranges the fixed stations 4 in sequence from the near to the far from the current position of the recycling apparatus and establishes a corresponding list, and the processor 5 sequentially judges whether the remaining amount in the fixed stations 4 is enough to accommodate the overweight waste, for example, S1: the processor 5 establishes a connection with the fixed station 4 arranged first in the list, S2: the second weighing device 23 sends the quality of the waste inside the fixed station 4 to the processor 5, S3: the processor 5 calculates the sum of the quality sent by the second weighing device 23 and the accumulated quality, and judges whether the sum is greater than the capacity of the fixed station 4, if not, the recycling equipment goes to the fixed station 4; if yes, the processor 5 establishes a connection with the second fixed station 4 in the list, and repeats S2 and S3 until the fixed station 4 with sufficient margin is found.
The above embodiments are merely illustrative of the technical ideas and features of the present invention, and are intended to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the scope of the present invention. All equivalent changes or modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.
Claims (9)
1. A waste recycling device combining fixing and flowing comprises a shell, a control mechanism, a moving mechanism and a fixed station, and is characterized in that the control mechanism comprises a processor, a driving device, a first positioning device, a navigation device and a first storage device, the processor is respectively connected with the driving device, the first positioning device, the navigation device and the first storage device, the first positioning device is used for acquiring first position information and sending the first position information to the processor, the navigation device is used for generating a first driving route from the recycling device to the first position information and sending the first driving route to the processor, the first storage device is used for storing unit price information of waste, the shell comprises a trading chamber, a storage chamber and a conveying device, and the conveying device is connected with the driving device, the device comprises a transaction room, a processor, a storage cabinet, a first electronic control retractable door, a first weighing device and a payment device, wherein the transaction room is used for conveying recycled waste products to the storage room, the processor is respectively connected with the camera, the first weighing device and the payment device, the camera is used for shooting images of the waste products and sending the images to the processor, the first weighing device is used for calculating the quality of the waste products and sending the quality to the processor, the payment device is used for paying out money, the storage room comprises the storage cabinet, the storage cabinet is positioned on two sides of a conveying device and used for storing the waste products, the storage cabinet comprises the first electronic control retractable door which is connected with a driving device, the first electronic control retractable door and the storage cabinet establish a one-to-one corresponding relation with the waste products, and the relation is prestored in the processor, the first electric control retractable door is used for controlling the entrance and exit of the waste, the moving mechanism is connected with the driving device and is used for driving the recovery equipment to move, the fixed stations are used for storing the waste of a single type, one fixed station corresponds to one waste type, the fixed stations comprise second positioning devices, second storage devices and second electric control retractable doors, the processor is respectively connected with the second positioning devices and the second storage devices, the second positioning devices are used for sending second position information of the fixed stations to the processor, the second storage devices are used for storing the types and the capacities of the waste in the fixed stations, and the second electric control retractable doors are connected with the driving device and are used for controlling the entrance and exit of the waste;
the working method of the waste recycling equipment comprises the following steps:
a) the processor receives a reservation request in real time, wherein the reservation request comprises a reservation place;
b) the first positioning device acquires first position information of the reserved place and sends the first position information to the processor, the processor guides the first position information into the navigation device, and the navigation device generates a first driving route from the recovery device to the first position information and sends the first driving route to the processor;
c) the processor outputs a first driving signal to the driving device, and the driving device drives the moving mechanism to drive according to the first driving route;
d) the camera device shoots images of the waste products and sends the images to the processor, and the processor analyzes the types and unit prices of the waste products according to the images;
e) the first weighing device calculates the quality of the waste and sends the quality to the processor, the processor calculates the price of the transaction and sends the price to the payment device, and the payment device pays the currency of the corresponding price;
f) the processor accumulates the quality of the same type of waste products sent by the first weighing device and judges whether the accumulated quality is larger than the capacity of the storage cabinet or not;
g) if so, the processor extracts a fixed station which is closest to the current position of the recovery equipment and has the same type with the overweight waste, and acquires second position information of the second positioning device;
h) the processor leads the second position information into the navigation device, and the navigation device generates a second driving route from the recovery device to the second position information and sends the second driving route to the processor;
i) the processor outputs a second driving signal to the driving device, and the driving device drives the moving mechanism to drive according to the second driving route.
2. A combined stationary and mobile waste recovery plant according to claim 1, characterized in that: the storage cabinet further comprises a first mechanical arm, and the first mechanical arm is connected with the driving device and used for grabbing and placing the waste in the storage cabinet and on the conveying device.
3. A combined stationary and mobile waste recovery plant according to claim 1, characterized in that: the fixed station further comprises a second mechanical arm, and the second mechanical arm is connected with the driving device and used for grabbing and placing the waste products in the fixed station and on the conveying device.
4. A combined stationary and mobile waste recovery plant according to claim 1, characterized in that: the fixed station also comprises a second weighing device which is connected with the processor and used for calculating the quality of the waste products in the fixed station and storing the quality to the second storage device.
5. A combined stationary and mobile waste recovery plant according to claim 1, characterized in that: the shell further comprises an object stage, an electro-hydraulic push rod is arranged on one side, close to the outer portion of the shell, of the object stage, and the electro-hydraulic push rod is connected with the driving device and used for controlling the inclination angle of the object stage.
6. A combined stationary and mobile waste recovery plant according to claim 1, characterized in that:
before step a, the method further comprises the following steps:
the processor acquires position information of a preset place in a preset area through a GPS, marks the position information of the preset place in the navigation device, and the preset place comprises an industrial area and a residential area;
the processor uses the preset place as a circle center and a preset distance as a radius to define a patrol area and leads the patrol area into the navigation device, and the navigation device automatically generates a patrol route and sends the patrol route to the processor;
the processor outputs a patrol signal to the driving device, and the driving device drives the moving mechanism to drive according to the patrol route.
7. A combined stationary and mobile waste recovery plant according to claim 2, characterized in that:
after step f, further comprising:
if not, the processor outputs a transmission signal to the driving device, and the driving device drives the transmission device to start;
the processor extracts a storage cabinet and a first electric control retractable door corresponding to the waste;
the processor outputs a first opening signal to the driving device, and the driving device drives the first electric control retractable door to open;
the processor outputs a first grabbing signal to the driving device, and the driving device drives the first mechanical arm to grab the waste on the conveying device into the storage cabinet.
8. A combined stationary and mobile waste recovery plant according to claim 3, characterized in that:
step i further comprises the following steps:
the processor outputs a second opening signal to the driving device, and the driving device drives the second electric control retractable door to open;
the processor outputs a second grabbing signal to the driving device, and the driving device drives the second mechanical arm to grab the overweight waste products on the conveying device into the fixed station.
9. A combined stationary and mobile waste recovery plant according to claim 4, characterized in that: step g further comprises:
the second weighing device sends the quality of the waste in the fixed station to the processor;
the processor calculates the sum of the quality sent by the second weighing device and the accumulated quality, and judges whether the sum is greater than the capacity of the fixed station;
if so, the processor acquires another fixed station which is closest to the current position of the recovery equipment and has the same type as the overweight waste except the fixed station;
if not, executing the step h.
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