CN109869722B

CN109869722B - Environment-friendly self-driven incineration equipment and working method thereof

Info

Publication number: CN109869722B
Application number: CN201910167816.6A
Authority: CN
Inventors: 余海晏
Original assignee: YUNNAN BOXI ENVIRONMENTAL PROTECTION EQUIPMENT Co Ltd
Current assignee: YUNNAN BOXI ENVIRONMENTAL PROTECTION EQUIPMENT CO., LTD.
Priority date: 2019-03-06
Filing date: 2019-03-06
Publication date: 2020-02-11
Anticipated expiration: 2039-03-06
Also published as: CN109869722A

Abstract

The utility model provides an environment-friendly self-driven incineration equipment and operating method thereof, includes picks up mechanism, transport mechanism, burns mechanism, system material mechanism and administrative mechanism, and the administrative mechanism includes: the processor is used for analyzing the vital signs of the animals, and the driving device drives all the components to operate; the pick-up mechanism includes: the first camera device is arranged on the side face of the unmanned vehicle, and the unmanned vehicle is of a double-layer structure; the picking arm is arranged at the front end of the unmanned vehicle; the transport mechanism includes: the conveying device is communicated with the electric room door and the incineration mechanism, and the weighing sensor is arranged at the tail end of the conveying device; burn the mechanism and set up in unmanned car and including burning furnace, burn burning furnace roof and be provided with the gallows, the gallows includes linear expansion bracket and sets up in the stand alone type four-jaw lifting hook in its four corners, and the bottom of linear expansion bracket embeds there is the storage case, deposits the combustion-supporting agent in the storage case, and the end of lifting hook is provided with electronic drip nozzle, and its inside cavity just along the hook body embeds there is the burette with electronic drip nozzle intercommunication, the other end and the storage case intercommunication of burette.

Description

Environment-friendly self-driven incineration equipment and working method thereof

Technical Field

The invention relates to the field of environment-friendly equipment, in particular to environment-friendly self-driven incineration equipment and a working method thereof.

Background

The harmless treatment work of diseased animals, namely products, is an important component of major animal epidemic disease suppression work, is a big matter concerning the healthy development of animal husbandry, the life safety of people and the social stability, and should be paid attention to, however, the consciousness of specially treating the animal carcasses exposed outside is not provided at present, and people are also blind to the situation.

The disposable animal corpses are potential in disease transmission danger, once the animal corpses carrying pathogens of zoonosis are discarded in a garbage can, a river or even a residential area, the health of human beings can be seriously harmed, even if the animal corpses die normally, the environment can be polluted, and the disposable animal corpses infected with the diseases are easy to induce great animal epidemic situations and bring harm to breeding production and human health. Therefore, animal carcass disposal should be appreciated, especially in large and medium cities where the pet market is becoming increasingly large.

Disclosure of Invention

The purpose of the invention is as follows: in order to overcome the adverse effects of outdoor accidental death or thrown animal carcasses on human health and living environment, the embodiment of the invention provides environment-friendly self-driven incineration equipment and a working method thereof, which can effectively solve the problems.

The technical scheme is as follows:

the utility model provides an environment-friendly self-driven incineration equipment, includes picks up mechanism, transport mechanism, burns mechanism, system material mechanism and administrative mechanism, administrative mechanism includes:

a processor for analyzing animal vital signs including activity, dormancy, and death;

the driving device is connected with the processor, receives a working instruction sent by the processor and is used for driving all parts in the equipment to operate;

the first positioning device is connected with the processor and used for acquiring first position information of equipment and sending the first position information to the processor;

the navigation device is connected with the processor and used for generating a moving route of the equipment and sending the moving route to the processor;

the pickup mechanism includes:

the unmanned vehicle is provided with a first camera device on the side face, the first camera device is connected with the processor and used for acquiring the surrounding environment of the unmanned vehicle and sending a first shot image to the processor, motor room doors are arranged on the front side and the rear side of the unmanned vehicle and connected with the driving device and used for controlling the unmanned vehicle to be opened and closed, the unmanned vehicle is of a double-layer structure, the left side and the right side of the unmanned vehicle comprise an inner plate and an outer plate, a plurality of cylindrical connecting pieces are arranged between the inner plate and the outer plate, the axial direction of each connecting piece is perpendicular to the inner plate and the outer plate, openings are arranged at the hollow two ends of each connecting piece, a heat dissipation fan is embedded into each connecting piece and connected with the driving device, and the direction of the output airflow of each heat dissipation fan is parallel to the axial direction of the connecting pieces;

the picking arm is arranged at the front end of the unmanned vehicle, is connected with the driving device and is used for picking the animals meeting the incineration conditions and transferring the animals to the conveying mechanism, and the picking arm comprises a first temperature sensor which is connected with the processor and is used for detecting the first temperature of the picked animals and sending the first temperature to the processor;

the transfer mechanism includes:

the conveying device is connected with the driving device and is used for communicating the electric room door with the incineration mechanism;

the weighing sensor is connected with the processor, is arranged at the tail end of the conveying device and is used for detecting the weight of the animals to be incinerated and sending the weight to the processor;

the drying devices are arranged on the left side and the right side of the conveying device, connected with the driving device and used for preliminarily removing the moisture of the animals to be incinerated;

burn the mechanism and set up in unmanned car and include:

the incinerator comprises a first electric furnace door, a second electric furnace door and a hanging bracket, wherein the first electric furnace door is arranged between the incinerator and a conveying device and is connected with a driving device, the second electric furnace door is arranged between the incinerator and a material preparation mechanism and is connected with the driving device, the hanging bracket is arranged on the top of the incinerator and is used for adjusting the state of animals in the incinerator in real time in the incineration process, the hanging bracket comprises a linear expansion bracket and independent four-claw hanging hooks arranged at four corners of the linear expansion bracket, a material storage box is arranged at the bottom of the linear expansion bracket, combustion improver is stored in the material storage box, each hanging hook independently expands and rotates, an electric drip nozzle is arranged at the tail end of each hanging hook, a burette communicated with the electric drip nozzle is arranged in the hollow inner part of the electric drip nozzle along the hook body, and the other end of the burette is, the electric drip nozzle is connected with the driving device and used for adding combustion improver to an animal body fixed by the electric drip nozzle during incineration, an inclined base is further arranged in the incinerator, the height of the base close to the first electric furnace door is larger than that of the base close to the second electric furnace door, the incinerator comprises a plurality of incineration schemes, the incineration schemes are pre-stored in the processor and correspond to the output power of the incinerator, the processor selects the corresponding incineration schemes according to the appearance characteristics of animals to be incinerated, and the appearance characteristics comprise size and weight;

the material preparing mechanism is used for preparing the incineration residues into fluid nutrients and comprises:

the material receiving port is communicated with the second electric furnace door;

the stirring device is connected with the driving device and is used for uniformly mixing the incineration residues and the nutrient to form fluid nutrient;

and the spraying device is connected with the driving device and is used for storing the fluid nutrient and applying the fluid nutrient to soil in a use state according to different hydraulic pressures set by the processor.

As a preferable mode of the present invention, the management organization further includes a storage device, the storage device is connected to the processor, and is configured to store the correspondence between the animals and the human beings, and delete the correspondence including the animals from the storage device after the animals in the storage device are incinerated.

As a preferred mode of the present invention: set up ventilation unit on inner panel and the planking and with cooling fan corresponds position department, ventilation unit includes: the area of the area covered by the vent holes is larger than the cross section area of the connecting piece;

the first exhaust valve is arranged on the inner plate, connected with the driving device and used for controlling the opening and closing of the heat dissipation fan and the interior of the unmanned vehicle;

the second exhaust valve is arranged on the outer plate, connected with the driving device and used for controlling the opening and closing of the heat dissipation fan and the exterior of the unmanned vehicle;

the first exhaust valve and the second exhaust valve are arranged in the vent hole.

As a preferable mode of the present invention, the present invention further includes an unmanned aerial vehicle, the unmanned aerial vehicle including:

the second positioning device is connected with the processor and used for acquiring second position information of the unmanned aerial vehicle and sending the second position information to the processor;

the second camera device is connected with the processor and used for acquiring the surrounding environment of the unmanned aerial vehicle and sending a second shot image to the processor;

the mechanical claw is connected with the driving device and used for grabbing animals meeting the incineration conditions;

and the storage box is used for temporarily storing the animals which are grabbed by the mechanical claw and accord with the burning condition.

As a preferred mode of the invention, the transfer mechanism further comprises a rotary bearing device, the rotary bearing device is used for receiving the animals to be incinerated transferred by the unmanned aerial vehicle, and the rotary bearing device comprises:

the multi-stage arm is arranged above the conveying device, is connected with the driving device, and has the maximum horizontal length reaching the outside of the electric room door;

the tray is connected with the multi-stage arm, is arranged to be a disc-shaped structure with the diameter larger than 0.5 m, and comprises a second temperature sensor, wherein the second temperature sensor is connected with the processor and is used for detecting a second temperature of the animals to be incinerated, which is transmitted by the unmanned aerial vehicle, and sending the second temperature to the processor;

and the steering knuckle is arranged at the joint of the multi-stage arm and the tray, is connected with the driving device and is used for turning the tray by 90 degrees.

As a preferable mode of the present invention, the present invention further comprises a printing mechanism connected to the processor, for printing the correspondence relation included in the storage device and the animal image conforming to the incineration condition.

The working method of the environment-friendly self-driven incineration equipment comprises the following working steps:

the navigation device generates a moving route of the incineration equipment and sends the moving route to the processor, and the processor controls the incineration equipment to patrol according to the moving route;

the first camera device acquires the surrounding environment of the unmanned vehicle and sends a first shot image to the processor;

the processor judges whether an animal exists in the first shot image;

if so, extracting the image of the animal from the first shot image and analyzing the vital signs of the animal;

the processor determining whether the animal dies;

if yes, the processor outputs a pickup signal to the driving device, and the driving device drives the pickup arm to pick up the animal;

the first temperature sensor detects a first temperature of the animal and sends it to the processor;

the processor judges whether the first temperature is lower than a preset temperature or not;

if so, the processor calculates the size of the animal according to the first shot image, the picking arm transfers the animal to the conveying device, the processor outputs a conveying signal to the driving device, and the driving device drives the conveying device to start;

the load cell detects the weight of the animal and sends it to the processor;

the processor outputs a lifting signal to the driving device, and the driving device drives the lifting frame to lift the animal in the air;

the processor selects an incineration scheme according to the size and the weight, and controls the incinerator to operate according to the incineration scheme;

after the incineration is finished, the material preparation mechanism prepares the incineration residues into fluid nutrients.

As a preferred embodiment of the present invention, the present invention further comprises:

when animals meeting the incineration conditions exceed the picking range of the picking arm, starting the unmanned aerial vehicle to carry out auxiliary picking, and calculating the positions of the animals by the processor;

the navigation device generates a flight route of the unmanned aerial vehicle to an animal location and sends the flight route to the processor;

the processor controls the unmanned aerial vehicle to fly according to the flight route;

the processor outputs a grabbing signal to the driving device, and the driving device drives the mechanical claw to grab the animal;

the unmanned aerial vehicle returns along the original route of the flight route and hovers in front of the door of the electric motor room;

the processor outputs an extension signal to the driving device, and the driving device drives the multi-stage arm to extend to the position below the unmanned aerial vehicle;

the processor outputs a release signal to the driving device, and the driving device drives the mechanical claw to release;

the second temperature sensor detects a second temperature of the animal in the tray and sends the second temperature to the processor;

the processor judges whether the second temperature is lower than a preset temperature or not;

if so, the processor outputs a shortening signal to the driving device, and the driving device drives the multi-stage arm to shorten to an original state;

the processor outputs a turnover signal to the driving device, and the driving device drives the steering knuckle to rotate by 90 degrees;

and (4) carrying out incineration.

As a preferable mode of the invention, in the patrol process of the incineration equipment, the patrol range is increased by the unmanned aerial vehicle, and the method comprises the following steps:

the processor editing a number of locations in a navigation device, the navigation device generating a patrol route connecting the locations in series and sending the patrol route to the processor;

the processor controls the unmanned aerial vehicle to fly according to the patrol route;

the second camera device acquires the surrounding environment of the unmanned aerial vehicle and sends a second shot image to the processor;

the processor judges whether dead animals exist in the second shot image according to the second shot image;

if so, the processor outputs a grabbing signal to the driving device, and the driving device drives the mechanical claw to grab the animal and transfer the animal into the storage box;

the processor controls the unmanned aerial vehicle to fly back.

In a preferred mode of the invention, the intelligent management of animals in an area during patrol comprises the following steps:

the processor judges whether an animal exists in the first shot image or the second shot image;

if yes, further judging whether a person exists in a preset periphery with the animal as the center;

if so, dynamically analyzing the animal and the person, and judging whether a following relationship exists between the animal and the person;

if yes, respectively extracting the images of the two images, establishing a corresponding relation, and storing the corresponding relation into the storage device;

before burning the animal, judging whether the image of the animal exists in the storage device;

if so, the incineration process is suspended, the animals are temporarily stored, the processor extracts the images of the animals from the first shot image or the second shot image and sends the images to the printing mechanism, and the printing mechanism prints the images and attaches the images to the publicity column.

The invention realizes the following beneficial effects:

1. the unmanned vehicle realizes automatic patrol, automatically searches animal carcasses meeting the incineration conditions in the patrol process and incinerates the animal carcasses, and the problem of abandonment of field carcasses can be solved.

2. Burn burning furnace top and be provided with the gallows, four lifting hooks still possess flexible function, consequently when four lifting hooks are in different length respectively, can turn into the tilt state with parallel animal body, so can arrange the animal body in burning furnace in the middle of the half-space for each position of animal body all can fully contact with oxygen, thereby shortens the burning time.

3. The telescopic frame is internally provided with the storage box, liquid combustion improver is stored in the storage box, the lifting arm is internally provided with the dropper, the electric drip nozzle is opened, the liquid combustion improver in the storage box can flow out from the electric drip nozzle along the dropper, and the animals are fixed by the four lifting hooks from two sides of the animal body respectively, so that the liquid combustion improver can directly act on the animal body after flowing out from the electric drip nozzle, and the incineration time is favorably shortened.

4. The unmanned aerial vehicle has two purposes, wherein one purpose is that the unmanned aerial vehicle is used for cooperative picking under the condition that a picking arm cannot smoothly pick an animal; and secondly, the unmanned vehicle is helped to expand the patrol range.

5. The method comprises the steps of intelligently managing animals in an area, automatically identifying the following relation between the animals and human beings in the patrol process, establishing the corresponding relation between the animals with the following relation and the human beings, and informing the owners of the animals to go to claim when the animals meeting the incineration conditions exist in the corresponding relation.

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 view of the interior structure of an unmanned vehicle according to the present invention;

FIG. 2 is a top view of the interior of the unmanned vehicle provided by the present invention;

FIG. 3 is a schematic view of an exterior structure of the unmanned vehicle according to the present invention;

FIG. 4 is a schematic structural diagram of a conveying apparatus provided in the present invention;

FIG. 5 is a schematic structural diagram of a drying apparatus according to the present invention;

FIG. 6 is a schematic view of a pick-up arm according to the present invention;

FIG. 7 is a schematic structural view of a rotary bearing apparatus provided in the present invention;

FIG. 8 is a schematic view of an incinerator according to the present invention;

FIG. 9 is a schematic view of a first construction of a hanger provided by the present invention;

FIG. 10 is a second structural view of the hanger provided by the present invention;

FIG. 11 is a schematic view of the structure of the ventilating device provided by the present invention;

FIG. 12 is a schematic view of a connector structure provided by the present invention;

FIG. 13 is a schematic structural view of a material manufacturing mechanism provided in the present invention;

fig. 14 is a schematic view of a first structure of the drone provided by the present invention;

fig. 15 is a schematic view of a second structure of the drone provided by the present invention;

fig. 16 is a block diagram of a management mechanism provided by 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. 1-16, the present embodiment provides an environment-friendly self-driven incineration apparatus, which includes a pickup mechanism, a delivery mechanism, an incineration mechanism, a material preparation mechanism, and a management mechanism.

The management organization comprises: a processor 1 for analyzing the vital signs of the animal, the vital signs including activity, dormancy and death; the driving device 2 is connected with the processor 1, receives a working instruction sent by the processor 1 and is used for driving all parts in the equipment to operate; the first positioning device 3 is connected with the processor 1 and used for acquiring first position information of the equipment and sending the first position information to the processor 1; and the navigation device 4 is connected with the processor 1 and used for generating a moving route of the equipment and sending the moving route to the processor 1.

The pick-up mechanism includes: the unmanned vehicle comprises an unmanned vehicle 5, wherein a first camera device 6 is arranged on the side surface of the unmanned vehicle 5, the first camera device 6 is connected with a processor 1 and used for acquiring the surrounding environment of the unmanned vehicle and sending a first shot image to the processor 1, motor room doors 7 are arranged on the front side and the rear side of the unmanned vehicle, the motor room doors 7 are connected with a driving device 2 and used for controlling the unmanned vehicle to be opened and closed, the unmanned vehicle is of a double-layer structure, the left side and the right side of the unmanned vehicle comprise an inner plate 8 and an outer plate 9, a plurality of cylindrical connecting pieces 10 are arranged between the inner plate 8 and the outer plate 9, the axial direction of each connecting piece 10 is perpendicular to the inner plate 8 and the outer plate 9, openings are formed in the hollow two ends of the connecting pieces 10, a heat dissipation fan 11 is embedded into each connecting piece 10, the heat dissipation; the picking arm 12 is arranged at the front end of the unmanned vehicle, connected with the driving device 2 and used for picking up animals meeting the incineration conditions and transferring the animals to the conveying mechanism, the picking arm 12 comprises a first temperature sensor 13, and the first temperature sensor 13 is connected with the processor 1 and used for detecting the first temperature of the picked animals and sending the first temperature to the processor 1.

The transport mechanism includes: a conveying device 14 connected with the driving device 2, communicating the electric room door 7 with the incineration mechanism, a weighing sensor 15 connected with the processor 1, arranged at the end of the conveying device 14, and used for detecting the weight of the animals to be incinerated and sending the weight to the processor 1; and drying devices 16 which are arranged at the left and right sides of the conveying device 14 and are connected with the driving device 2 and are used for preliminarily removing the moisture of the animals to be incinerated.

Burn mechanism and set up in unmanned car and include: the incinerator 17 comprises a first electric furnace door 18, a second electric furnace door 19 and a hanger, wherein the first electric furnace door 18 is arranged between the incinerator 17 and the conveying device 14 and is connected with the driving device 2, the second electric furnace door 19 is arranged between the incinerator 17 and the material preparing mechanism and is connected with the driving device 2, the hanger is arranged on the top of the incinerator 17 and is used for adjusting the state of animals in the incinerator 17 in real time in the incineration process, the hanger comprises a linear expansion frame 20 and independent four-claw hooks 21 arranged at four corners of the linear expansion frame 20, a storage box 22 is arranged at the bottom of the linear expansion frame 20, combustion improver is stored in the storage box 22, each hook 21 independently expands and rotates, an electric drip nozzle 23 is arranged at the tail end of each hook 21, a burette 24 communicated with the electric drip nozzle 23 is arranged in the hollow interior of the hanger along the hook body, the other end of the burette 24 is communicated with the storage box 22, the electric drip, the incinerator 17 is internally provided with an inclined base, the height of the base close to the first electric furnace door 18 is greater than that of the base close to the second electric furnace door 19, the incinerator 17 comprises a plurality of incineration schemes, the incineration schemes are pre-stored in the processor 1 and correspond to the output power of the incinerator 17, the processor 1 selects the corresponding incineration schemes according to the appearance characteristics of the animals to be incinerated, and the appearance characteristics comprise size and weight.

The material preparing mechanism is used for preparing the incineration residues into fluid nutrients and comprises: a receiving port 25 communicated with the second electric furnace door 19; the stirring device 26 is connected with the driving device 2 and is used for uniformly mixing the incineration residues and the nutrient to form fluid nutrient; and the spraying device 27 is connected with the driving device 2 and is used for storing the fluid nutrient and applying the fluid nutrient to soil in a use state according to different hydraulic pressures set by the processor 1.

The authority further comprises a storage device 28, the storage device 28 is connected with the processor 1 and used for storing the corresponding relation between the animals and the human beings, and when the animals in the storage device 28 are incinerated, the corresponding relation including the animals is deleted.

Set up ventilation unit on inner panel 8 and planking 9 and with the position department that cooling fan 11 corresponds, ventilation unit includes: a plurality of vent holes 29, wherein the area covered by the vent holes 29 is larger than the cross-sectional area of the connecting piece 10; the first exhaust valve is arranged on the inner plate 8, connected with the driving device 2 and used for controlling the opening and closing of the heat dissipation fan 11 and the interior of the unmanned vehicle; the second exhaust valve is arranged on the outer plate 9, connected with the driving device 2 and used for controlling the opening and closing of the heat dissipation fan 11 and the exterior of the unmanned vehicle; the first exhaust valve and the second exhaust valve are both disposed in the vent hole 29.

Incineration equipment still includes unmanned aerial vehicle 39, and unmanned aerial vehicle 39 includes: the second positioning device 30 is connected with the processor 1 and is used for acquiring second position information of the unmanned aerial vehicle 39 and sending the second position information to the processor 1; the second camera device 31 is connected with the processor 1 and used for acquiring the surrounding environment of the unmanned aerial vehicle 39 and sending a second shot image to the processor 1; the mechanical claw 32 is connected with the driving device 2 and used for grabbing animals meeting the incineration conditions; and the storage box 33 is used for temporarily storing the animals which are grabbed by the mechanical claw 32 and meet the burning condition.

The transfer mechanism further comprises a rotary bearing device for receiving the animals to be incinerated delivered by the drone 39, and comprising: a multi-stage arm 34 disposed above the transfer device 14, connected to the driving device 2, and having a maximum length in a horizontal direction to the outside of the electric chamber door 7; the tray 35 is connected with the multi-stage arm 34, is arranged to be a disc-shaped structure with the diameter larger than 0.5 m, and comprises a second temperature sensor 36, the second temperature sensor 36 is connected with the processor 1, and is used for detecting the second temperature of the animals to be incinerated, which is transmitted by the unmanned aerial vehicle 39, and sending the second temperature to the processor 1; and a steering knuckle 37 arranged at the joint of the multi-stage arm 34 and the tray 35, connected with the driving device 2, and used for 90-degree overturning of the tray 35.

The incineration device further comprises a printing mechanism 38, which printing mechanism 38 is connected to the processor 1 for printing the correspondence included in the storage means 28 and the animal images complying with the incineration conditions.

Specifically, the environment-friendly self-driven incineration device provided by this embodiment includes a pickup mechanism, a conveying mechanism, an incineration mechanism, a material preparation mechanism, a management mechanism, an unmanned aerial vehicle 39 and a printing mechanism 38, the management mechanism includes a processor 1, a driving device 2, a first positioning device 3, a navigation device 4 and a storage device 28, the pickup mechanism includes an unmanned vehicle 5, a first camera device 6, a motor-driven chamber door 7, an inner plate 8, an outer plate 9, a connecting member 10, a heat dissipation fan 11, a pickup arm 12 and a ventilation device, the pickup arm 12 includes a first temperature sensor 13, the ventilation device includes a vent hole 29, a first exhaust valve and a second exhaust valve, the conveying mechanism includes a conveying device 14, a weighing sensor 15, a drying device 16 and a bearing device, the bearing device includes a multi-stage arm 34, a tray 35 and a knuckle 37, the tray 35 includes a second temperature sensor 36, the incineration mechanism comprises an incinerator 17, the incinerator 17 comprises a first electric furnace door 18, a second electric furnace door 19 and a hanging bracket, the hanging bracket comprises a linear type telescopic frame 20 and independent four-claw hanging hooks 21 arranged at four corners of the linear type telescopic frame, the telescopic frame 20 comprises a storage box 22, combustion improver is stored in the storage box 22, each hanging hook 21 comprises an electric dripping nozzle 23 and a dropper 24, the material preparation mechanism comprises a material receiving port 25, a stirring device 26 and an injection device 27, and an unmanned aerial vehicle 39 comprises a second positioning device 30, a second camera device 31, mechanical claws 32 and a storage box 33.

The patrol efficiency can be improved by adopting a mode formed by the unmanned vehicle 5 and the unmanned vehicle 39, wherein a parking platform is arranged in the unmanned vehicle 5, when the unmanned vehicle 39 is in a standby state, the unmanned vehicle is parked on the parking platform, an electric skylight is arranged on the unmanned vehicle and right above the parking platform and connected with the driving device 2, the coverage area of the electric skylight is larger than that of the unmanned vehicle 39, when the processor 1 outputs a windowing signal to the driving device 2, the driving device 2 drives the electric windowing to be opened, the unmanned vehicle 39 can fly out of a skylight window, then the electric skylight is closed, and similarly, after the unmanned vehicle 39 executes a task and flies back to the unmanned vehicle 5, the electric skylight is controlled to be opened, the unmanned vehicle 39 flies in from the skylight window and parks on the parking platform, and then the electric skylight is closed again.

The four sides of the unmanned vehicle 5 are provided with first camera devices 6, each first camera device 6 comprises a plurality of monitoring cameras, each monitoring camera is respectively connected with the processor 1, the shot images are sent to the processor 1, and the processor 1 synchronizes all the received shot images to form a panoramic image so as to obtain the surrounding environment of the unmanned vehicle.

Unmanned car 5 includes two directions in front end and rear end, front end and rear end all set up to there being motor-driven room door 7, two motor-driven room doors 7 have different electron serial numbers, processor 1 opens the motor-driven room door 7 of equidirectional according to different electron serial numbers, pick up arm 12 and set up in the front end of unmanned car 5 and be located the top of motor-driven room door 7, pick up arm 12 and comprise many arms, the biggest extension distance can reach three meters, the foremost of picking up arm 12 is provided with a anchor clamps, anchor clamps are used for pressing from both sides the clamp and get the animal body, pick up arm 12 and establish corresponding relation with the motor-driven room door 7 of front end, after picking up arm 12 and picking up the animal, can open the motor-driven room door 7 of its below, pick up arm 12 and send.

A conveying device 14 is arranged behind the electric door 7, the conveying device 14 is a linear conveying belt, a drying device 16 and a containing box are arranged on two sides of the conveying device 14, the drying device 16 is a dryer, the drying device 16 and the containing box are arranged at intervals, the containing box comprises an electric door, the electric door is connected with a driving device 2 and used for controlling the opening and closing of the containing box, conveying wheels inclined with the conveying direction are arranged on two sides of the conveying belt, animals on the conveying belt can be transferred into the containing box after the conveying wheels are started and used for temporarily storing the animal bodies, a weighing sensor 15 is arranged at the tail end of the conveying device 14, namely in front of an incinerator 17, the weighing sensor 15 is embedded in the conveying belt, and when the animals pass through the conveying belt, the weighing sensor 15 can automatically acquire the weight of the animals and send the weight to the processor.

An incinerator 17 is arranged behind the conveyor 14, namely the rear end of the unmanned vehicle 5, a first electric furnace door 18 of the incinerator 17 is connected with the conveyor 14, the width of the first electric furnace door 18 is larger than that of the conveyor belt, the first electric furnace door 18 and a second electric furnace door 19 are provided with different electronic numbers, the processor 1 opens the first electric furnace door 18 or the second electric furnace door 19 according to the different electronic numbers, when the first electric furnace door 18 is opened, the conveyor 14 sends animals on the first electric furnace door into the incinerator 17, a plurality of flame ejectors are arranged on the furnace wall of the incinerator 17, a hanging frame is arranged on the furnace top, the maximum extension amount of the linear expansion frame 20 can reach the top of the incinerator 17, the expansion frame 20 is in a quadrangular prism structure, the lower end of the expansion frame is connected with four-claw hanging hooks 21, the four-claw hanging hooks 21 are four independent hanging hooks 21, the expansion frame 20 is hollow, and four expansion links, a storage box 22 is arranged in the expansion bracket 20, liquid combustion improver is stored in the storage box 22, openings are arranged at two ends of the suspension arm, a dropper 24 communicated with the openings at the two ends is arranged in the storage box, an electric dropper 23 communicated with the dropper 24 is arranged at the opening at the bottom end of the suspension arm, the other end of the dropper 24 is connected to the storage box 22, after the electric dropper 23 is opened, the liquid combustion improver in the storage box 22 can flow out from the electric dropper 23 along the dropper 24, animals are fixed by the four lifting hooks 21 from two sides of the animal body respectively, and therefore the liquid combustion improver can directly act on the animal body after flowing out from the electric dropper 23, and the incineration time is shortened.

The four lifting hooks 21 also have a telescopic function, so that when the four lifting hooks 21 are respectively in different lengths, the parallel animal bodies can be converted into an inclined state, and thus the animal bodies can be placed in the semi-space in the incinerator 17, so that all parts of the animal bodies can be fully contacted with oxygen, and the incineration time is shortened.

The unmanned vehicle of the unmanned vehicle 5 is set to be of a double-layer structure, which is helpful for helping an incinerator 17 to dissipate heat, the inner plate 8 and the outer plate 9 are both made of alloy, the inner plate 8 and the outer plate 9 are separated by 0.1 meter, a cylindrical connecting piece 10 with the length of 0.1 meter is welded between the inner plate 8 and the outer plate 9, a heat dissipation fan 11 is embedded in the connecting piece 10, the heat dissipation fan 11 guides the heat inside the inner plate 8 out of the outer plate 9, a heat dissipation device is arranged on the inner plate 8 and the outer plate 9 and corresponds to the heat dissipation fan 11, the heat dissipation device is butted with openings at two ends of the cylindrical connecting piece 10, the heat dissipation device comprises two states, one state is that a first exhaust valve and a second exhaust; and secondly, the first exhaust valve and the second exhaust valve in the vent hole are both in an opening state, and in the state, the inside and the outside of the unmanned vehicle are communicated.

A rotating device is further arranged between the heat dissipation fan 11 and the cylindrical connecting piece 10 and connected with the driving device 2 and used for adjusting the output airflow direction of the heat dissipation fan 11, when the unmanned vehicle 5 is located in an area with dense pedestrian flow, the rotating device enables the heat dissipation fan 11 to rotate upwards by 60 degrees, at the moment, the included angle between the output airflow direction of the heat dissipation fan 11 and the horizontal plane is 60 degrees, and therefore hot airflow can be prevented from burning surrounding pedestrians.

A material making mechanism is arranged behind the incinerator 17, the foremost end of the material making mechanism is a material receiving port 25 which is in butt joint with the second electric furnace door 19 of the incinerator 17, after the second electric furnace door 19 is opened, the incineration residues in the incinerator 17 can enter a stirring device 26 along a smooth inclined base, a proper amount of clear water and nutrient are injected into the stirring device 26 according to the amount of the incineration residues, then the mixture is uniformly stirred to obtain fluid nutrient, the fluid nutrient is injected into a spraying device 27 by the stirring device 26, the spraying device 27 comprises a spray head, a water pipe, a connecting frame and a water storage tank, the fluid nutrient is stored in the water storage tank, and the connecting frame is connected with the driving device 2 and can extend to the water pipe in any direction, so that the spray head can conveniently convey the fluid nutrient to any position.

Be provided with the swivel device with unmanned aerial vehicle 39 butt joint in the unmanned aerial vehicle 5, the swivel device sets up in the top of conveyer 14, it is essentially for providing two kinds of conveying methods, in the swivel device, the terminal of multistage arm 34 is connected with the roof of unmanned aerial vehicle 5, the front end of multistage arm 34 is connected with tray 35 through vertical knuckle 37, multistage arm 34 only can stretch out and draw back along the straight line direction, its maximum extension length can extend to the outside of electric door 7, knuckle 37 can overturn tray 35 90 degrees, tray 35 is embedded in second temperature sensor 36, when unmanned aerial vehicle 39 hovers with electric door 7 the place ahead, multistage arm 34 is automatic to be extended until tray 35 is located unmanned aerial vehicle 39 directly below.

The front end of the unmanned vehicle 5 is further provided with a printing mechanism 38, the printing mechanism 38 is set as a printer, and after the printer finishes printing, the picking arm 12 can pick up printing paper output by the printing mechanism 38.

Example two

As shown in fig. 1, 3, 8, 9, 10, and 16, this embodiment provides a working method of an environment-friendly self-driven incineration device, including the following working steps:

s101: the navigation device 4 generates a moving route of the incineration apparatus and transmits it to the processor 1, and the processor 1 controls the incineration apparatus to patrol according to the moving route.

S102: the first camera 6 acquires the surroundings of the unmanned vehicle and transmits the first captured image to the processor 1.

S103: the processor 1 determines whether an animal is present in the first captured image.

S104: if yes, extracting an image of the animal from the first shot image and analyzing the vital signs of the animal.

S105: processor 1 determines whether the animal is dead.

S106: if so, the processor 1 outputs a pick-up signal to the drive device 2, and the drive device 2 drives the pick-up arm 12 to pick up the animal.

S107: the first temperature sensor 13 detects a first temperature of the animal and sends it to the processor 1.

S108: the processor 1 determines whether the first temperature is less than a preset temperature.

S109: if so, the processor 1 calculates the size of the animal according to the first shot image, the pick-up arm 12 transfers the animal to the conveying device 14, the processor 1 outputs a conveying signal to the driving device 2, and the driving device 2 drives the conveying device 14 to start.

S110: the load cell 15 detects the weight of the animal and sends it to the processor 1.

S111: the processor 1 outputs a lifting signal to the driving device 2, and the driving device 2 drives the lifting frame to lift the animal in the air.

S112: the processor 1 selects an incineration scheme according to size and weight, and controls the incinerator 17 to operate in the incineration scheme.

S113: after the incineration is finished, the material preparation mechanism prepares the incineration residues into fluid nutrients.

In the patrol process, the intelligent management of animals in the area is realized, and the method comprises the following steps: the processor 1 judges whether an animal exists in the first shot image or the second shot image; if yes, further judging whether a person exists in a preset periphery with the animal as the center; if so, dynamically analyzing the animal and the person, and judging whether a following relationship exists between the animal and the person; if yes, respectively extracting the images of the two images, establishing a corresponding relation, and storing the corresponding relation into the storage device 28; prior to incinerating the animal, determining whether an image of the animal is present in the storage device 28; if so, the incineration process is suspended, the animals are temporarily stored, the processor 1 extracts the images of the animals from the first shot image or the second shot image and sends the images to the printing mechanism 38, and the printing mechanism 38 prints the images and attaches the images to the bulletin board.

Specifically, the invention has an automatic patrol function, and can search animals meeting burning conditions in a patrol process, firstly, a patrol area is determined and is led into a navigation device 4, secondly, the navigation device 4 generates a moving route of an unmanned vehicle 5, a processor 1 controls the unmanned vehicle 5 to drive according to the moving route, then, a first camera device 6 sends a first shot image to the processor 1 in real time, the processor 1 adjusts the moving route according to the first shot image to finish obstacle avoidance, in addition, the processor 1 also extracts and analyzes each object in the first shot image, compares the first shot image with a preset image and judges whether animals exist in the first shot image, if yes, the image of the animals is extracted independently for analysis, specifically analyzes the vital signs of the animals, locks the animals and the surrounding environment of the animals, judges whether each part of the animal body has position change, if the animal is in an active state, the animal continues to judge whether the animal is surrounded by the person, if so, the image of the person and the image of the animal are extracted to establish a corresponding relationship, and the distance between the image of the person and the image of the animal is calculated in real time, so that whether the following relationship exists between the image of the person and the image of the animal is judged.

If the position of each part of the animal body is not changed, the animal is regarded as dormant or dead, the unmanned vehicle 5 gradually approaches the animal to perform detail analysis, the detail analysis is mainly performed on the abdomen of the animal, so that whether the animal is in the dormant or dead state is judged, if the animal is in the dormant state, the animal returns to the original moving route to continue patrol, if the animal is in the dead state and in the unmanned state, the processor 1 controls the unmanned vehicle 5 to travel to the position nearest to the animal, the size of the animal is calculated according to the latest first shot image, a control program of the pick-up arm 12 is edited, and the driving device 2 drives the pick-up arm 12 to work according to the control program.

Meanwhile, the processor 1 outputs a first opening signal to the driving device 2, the driving device 2 drives the motor-driven chamber door 7 at the front end of the unmanned vehicle 5 to open, the picking arm 12 picks up an animal, the picking arm 12 is loosened if the animal struggles, in addition, the picking arm 12 is provided with a first temperature sensor 13, if the body temperature of the animal is higher than a preset temperature, the animal is in a non-death state, the picking arm 12 is also loosened, the two phenomena are not existed, the picking arm 12 places the animal on the transmission device 14, the processor 1 outputs a first closing signal to the driving device 2, the driving device 2 drives the motor-driven chamber door 7 to close, the transmission device 14 transmits the animal to the incinerator 17, in the transmission process, the weighing sensor 15 can acquire the weight of the animal and send the weight to the processor 1, the processor 1 outputs a second opening signal to the driving device 2, the driving device 2 drives the first electric furnace door 18 of the incinerator 17 to open, after the animals enter the incinerator 17, the processor 1 outputs a second closing signal to the driving device 2, and the driving device 2 drives the first electric furnace door 18 to close.

The processor 1 sets an incineration scheme matched with the size and the weight of the animal according to the size and the weight of the animal, the incineration scheme comprises the output power of the incinerator 17, the starting time and the using amount of a combustion improver, after the animal enters the incinerator 17, the animal is firstly adjusted to be in the half space of the incinerator 17, the processor 1 outputs a lifting signal to the driving device 2, firstly, the driving device 2 drives the telescopic frame 20 to extend downwards until the lifting hook 21 contacts the ground, secondly, the driving device 2 drives the lifting hook 21 to clamp the animal, then, the driving device 2 drives the telescopic frame 20 to shrink upwards to be in the half space, finally, the processor 1 outputs an incineration signal to the driving device 2, the driving device 2 drives the incinerator 17 to start, in the process of incinerating large animals, in order to save the incineration time, the combustion improver is also added to the animal, then, after the animal is lifted to be in the half space, the processor 1 outputs the, the driving device 2 drives the electric drip nozzle 23 to be opened, a flowmeter is arranged in the electric drip nozzle 23 and can monitor the flow of the combustion improver flowing out of the electric drip nozzle 23, when the flow is larger than or equal to the consumption of the combustion improver included in the incineration scheme, the processor 1 outputs a combustion-supporting stopping signal to the driving device 2, and the driving device 2 drives the electric drip nozzle 23 to be closed.

After the incineration is finished, the processor 1 outputs a third opening signal to the driving device 2, the driving device 2 drives the second electric furnace door 19 of the incinerator 17 to open, the incineration residues in the incinerator 17 slide down to the material preparation mechanism along the smooth inclined base, the main raw material is animal bone ash, and clear water and nutrient are added to prepare fluid nutrient.

Before the animal is sent into the incinerator 17, the processor 1 analyzes the face, body and ornaments of the animal according to the first shot image, judges whether the animal exists in the storage device 28, if so, suspends the incineration of the animal, starts the transmission wheels at the two sides of the transmission belt in the transmission process, transfers the animal into the containing box, prints the image of the animal, posts the image on the bulletin board nearest to the current position, waits for the owner to claim, and if the animal is not claimed in the preset time, incinerates the animal.

EXAMPLE III

As shown in fig. 1, 14, 15 and 16, when the animals meeting the incineration conditions exceed the picking range of the picking arm 12, the unmanned aerial vehicle 39 is started to carry out auxiliary picking, and the processor 1 calculates the positions of the animals; the navigation device 4 generates a flight path from the drone 39 to the animal location and sends it to the processor 1; the processor 1 controls the unmanned aerial vehicle 39 to fly according to the flight route; the processor 1 outputs a grabbing signal to the driving device 2, and the driving device 2 drives the mechanical claw 32 to grab the animal; the unmanned aerial vehicle 39 returns to the front of the electric room door 7 according to the flight route and hovers in front of the electric room door 7; the processor 1 outputs an extension signal to the driving device 2, and the driving device 2 drives the multi-stage arm 34 to extend to the position below the unmanned aerial vehicle 39; the processor 1 outputs a release signal to the driving device 2, and the driving device 2 drives the mechanical claw 32 to release; a second temperature sensor 36 detects a second temperature of the animal in the tray 35 and sends it to the processor 1; the processor 1 judges whether the second temperature is lower than a preset temperature; if yes, the processor 1 outputs a shortening signal to the driving device 2, and the driving device 2 drives the multi-stage arm 34 to shorten to the original state; the processor 1 outputs an overturning signal to the driving device 2, and the driving device 2 drives the steering knuckle 37 to rotate by 90 degrees; and (4) carrying out incineration.

In the patrol process of the incineration equipment, the patrol range is increased through the unmanned aerial vehicle 39, and the patrol range increasing method comprises the following steps: the processor 1 edits a plurality of positions in the navigation device 4, and the navigation device 4 generates a patrol route of the serial positions and sends the patrol route to the processor 1; the processor 1 controls the unmanned aerial vehicle 39 to fly according to the patrol route; the second camera device 31 acquires the surrounding environment of the unmanned aerial vehicle 39 and sends a second shot image to the processor 1; the processor 1 judges whether a dead animal exists in the second shot image; if so, the processor 1 outputs a grabbing signal to the driving device 2, and the driving device 2 drives the mechanical claw 32 to grab the animal and transfer the animal into the storage box 33; the processor 1 controls the drone 39 to fly back.

Specifically, the unmanned aerial vehicle 39 provided by the invention has two purposes, namely, the unmanned aerial vehicle is used for cooperatively picking the animals under the condition that the picking arm 12 cannot smoothly pick the animals; and secondly, the unmanned vehicle 5 is helped to expand the patrol range.

For example, when an animal appears on a tree or at a high place where other unmanned vehicles 5 cannot reach, the unmanned vehicle 5 stands by on site, the unmanned vehicle 39 is released, the unmanned vehicle 39 flies to a position right above the position where the animal is located, the mechanical claw 32 arranged right below the unmanned vehicle 39 is used for grabbing the animal, the unmanned vehicle 39 flies back and hovers in front of the electric door 7 according to the original route, the processor 1 outputs a first opening signal to the driving device 2, the driving device 2 drives the electric door 7 to open, the multi-stage arm 34 extends until the tray 35 is located right below the unmanned vehicle 39, the mechanical claw 32 is released, the animal falls on the tray 35, the multi-stage arm 34 shortens to the original position, the knuckle 37 turns the tray 35 over by 90 degrees, the animal in the tray 35 falls to the weighing sensor 15 of the conveying device 14, the conveying device 14 is started to convey the animal into the incinerator 17, and the incineration method is disclosed in embodiment two.

When the unmanned aerial vehicle 39 patrols, if animals meeting the burning condition are not searched for in a long time, the unmanned aerial vehicle 39 is started to expand the searching range, a plurality of continuous nodes are set in the direction opposite to the moving route of the unmanned aerial vehicle 39, the navigation device 4 generates a patrolling route in which all the nodes are connected in series, the processor 1 controls the unmanned aerial vehicle 39 to fly according to the patrolling route, the processor 1 searches for the animals meeting the burning condition from the second shot image, after the target is determined, the unmanned aerial vehicle 39 reduces the flying height and hovers over the animals, the animals are transferred into the storage box 33 by using the mechanical claw 32, and the processor 1 controls the unmanned aerial vehicle 39 to fly back to the unmanned aerial vehicle 5.

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

1. The utility model provides an environment-friendly self-driven incineration equipment, includes picks up mechanism, transport mechanism, burns mechanism, system material mechanism and management mechanism, its characterized in that, management mechanism includes:

a processor (1) for analyzing vital signs of an animal, the vital signs comprising activity, dormancy and death;

the driving device (2) is connected with the processor (1), receives a working instruction sent by the processor (1), and is used for driving all parts in the equipment to operate;

the first positioning device (3) is connected with the processor (1) and used for acquiring first position information of equipment and sending the first position information to the processor (1);

navigation means (4) connected to the processor (1) for generating a movement route of the device and transmitting the movement route to the processor (1);

the pickup mechanism includes:

unmanned vehicle (5), the side of unmanned vehicle (5) is provided with first camera device (6), first camera device (6) with treater (1) is connected for acquire unmanned vehicle's (5) all ring edge borders and with first shooting image send for treater (1), unmanned vehicle's (5) front and back both sides are provided with electric room door (7), electric room door (7) with drive arrangement (2) are connected for the switching of control unmanned vehicle (5), unmanned vehicle sets up to bilayer structure, and its left and right sides includes inner panel (8) and planking (9), be provided with a plurality of cylindrical connecting piece (10) between inner panel (8) and planking (9), the axial of connecting piece (10) with inner panel (8) and planking (9) are perpendicular, and its inside cavity both ends set up the opening, imbed cooling fan (11) in connecting piece (10), the heat radiation fan (11) is connected with the driving device (2), and the direction of the output airflow of the heat radiation fan is parallel to the axial direction of the connecting piece (10);

a pick-up arm (12) arranged at the front end of the unmanned vehicle (5), connected with the driving device (2) and used for picking up animals meeting the incineration conditions and transferring the animals to the conveying mechanism, wherein the pick-up arm (12) comprises a first temperature sensor (13) connected with the processor (1) and used for detecting a first temperature of the picked-up animals and sending the first temperature to the processor (1);

the transfer mechanism includes:

the conveying device (14) is connected with the driving device (2) and is used for communicating the electric room door (7) with the incineration mechanism;

a weighing sensor (15) connected to the processor (1), arranged at the end of the conveyor (14), for detecting the weight of the animals to be incinerated and sending said weight to the processor (1);

drying devices (16) which are arranged at the left side and the right side of the conveying device (14) and are connected with the driving device (2) and are used for preliminarily removing the moisture of the animals to be incinerated;

burn the mechanism and set up in unmanned car and include:

the incinerator (17) comprises a first electric furnace door (18), a second electric furnace door (19) and a hanging bracket, the first electric furnace door (18) is arranged between the incinerator (17) and the conveying device (14) and is connected with the driving device (2), the second electric furnace door (19) is arranged between the incinerator (17) and the material making mechanism and is connected with the driving device (2), the hanging bracket is arranged on the top of the incinerator (17) and is used for adjusting the state of animals in the incinerator (17) in real time in the incineration process, the hanging bracket comprises a linear expansion bracket (20) and independent four-claw hanging hooks (21) arranged at four corners of the linear expansion bracket (20), a material storage box (22) is arranged at the bottom of the expansion bracket (20), combustion improver is stored in the material storage box (22), each hanging hook (21) independently expands and rotates, and an electric dripping nozzle (23) is arranged at the tail end of each hanging hook (21), a dropper (24) communicated with the electric drip nozzle (23) is arranged in the hollow space of the incinerator body along the hook body, the other end of the dropper (24) is communicated with the storage box (22), the electric drip nozzle (23) is connected with the driving device (2) and used for adding combustion improver to an animal body fixed by the electric drip nozzle during incineration, an inclined base is further arranged in the incinerator (17), the height of the base close to the first electric furnace door (18) is larger than that of the base close to the second electric furnace door (19), the incinerator (17) comprises a plurality of incineration schemes, the incineration schemes are pre-stored in the treater (1) and correspond to the output power of the incinerator (17), the treater (1) selects the corresponding incineration scheme according to the appearance characteristics of an animal to be incinerated, and the appearance characteristics comprise size and weight;

the material receiving port (25) is communicated with the second electric furnace door (19);

the stirring device (26) is connected with the driving device (2) and is used for uniformly mixing the incineration residues and the nutrient into the fluid nutrient;

and the spraying device (27) is connected with the driving device (2) and is used for storing the fluid nutrient and applying the fluid nutrient to soil in a use state according to different hydraulic pressures set by the processor (1).

2. The environment-friendly self-driven incineration device according to claim 1, wherein: the management mechanism further comprises a storage device (28), wherein the storage device (28) is connected with the processor (1) and is used for storing the corresponding relation between the animals and the human beings, and when the animals in the storage device (28) are incinerated, the corresponding relation including the animals is deleted.

3. The environment-friendly self-driven incineration device according to claim 2, characterized in that: set up ventilation unit on inner panel (8) and planking (9) and with cooling fan (11) corresponding position department, ventilation unit includes: a plurality of vent holes (29), wherein the area covered by the vent holes (29) is larger than the cross-sectional area of the connecting piece (10);

the first exhaust valve is arranged on the inner plate (8), connected with the driving device (2) and used for controlling the opening and closing of the heat dissipation fan (11) and the interior of the unmanned vehicle;

the second exhaust valve is arranged on the outer plate (9), is connected with the driving device (2) and is used for controlling the opening and closing of the heat dissipation fan (11) and the exterior of the unmanned vehicle;

the first exhaust valve and the second exhaust valve are arranged in the vent hole (29).

4. The environment-friendly self-driven incineration device according to claim 3, wherein: still include unmanned aerial vehicle (39), unmanned aerial vehicle (39) include:

the second positioning device (30) is connected with the processor (1) and is used for acquiring second position information of the unmanned aerial vehicle (39) and sending the second position information to the processor (1);

the second camera device (31) is connected with the processor (1) and used for acquiring the surrounding environment of the unmanned aerial vehicle (39) and sending a second shot image to the processor (1);

the mechanical claw (32) is connected with the driving device (2) and is used for grabbing animals meeting the incineration conditions;

and the storage box (33) is used for temporarily storing the animals which are grabbed by the mechanical claw (32) and meet the burning condition.

5. The environment-friendly self-driven incineration device according to claim 4, wherein: the transfer mechanism also comprises a rotary bearing device for receiving the animals to be incinerated transferred by the unmanned aerial vehicle (39), and comprises:

a multi-stage arm (34) which is arranged above the conveying device (14), is connected with the driving device (2), and has the maximum horizontal length reaching the outside of the electric room door (7);

the tray (35) is connected with the multi-stage arm (34), is arranged to be a disc-shaped structure with the diameter larger than 0.5 m, and comprises a second temperature sensor (36), and the second temperature sensor (36) is connected with the processor (1) and is used for detecting a second temperature of the animals to be incinerated, transmitted by the unmanned aerial vehicle (39), and sending the second temperature to the processor (1);

and the steering knuckle (37) is arranged at the joint of the multi-stage arm (34) and the tray (35), is connected with the driving device (2) and is used for overturning the tray (35) by 90 degrees.

6. The environment-friendly self-driven incineration device according to claim 5, wherein: the device also comprises a printing mechanism (38), wherein the printing mechanism (38) is connected with the processor (1) and is used for printing the corresponding relation in the storage device (28) and the animal image meeting the incineration condition.

7. The working method of the environment-friendly self-driven incineration device as claimed in claim 6, wherein: the method comprises the following working steps:

the navigation device (4) generates a moving route of the incineration equipment and sends the moving route to the processor (1), and the processor (1) controls the incineration equipment to patrol according to the moving route;

the first camera device (6) acquires the surrounding environment of the unmanned vehicle and sends a first shot image to the processor (1);

the processor (1) judges whether an animal exists in the first shot image;

the processor (1) determining whether the animal dies;

if yes, the processor (1) outputs a pickup signal to the driving device (2), and the driving device (2) drives the pickup arm (12) to pick up the animal;

-said first temperature sensor (13) detects a first temperature of said animal and sends it to said processor (1);

the processor (1) judges whether the first temperature is lower than a preset temperature;

if yes, the processor (1) calculates the size of the animal according to the first shot image, the picking arm (12) transfers the animal to the conveying device (14), the processor (1) outputs a conveying signal to the driving device (2), and the driving device (2) drives the conveying device (14) to start;

the load cell (15) detects the weight of the animal and sends it to the processor (1);

the processor (1) outputs a lifting signal to the driving device (2), and the driving device (2) drives the lifting frame to lift the animal in the air;

the processor (1) selects an incineration scheme according to the size and the weight, and controls the incinerator (17) to operate in the incineration scheme;

8. The working method of the environment-friendly self-driven incineration device as recited in claim 7, wherein: further comprising: when animals meeting the incineration conditions exceed the picking range of the picking arm (12), starting a unmanned aerial vehicle (39) for auxiliary picking, and calculating the positions of the animals by the processor (1);

the navigation device (4) generating and sending to the processor (1) a flight route of the drone (39) to an animal location;

the processor (1) controls the unmanned aerial vehicle (39) to fly according to the flight route;

the processor (1) outputs a grabbing signal to the driving device (2), and the driving device (2) drives the mechanical claw (32) to grab the animal;

the unmanned aerial vehicle (39) returns along the original route of the flight route and hovers in front of the electric room door (7);

the processor (1) outputs an extension signal to the driving device (2), and the driving device (2) drives the multi-stage arm (34) to extend below the unmanned aerial vehicle (39);

the processor (1) outputs a release signal to the driving device (2), and the driving device (2) drives the mechanical claw (32) to be loosened;

-said second temperature sensor (36) detects a second temperature of the animal inside said tray (35) and sends it to said processor (1);

the processor (1) judges whether the second temperature is lower than a preset temperature;

if yes, the processor (1) outputs a shortening signal to the driving device (2), and the driving device (2) drives the multi-stage arm (34) to shorten to an original state;

the processor (1) outputs an overturning signal to the driving device (2), and the driving device (2) drives the steering knuckle (37) to rotate by 90 degrees;

and (4) carrying out incineration.

9. The working method of the environment-friendly self-driven incineration device as recited in claim 7, wherein: further comprising: in the patrol process of the incineration equipment, the patrol range is increased through the unmanned aerial vehicle (39), and the patrol range increasing method comprises the following steps:

-the processor (1) edits several locations in a navigation device (4), the navigation device (4) generating a patrol route connecting the locations in series and sending it to the processor (1);

the processor (1) controls the unmanned aerial vehicle (39) to fly according to the patrol route;

the second camera device (31) acquires the surrounding environment of the unmanned aerial vehicle (39) and sends a second shot image to the processor (1);

the processor (1) judges whether a dead animal exists in the second shot image;

if yes, the processor (1) outputs a grabbing signal to the driving device (2), and the driving device (2) drives a mechanical claw (32) to grab the animal and transfer the animal into the storage box (33);

the processor (1) controls the unmanned aerial vehicle (39) to fly back.

10. The working method of the environment-friendly self-driven incineration device as recited in claim 7, wherein: further comprising: in the patrol process, the intelligent management of animals in the area is realized, and the intelligent management method comprises the following steps:

the processor (1) judges whether an animal exists in the first shot image or the second shot image;

if yes, respectively extracting the images of the two images, establishing a corresponding relation, and storing the corresponding relation into the storage device (28);

prior to incinerating the animal, determining whether an image of the animal is present in the storage device (28);

if yes, the burning process is stopped, the animals are temporarily stored, the processor (1) extracts images of the animals from the first shot image or the second shot image and sends the images to the printing mechanism (38), and the printing mechanism (38) prints the images and attaches the images to a publicity column.