CN110629726B - Ecological environment-friendly beach waste collection and treatment device - Google Patents

Ecological environment-friendly beach waste collection and treatment device Download PDF

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Publication number
CN110629726B
CN110629726B CN201910943155.1A CN201910943155A CN110629726B CN 110629726 B CN110629726 B CN 110629726B CN 201910943155 A CN201910943155 A CN 201910943155A CN 110629726 B CN110629726 B CN 110629726B
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waste
beach
garbage
intelligent
collection
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CN110629726A (en
Inventor
张硕
高世科
石一茜
刘彧楠
李征
张世东
沈裕鑫
唐明蕊
陈仕煊
陈岱
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Shanghai Ocean University
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Shanghai Ocean University
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B09DISPOSAL OF SOLID WASTE; RECLAMATION OF CONTAMINATED SOIL
    • B09BDISPOSAL OF SOLID WASTE
    • B09B3/00Destroying solid waste or transforming solid waste into something useful or harmless
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B09DISPOSAL OF SOLID WASTE; RECLAMATION OF CONTAMINATED SOIL
    • B09BDISPOSAL OF SOLID WASTE
    • B09B5/00Operations not covered by a single other subclass or by a single other group in this subclass
    • EFIXED CONSTRUCTIONS
    • E01CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01HSTREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
    • E01H12/00Cleaning beaches or sandboxes

Abstract

The invention discloses an ecological environment-friendly beach waste collection and treatment device, which comprises a beach waste intelligent robot and an intelligent waste box; the intelligent beach waste robot comprises a vehicle body, a waste collecting device and a control system; the waste collection device comprises a waste collection bin, a collection pipeline and a waste collection head, wherein the waste collection head is arranged in front of the vehicle body and is communicated with the upper end of the waste collection bin through the collection pipeline, and a plurality of layers of metal layered screens for dividing the waste collection bin into a plurality of compartments are arranged in the waste collection bin up and down; the control system comprises an inductor and an intelligent chip; the inductor acquires the relevant information of beach discarded object to transmit it to the chip, the chip plans the route and drives the robot according to acquireing information and collects the beach discarded object, sieves the discarded object in the discarded object collection storehouse when collecting the discarded object, pours the discarded object into in the intelligent waste bin after the end. The invention has high intelligent degree, low labor cost and good application prospect.

Description

Ecological environment-friendly beach waste collection and treatment device
Technical Field
The invention belongs to the technical field of beach ecological environment protection, and relates to an ecological environment-friendly beach waste collection and treatment device.
Background
The topic of marine environmental protection has been always of great interest. At present, great progress has been made in the treatment of marine waste, and researchers in foreign countries have developed intelligent robots specially dealing with marine waste, but research on beach waste closely related to the sea is less, and since the beach is also an indispensable part of the marine ecosystem and is also a place for inhabitation and multiplication of many marine organisms, more and more waste is detained at the beach and is not completely removed, the input of land source pollution is increased, and the dynamic balance of the marine ecosystem is seriously damaged, so that the treatment of the beach waste is urgently needed.
Practitioners in the art have developed various cleaning devices to address this problem. Patent CN 202936759U discloses a clearance machine of sandy beach waterside tongue, its simple structure, convenient operation, low cost can separate waterside tongue and sand when picking up to dewater the waterside tongue, improve and pick up efficiency. Patent CN 109024454 a discloses a beach garbage cleaning vehicle capable of self-cleaning, which has complete functions and can realize beach cleaning and self-cleaning. However, with the arousal of people's environmental awareness in recent years, garbage is classified, so that the resource value and the economic value of the garbage can be remarkably improved, the classification of the domestic garbage in Shanghai is advanced into the lives of people, the existing beach waste cleaning equipment cannot classify the garbage, the garbage still needs to be manually sorted after the garbage cleaning is finished, and the working efficiency is greatly influenced.
Therefore, it is very significant to develop a beach waste treatment apparatus capable of classifying wastes while collecting them.
Disclosure of Invention
The invention aims to overcome the defect that the prior art cannot classify garbage while collecting the garbage so as to influence the garbage treatment efficiency, and provides beach waste treatment equipment capable of classifying the garbage while collecting the garbage.
In order to achieve the purpose, the invention provides the following technical scheme:
an ecological environment-friendly beach waste collection and treatment device comprises a beach waste intelligent robot and an intelligent garbage can;
the intelligent beach waste robot comprises a vehicle body, a waste collection device, a driving system, a power supply and a control system;
the garbage collection device comprises a garbage collection bin, a collection pipeline and a garbage collection head, wherein the garbage collection head is arranged in front of the vehicle body and is communicated with the upper end of the garbage collection bin through the collection pipeline, a plurality of layers of metal layered screens for dividing the garbage collection bin into a plurality of compartments are arranged in the garbage collection bin up and down, and the aperture of each metal layered screen is continuously reduced along with the reduction of the height;
the driving system is arranged below the vehicle body, is used for driving the vehicle body to move and comprises a driving motor;
the power supply is used for providing electric energy for the garbage collection device, the driving system and the control system;
the control system comprises an inductor and an intelligent chip, the intelligent chip is connected with the inductor through an inductor detection circuit, the intelligent chip is connected with a driving motor through a motor driving circuit, and the intelligent chip is connected with the garbage collection device through a peripheral circuit;
the intelligent chip includes one or more programs and one or more processors, and when the one or more programs are executed by the processors, the intelligent beach waste robot is caused to perform the following control method:
(1) the sensor acquires position information of beach waste and surrounding environment information and transmits the position information and the surrounding environment information to the processor, and the processor plans a path according to the acquired information;
(2) the processor drives the intelligent beach waste robot to move to the position of the beach waste according to the planned path information, the waste collection device is started to collect the beach waste after the intelligent beach waste robot reaches the position of the beach waste, the beach waste enters the waste collection bin through the waste collection head and the collection pipeline in the process, and the classification is finished by screening through the metal layered screen in the waste collection bin;
(3) after cleaning, the beach discarded object intelligent robot is driven to move to the position of the intelligent garbage can, and after the position of the intelligent garbage can is reached, the discarded object in the garbage collection bin is poured into the intelligent garbage can.
According to the ecological environment-friendly beach waste collection and treatment device, the intelligent beach waste robot acquires relevant information (finding garbage) of beach waste through technologies such as 3D vision, multiple ultrasonic waves and infrared induction, the control system controls the intelligent beach waste robot to collect the garbage, the collected garbage can be screened (garbage classification) through the multilayer metal layered screen in the garbage collection bin while the garbage collection is carried out, and the control system controls the intelligent beach waste robot to pour the collected garbage into the intelligent garbage bin after the garbage collection is finished; one intelligent dustbin can correspond and set up many beach discarded object intelligent robot.
The ecological environment-friendly beach waste collection and treatment device is high in automation degree, simple in control method flow, clear, simple and effective in logic, capable of effectively scheduling the intelligent robot for collecting the beach waste, good in application prospect, and capable of classifying the waste while collecting the waste. Meanwhile, the invention provides a systematic beach waste treatment device, which comprises a beach waste intelligent robot for directly collecting the waste and an intelligent garbage can for storing the waste, wherein the structure of the intelligent garbage can corresponds to that of a waste collection bin in the beach waste intelligent robot, and the classified waste can be effectively stored in the intelligent garbage can in a separated manner. By using the ecological environment-friendly beach waste collection and treatment device, the environmental bearing capacity of beaches can be effectively relieved, the marine ecological environment is effectively considered, the realization of the tourism industry and the sustainable development of marine ecology is promoted, and the application prospect is good.
As a preferred technical scheme:
the device for collecting and processing the beach wastes is characterized in that the sensor judges whether the beach wastes are ultra-high or not and whether the beach wastes are collectable wastes through a 3D vision technology, wherein the ultra-high means that the uppermost end of the beach wastes is higher than the lowermost end of the waste collecting head, and the collectable wastes have a weight, a volume and a hardness within a certain range, such as large nets, heavy metals, stones or other hard substances and are marked as non-collectable wastes;
if the beach waste is ultrahigh, the processor senses the distance between the processor and the ultrahigh beach waste (specifically, about 10cm from the barrier, a touch sensor in front of the garbage collection head is triggered) according to the sensor, and controls the intelligent beach waste robot to bypass the beach waste;
if the beach waste is not collectable waste, the processor closes the waste collection device, and if the hardness of the waste is overproof, the inner compressor is in contact with the beach waste, the waste sends a blocking signal to the processor, and the processor closes the fan to avoid heavy objects and harmful substances from being involved to damage the machine;
if the beach waste is collectable waste, the disposer turns on the waste collection device.
According to the ecological environment-friendly beach waste collection and treatment device, the driving system comprises two parallel tracks, and the tracks are respectively provided with a driving gear connected with a driving motor;
a main case connected with the two tracks is arranged between the two tracks, the garbage collection bin is arranged above the main case, and the intelligent chip, the sensor detection circuit, the motor drive circuit and the peripheral circuit are positioned in the main case;
the power supply comprises a battery and a solar backboard (the battery can be charged in fine weather, energy is saved, and emission is reduced), the battery and the solar backboard are connected with each other, the solar backboard is arranged at the top of the garbage collection bin, and the battery is arranged in the main case. The crawler belt is selected as the driving module, the trafficability and the platform stability are good, the technology is mature, and the cost is low.
According to the ecological environment-friendly beach waste collection and treatment device, the whole garbage collection bin is a cube, two layers of metal layered screens are arranged in the garbage collection bin from top to bottom, the aperture of the upper layer of metal layered screen is 0.05m by 0.05m, and the aperture of the lower layer of metal layered screen is 0.01m by 0.01 m;
the bottom of the left side wall and the bottom of the right side wall of the garbage collection bin are provided with bottom slideways along the track direction, pushing plates are arranged in the bottom slideways, the pushing plates are connected with pushing pieces, and the pushing plates can slide back and forth along the bottom slideways under the driving of the pushing pieces;
the left side wall and the right side wall are provided with curved slideways corresponding to the two layers of metal layered screens, the metal layered screens are connected with sliding pieces, and under the driving of the sliding pieces, the front ends of the metal layered screens can slide backwards along the curved slideways to dump beach wastes on the metal layered screens;
the rear side plate of the garbage collection bin is connected with the top plate through a rotating pair, the rotating pair is connected with a rotating motor, and the rear side plate can rotate around the rotating pair under the driving of the rotating motor to open and close;
the rotating motor, the sliding piece and the pushing piece are respectively connected with the processor. The protection scope of the present invention is not limited to this, and the present invention provides a feasible technical solution, and those skilled in the art can adjust the structure and the size according to the actual application scenario, and specifically, the aperture of the metal layered screen can be set according to the actual requirement.
The ecological environment-friendly beach waste collection and treatment device comprises a cubic structure I with an open top and an annular baffle plate positioned above the cubic structure I, wherein three strip-shaped through holes are formed in the annular baffle plate on one side, the three strip-shaped through holes correspond to a pushing plate and two metal layered screens of a waste collection bin in position, two layers of metal spacers for dividing the cubic structure I into three compartments are arranged in the cubic structure I corresponding to the three strip-shaped through holes, the three compartments in the cubic structure I correspond to the three compartments in the waste collection bin one by one, and the annular baffle plate is connected with a cover plate for covering the intelligent waste bin;
be equipped with WIFI communication module in the intelligence dustbin, when the rubbish memory space in the intelligence dustbin reached 3/4 of maximum memory space, WIFI communication module will send signal suggestion relevant personnel to retrieve the intelligence dustbin to the control cabinet, changes the empty can simultaneously. The protection scope of the intelligent garbage can is not limited to this, and the invention provides a feasible technical scheme, and a person skilled in the art can adjust the structure and the size according to the actual application scene.
The ecological environment-friendly beach waste collection and treatment device further comprises a movable platform and a metal charging pile;
the movable platform comprises a ramp and a horizontal unloading platform, the unloading platform is positioned at the top end of the ramp, has the same height as the cubic structure I and is matched with the intelligent garbage can;
the metal charging pile is provided with a metal contact, and the garbage collecting head is provided with a metal charging contact matched with the metal contact. The movable platform is matched with the intelligent garbage can for use, so that the beach waste intelligent robot can conveniently unload garbage, the volume of the intelligent garbage can is increased, the arranged metal charging pile can guarantee the cruising ability of the beach waste intelligent robot, and the phenomenon that the beach waste intelligent robot cannot obtain enough energy supply in cloudy days is avoided.
The ecological and environment-friendly beach waste collection and treatment device comprises an infrared sensor, an ultrasonic sensor, a touch sensor, a humidity sensor, a position sensor I, a position sensor II, a position sensor III, a position sensor IV and a position sensor V;
infrared sensor and ultrasonic sensor install on rubbish collection storehouse front side plate, touch sensor installs at rubbish collection head front portion, humidity transducer installs in the mainframe box bottom, position sensor I, position sensor II, position sensor III, position sensor IV and position sensor V install respectively at rubbish collection storehouse rear side plate, ramp, discharge platform, metal charge upper end and lower extreme of stake. The intelligent chip is internally integrated with the GPS positioning module, and the robot can be endowed with more accurate navigation capability.
The ecological and environment-friendly beach waste collection and treatment device comprises an infrared sensor, a controller and a controller, wherein the infrared sensor is used for scanning the environment near the beach waste intelligent robot through a 3D vision technology and an infrared technology to acquire relevant information of the beach waste;
the ultrasonic sensor is used for searching beach waste in a large range through a multi-ultrasonic technology;
the processor drives the beach waste intelligent robot to leave the area to avoid sucking wet sand when sensing that the humidity of the sand exceeds 10%;
the touch sensor is used for sensing obstacles in front of the garbage collecting head, and avoiding heavy objects and harmful substances from being involved to damage equipment;
the position sensor I, the position sensor II and the position sensor III are matched with each other to calibrate the position of the beach waste intelligent robot in the unloading process;
and the position sensor IV and the position sensor V are used for matching with the ultrasonic sensor to complete the butt joint of the metal charging contact and the metal contact.
According to the ecological environment-friendly beach waste collection and treatment device, the sensor for detecting the garbage storage amount is arranged in the garbage collection bin, when the garbage storage amount in the garbage collection bin reaches 3/4 of the maximum storage amount, the sensor sends information to the processor, and the processor drives the intelligent beach waste robot to unload to the intelligent garbage bin.
The beach waste intelligent robot of the invention specifically comprises the following steps of unloading to an intelligent garbage can:
after searching and butting a position sensor II on a ramp of a movable platform through an infrared sensor and an ultrasonic sensor, driving the robot to turn for 180 degrees, aligning the position sensor I with the position sensor II, carrying out 'backing' operation until the robot moves to the top of the movable platform, butting a humidity sensor at the bottom of the robot with a position sensor III of an unloading platform, aligning the back of a garbage collection bin of the robot with an intelligent garbage can, driving a rotating motor, opening a rear side plate of the garbage collection bin under the driving of the rotating motor, driving a pushing piece and a sliding piece at the moment, pushing the plate to slide backwards under the driving of the pushing piece, and enabling the front ends of upper and lower metal layered screens to slide backwards along a curved slideway under the driving of the sliding piece, namely correspondingly conveying the garbage on the upper and lower metal layered screens and the pushing plate into corresponding areas of the intelligent garbage can, the unloading operation is completed.
As above an ecological environment-friendly beach waste collection and processing apparatus, garbage collection device still includes the fan that provides suction, the import department of garbage collection head is equipped with the filtration hole that is used for filtering the gravel, the garbage collection head still is equipped with the inside compressor that is used for compressing rubbish.
When garbage is collected, the processor starts the fan and the internal compressor to suck the garbage roll, fine sand and fine gravel can be efficiently extruded to the filter holes and filtered out when the internal compressor rotates, so that the weight burden of the machine body is prevented from being increased, and the rolled garbage is rolled by the internal compressor, so that the effect of saving space is achieved; the garbage is conveyed into a garbage collection box, the garbage is filtered and classified through metal layered screens with different apertures, the garbage collection work is completed, the two layers of metal layered screens are driven by a sliding part to vibrate to screen the garbage, the vibration can improve the screening efficiency, the garbage collection box is divided into three compartments, the garbage coming out of a collection pipeline firstly reaches an upper layer with the largest space, and the garbage left on the upper layer mainly comprises plastic, foam, light metal, rubber, fabric (cloth), light wood products, paper and the like with larger specifications; the garbage in the middle layer after being screened by the upper metal layered screen is mainly shells; the lowermost layer has the smallest space and mainly collects glass scraps, butt scraps, nylon fibers, fishing gear/fishing net scraps and the like.
In the above-mentioned ecological and environment-friendly beach waste collection and treatment device, the beach waste in the uppermost compartment of the cubic structure I is treated as follows:
(1.1) carrying out magnetic absorption treatment on the waste to separate out metal in the waste, wherein the metal is recovered through melting;
(1.2) breaking the waste bags treated in the step (1.1), wherein a rotary bag breaking knife arranged in a bag breaking device is enough to efficiently cut plastic bags, film-shaped and paper-type wastes in the beach wastes so as to prevent other equipment from being blocked;
(1.3) screening (vibrating) the waste, wherein the aperture of the screen is 0.05m by 0.05m, so as to obtain small-sized waste (such as glass scraps, cigarette end scraps and the like) and large-sized waste (such as rubber, plastic, foam, wooden products and the like);
(1.4) sequentially carrying out crushing treatment and stirring treatment on the large-size waste obtained in the step (1.3);
(1.5) carrying out hot pressing treatment on the waste treated in the step (1.4) to prepare garbage carbon, wherein the garbage carbon can be used as fuel, active carbon as adsorbent, organic fertilizer and raw material for novel building material, and the hot pressing treatment is carried out by applying 100kg/cm under the conditions of 6MPa and 200-250 DEG C2Adding a little peach gum under the pressure of (1), pressing once every 10s, and pressing for 10 times;
(1.6) sequentially performing biodegradation and acid-base dissolution on the small-size waste obtained in the step (1.3), wherein the biodegradation liquid comprises digestive juice which is extracted from the earthworm and is rich in various digestive enzymes, the acid-base dissolution refers to that acid which corrodes plastics and rubber chippings and alkali which corrodes glass chippings are sequentially adopted to treat the biological degradation liquid, the main components of the alkali are sodium hydroxide and potassium hydroxide, and the chippings obtained after treatment can be recycled;
the beach waste in the middle compartment in the cubic structure I is treated as follows:
(2.1) screening (vibrating) the shell waste to obtain shell waste with larger particle size, wherein the aperture of the screen is 0.005m by 0.005 m;
(2.2) crushing the shell wastes;
(2.3) performing water washing treatment on the waste treated in the step (2.2), wherein the soaking time of the water washing treatment is 2 hours, the mass of water for soaking is twice of that of the waste, the purpose of water washing is to minimize pollution caused by the shell waste, and the treated shell waste can be recycled and reused and can be used as raw materials of artware, building material materials and pharmaceutical products;
the beach waste in the lowermost compartment in the cubic structure I is treated as follows:
the method comprises the steps of sequentially performing biodegradation and acid-base dissolution on wastes, wherein the biodegradation liquid comprises digestive juice which is extracted from the earthworm and is rich in a plurality of digestive enzymes, the acid-base dissolution refers to the treatment of the wastes by sequentially adopting acid for corroding plastic and rubber scraps and alkali for corroding glass scraps, the main components of the alkali are sodium hydroxide and potassium hydroxide, and the scraps obtained after the treatment can be recycled.
The garbage treatment process is matched with equipment, and the subsequent treatment efficiency of beach wastes can be fully improved through the bag breaking and sieving devices; the crushing and water washing operation is used for treating the specific shell wastes in the beach wastes, the recoverable characteristic of shells is fully utilized, the treatment process is different from the traditional high-temperature combustion, and the pollution is minimized; the beach waste is made into garbage carbon, and the beach waste is changed into renewable energy, so that the reclamation and the reduction of the beach waste are realized.
Has the advantages that:
(1) the ecological environment-friendly beach waste collection and treatment device is high in intelligent degree, capable of automatically collecting garbage and low in labor cost;
(2) the ecological environment-friendly beach waste collection and treatment device can classify the waste while collecting the waste, so that the working load of sanitation workers is reduced, the social trend of energy conservation and emission reduction is met, and the application prospect is wide.
Drawings
FIG. 1 is a schematic view of the operation of the ecological and environmental friendly beach waste collection and treatment apparatus of the present invention;
FIG. 2 is a schematic diagram of the overall structure of the intelligent beach waste robot;
FIG. 3 is a schematic view of a garbage collection bin;
FIG. 4 is a schematic view of the operation of the garbage collection bin to unload garbage;
FIG. 5 is a schematic view of the garbage collection head;
FIG. 6 is a schematic view of the body structure of the intelligent beach waste robot;
FIG. 7 is a schematic structural diagram of the intelligent garbage can;
FIG. 8 is a schematic structural diagram of a movable stage;
fig. 9 is a schematic structural view of a metal charging pile;
FIG. 10 is a flow chart illustrating the processing of waste collected in the intelligent waste bin according to the present invention;
wherein, 1-garbage collection bin, 101-infrared sensor, 102-ultrasonic sensor, 103-solar backboard, 104-position sensor I, 105-sensor for detecting garbage storage amount, 106-metal layered screen, 107-pushing plate, 108-curve slideway, 109-bottom slideway, 2-garbage collection head, 201-collection pipeline, 202-metal charging contact, 203-touch sensor, 204-internal compressor, 205-filter hole, 3-vehicle body, 301-crawler, 302-main case, 303-humidity sensor, 304-battery, 305-integrated circuit board, 3051-peripheral circuit, 3052-motor driving circuit, 3053-sensor detection circuit, 3054-intelligent chip, 4-intelligent garbage can, 401-cover plate, 402-metal spacer, 403-strip through hole, 404-WIFI communication module, 5-movable platform, 501-position sensor II, 502-position sensor III, 6-metal charging pile, 601-metal contact, 602-position sensor IV, 603-position sensor V.
Detailed Description
The following further describes the embodiments of the present invention with reference to the attached drawings.
An ecological environment-friendly beach waste collection and treatment device is shown in figure 1 and comprises a beach waste intelligent robot, an intelligent garbage can 4, a movable platform 5 and a metal charging pile 6;
the beach waste intelligent robot comprises a vehicle body 3, a garbage collection device, a driving system, a power supply and a control system, as shown in fig. 2;
the control system comprises an inductor and an intelligent chip 3054, the intelligent chip 3054 is connected with the inductor through an inductor detection circuit 3053, the intelligent chip 3054 is connected with a driving motor through a motor driving circuit 3052, the intelligent chip 3054 is connected with the garbage collection device through a peripheral circuit 3051, the motor driving circuit 3052, the inductor detection circuit 3053 and the intelligent chip 3054 are integrated on an integrated circuit board 305, the intelligent chip comprises one or more programs and one or more processors, the inductor comprises an infrared sensor 101, an ultrasonic sensor 102, a touch sensor 203, a humidity sensor 303, a position sensor I104, a position sensor II 501, a position sensor III 502, a position sensor IV 602 and a position sensor V603, the infrared sensor 101 is used for scanning the environment near the intelligent beach waste robot through a 3D vision technology and an infrared technology, acquiring relevant information of beach waste, wherein an ultrasonic sensor 102 is used for searching the beach waste in a large range through a multi-ultrasonic technology, a humidity sensor 303 is used for sensing the humidity of sand, when the humidity of the sand is sensed to exceed 10%, a processor drives an intelligent beach waste robot to leave the area, a touch sensor 203 is used for sensing an obstacle in front of a waste collection head, a position sensor I104, a position sensor II 501 and a position sensor III 502 are matched with one another to calibrate the position of the intelligent beach waste robot in the unloading process, and a position sensor IV 602 and a position sensor V603 are used for matching with the ultrasonic sensor 102 to complete the butt joint of a metal charging contact 202 and a metal contact 601;
the power supply comprises interconnected batteries 304 and solar backplane 103;
as shown in FIG. 6, the driving system is arranged below the vehicle body and used for driving the vehicle body to move, and comprises two parallel tracks 301, and the tracks 301 are provided with driving gears connected with driving motors;
a main case 302 for connecting the two tracks is arranged between the two tracks, an integrated circuit board 305 and a battery 304 are arranged in the main case 302, and a humidity sensor 303 is arranged at the bottom of the main case 302;
the garbage collection device comprises a garbage collection bin 1, a collection pipeline 201, a garbage collection head 2 and a fan for providing suction;
the garbage collection bin 1 is arranged above the main machine box 302, the specific structure of the garbage collection bin is shown in fig. 3, the garbage collection bin is a cube, the top of the garbage collection bin is provided with a solar back plate 103, two metal layered screens 106 which divide the garbage collection bin 1 into three compartments are arranged above and below the garbage collection bin, the aperture of the upper metal layered screen is 0.05m by 0.05m, the aperture of the lower metal layered screen is 0.01m by 0.01m, the infrared sensor 101 and the ultrasonic sensor 102 are arranged on the front side plate of the garbage collection bin, the bottoms of the left side wall and the right side wall of the garbage collection bin are provided with bottom slideways 109 along the crawler direction, the bottom slideways are internally provided with pushing plates 107, the pushing plates 107 are connected with pushing pieces, the pushing plates can slide back and forth along the bottom slideways under the driving of the pushing pieces, two curved slideways 108 are arranged on the left side wall and the right, under the driving of the sliding piece, the front end of the metal layered screen can slide backwards along the curve slideway 108 to dump beach wastes on the metal layered screen 106; the rear side plate of the garbage collection bin is connected with the top plate through a rotating pair, the rotating pair is connected with a rotating motor, the rear side plate can rotate around the rotating pair under the driving of the rotating motor, a position sensor I104 is installed on the rear side plate of the garbage collection bin, a sensor 105 for detecting the storage amount of garbage is installed in the garbage collection bin, when the storage amount of the garbage in the garbage collection bin reaches 3/4 of the maximum storage amount, the sensor sends information to a processor, the processor drives the intelligent beach waste robot to unload the intelligent garbage bin 4, and the operation schematic diagram of the garbage collection bin for unloading the garbage is shown in FIG. 4;
the garbage collection head 2 is arranged in front of the vehicle body and is communicated with the upper end of the garbage collection bin through a collection pipeline 201, the specific structure of the garbage collection head is shown in fig. 5, a filtering hole 205 for filtering gravel is formed in the inlet of the garbage collection head, an internal compressor 204 for compressing garbage is further arranged in the garbage collection head, and a touch sensor 203 and a metal charging contact 202 are mounted at the front part of the garbage collection head;
as shown in fig. 7, the intelligent garbage can 4 comprises a cubic structure I with an open top and an annular baffle plate located above the cubic structure I, wherein three strip-shaped through holes 403 are formed in the annular baffle plate on one side, the three strip-shaped through holes 403 correspond to the pushing plate 107 and the two metal layered screens 106 of the garbage collection bin, two layers of metal spacers 402 for dividing the cubic structure I into three compartments are arranged in the cubic structure I corresponding to the three strip-shaped through holes 403, the three compartments in the cubic structure I correspond to the three compartments in the garbage collection bin one by one, and the annular baffle plate is connected with a cover plate 401 for covering the intelligent garbage can;
a WIFI communication module 404 is arranged in the intelligent garbage can, and when the garbage storage amount in the intelligent garbage can reaches 3/4 of the maximum storage amount, the WIFI communication module sends a signal to a console to prompt relevant personnel to recycle the intelligent garbage can;
as shown in fig. 8, the movable platform 5 comprises a ramp and a horizontal unloading platform, wherein the unloading platform is located at the top end of the ramp, has the same height as the cubic structure I and is matched with the intelligent garbage can, and the ramp and the unloading platform are respectively provided with a position sensor II 501 and a position sensor III 502;
as shown in fig. 9, the metal charging pile 6 is a cylinder, and a metal contact 601 matching with the metal charging contact 202 is disposed on the cylinder, and a position sensor IV 602 and a position sensor V603 are respectively mounted at the upper end and the lower end of the metal charging pile 6.
The beach waste treatment process in the intelligent garbage can is shown in fig. 10, and specifically comprises the following steps:
the processing process of the beach waste in the compartment at the uppermost layer of the intelligent garbage can is as follows:
(1.1) carrying out magnetic absorption treatment on the waste to separate out metal in the waste, wherein the metal is recovered through melting;
(1.2) breaking the waste bag treated in the step (1.1);
(1.3) screening the waste, wherein the aperture of the screen is 0.05m by 0.05m, so as to obtain small-size waste and large-size waste;
(1.4) sequentially carrying out crushing treatment and stirring treatment on the large-size waste obtained in the step (1.3);
(1.5) carrying out hot pressing treatment on the waste treated in the step (1.4) to prepare garbage carbon, wherein the hot pressing treatment is to apply 100kg/cm under the conditions of 6MPa and 200-250 DEG C2Adding a little peach gum under the pressure of (1), pressing once every 10s, and pressing for 10 times;
(1.6) sequentially carrying out biodegradation and acid-base dissolution on the small-size waste obtained in the step (1.3), wherein the biodegradation liquid comprises digestive juice which is extracted from the earthworm body and is rich in a plurality of digestive enzymes;
the processing process of the beach waste in the compartment of the middle layer of the intelligent garbage can is as follows:
(2.1) screening the shell waste to obtain shell waste with larger particle size, wherein the aperture of the screen is 0.005m by 0.005 m;
(2.2) crushing the shell wastes;
(2.3) washing the waste treated in the step (2.2) with water, wherein the soaking time of the washing treatment is 2 hours, and the mass of water for soaking is twice of that of the waste;
the beach waste treatment process in the compartment of the lowermost layer of the intelligent garbage can is as follows:
the waste is sequentially subjected to biodegradation and acid-base dissolution, and the biodegradation liquid comprises digestive juice which is extracted from the earthworm body and is rich in a plurality of digestive enzymes.
The operation process of the ecological environment-friendly beach waste collection and treatment device is as follows:
(1) the sensor acquires position information of beach waste and surrounding environment information and transmits the position information and the surrounding environment information to the processor (intelligent chip), and the processor plans a path according to the acquired information;
(2) the processor drives the intelligent beach waste robot to move to the position of the beach waste according to the planned path information, the waste collection device is started to collect the beach waste after the intelligent beach waste robot reaches the position of the beach waste, the beach waste enters the waste collection bin through the waste collection head and the collection pipeline in the process, and the classification is finished by screening through the metal layered screen in the waste collection bin;
(3) after cleaning, driving the intelligent beach waste robot to move to the position of the intelligent garbage can, and pouring the garbage in the garbage collection bin into the intelligent garbage can after the intelligent garbage can reaches the position of the intelligent garbage can;
in the process, the inductor judges whether the beach waste is ultrahigh and is collectable garbage through a 3D vision technology, wherein the ultrahigh means that the uppermost end of the beach waste is higher than the lowermost end of the garbage collecting head and the collectable garbage is garbage with weight, volume and hardness within a certain range;
if the beach waste is ultrahigh, the processor senses the distance between the processor and the ultrahigh beach waste according to the sensor and controls the intelligent beach waste robot to bypass the beach waste;
if the beach waste is not the collectable waste, the processor closes the waste collection device;
if the beach waste is collectable waste, the processor starts the waste collecting device;
wherein, beach discarded object intelligent robot is to intelligent dustbin discharge concrete step as follows:
after searching and butting a position sensor II on a ramp of a movable platform through an infrared sensor and an ultrasonic sensor, driving the robot to turn for 180 degrees, aligning the position sensor I with the position sensor II, carrying out 'backing' operation until the robot moves to the top of the movable platform, butting a humidity sensor at the bottom of the robot with a position sensor III of an unloading platform, aligning the back of a garbage collection bin of the robot with an intelligent garbage can, driving a rotating motor, opening a rear side plate of the garbage collection bin under the driving of the rotating motor, driving a pushing piece and a sliding piece at the moment, pushing the plate to slide backwards under the driving of the pushing piece, and enabling the front ends of upper and lower metal layered screens to slide backwards along a curved slideway under the driving of the sliding piece, namely correspondingly conveying the garbage on the upper and lower metal layered screens and the pushing plate into corresponding areas of the intelligent garbage can, the unloading operation is completed.
Proved by verification, the ecological environment-friendly beach waste collection and treatment device has high intelligent degree, can automatically collect garbage and has low labor cost; the garbage can be classified while being collected, so that the workload of sanitation workers is reduced, the social trend of energy conservation and emission reduction is met, and the garbage classification method has a wide application prospect.
Although specific embodiments of the present invention have been described above, it will be appreciated by those skilled in the art that these embodiments are merely illustrative and various changes or modifications may be made without departing from the principles and spirit of the invention.

Claims (10)

1. An ecological environment-friendly beach waste collection and treatment device is characterized by comprising a beach waste intelligent robot and an intelligent garbage can;
the intelligent beach waste robot comprises a vehicle body, a waste collection device, a driving system, a power supply and a control system;
the garbage collection device comprises a garbage collection bin, a collection pipeline and a garbage collection head, wherein the garbage collection head is arranged in front of the vehicle body and is communicated with the upper end of the garbage collection bin through the collection pipeline, a plurality of layers of metal layered screens for dividing the garbage collection bin into three compartments are arranged in the garbage collection bin up and down, and the aperture of each metal layered screen is continuously reduced along with the reduction of the height;
the intelligent garbage can comprises a cubic structure I with an opening at the top and an annular baffle positioned above the cubic structure I, wherein three strip-shaped through holes are formed in the annular baffle on one side, the three strip-shaped through holes correspond to a pushing plate and two metal layered screen meshes of the garbage collection bin in position, two layers of metal spacers for dividing the cubic structure I into three compartments are arranged in the cubic structure I corresponding to the three strip-shaped through holes, the three compartments in the cubic structure I correspond to the three compartments in the garbage collection bin one by one, and the annular baffle is connected with a cover plate for covering the intelligent garbage can;
the driving system is arranged below the vehicle body, is used for driving the vehicle body to move and comprises a driving motor;
the power supply is used for providing electric energy for the garbage collection device, the driving system and the control system;
the control system comprises an inductor and an intelligent chip, the intelligent chip is connected with the inductor through an inductor detection circuit, the intelligent chip is connected with a driving motor through a motor driving circuit, and the intelligent chip is connected with the garbage collection device through a peripheral circuit;
the intelligent chip includes one or more programs and one or more processors, and when the one or more programs are executed by the processors, the intelligent beach waste robot is caused to perform the following control method:
(1) the sensor acquires position information of beach waste and surrounding environment information and transmits the position information and the surrounding environment information to the processor, and the processor plans a path according to the acquired information;
(2) the processor drives the intelligent beach waste robot to move to the position of the beach waste according to the planned path information, the waste collection device is started to collect the beach waste after the intelligent beach waste robot reaches the position of the beach waste, the beach waste enters the waste collection bin through the waste collection head and the collection pipeline in the process, and the classification is finished by screening through the metal layered screen in the waste collection bin;
(3) after cleaning, the beach discarded object intelligent robot is driven to move to the position of the intelligent garbage can, and after the position of the intelligent garbage can is reached, the discarded object in the garbage collection bin is poured into the intelligent garbage can.
2. The eco-friendly beach waste collection and treatment apparatus of claim 1, wherein the sensor determines whether the beach waste is ultra-high and whether the beach waste is collectable waste by a 3D vision technology, the ultra-high means that the uppermost end of the beach waste is higher than the lowermost end of the waste collection head, and the collectable waste is waste with weight, volume and hardness within a certain range;
if the beach waste is ultrahigh, the processor senses the distance between the processor and the ultrahigh beach waste according to the sensor and controls the intelligent beach waste robot to bypass the beach waste;
if the beach waste is not the collectable waste, the processor closes the waste collection device;
if the beach waste is collectable waste, the disposer turns on the waste collection device.
3. The ecological and environment-friendly beach waste collection and treatment device of claim 2 wherein the driving system is two parallel tracks, each track having a driving gear connected to a driving motor;
a main case connected with the two tracks is arranged between the two tracks, the garbage collection bin is arranged above the main case, and the intelligent chip, the sensor detection circuit, the motor drive circuit and the peripheral circuit are positioned in the main case;
the power supply comprises a battery and a solar backboard which are connected with each other, the solar backboard is arranged at the top of the garbage collection bin, and the battery is arranged in the main case.
4. The ecological and environment-friendly beach waste collection and treatment device of claim 3, wherein the garbage collection bin is a cube with two metal layered screens arranged above and below, wherein the upper metal layered screen has a pore size of 0.05m by 0.05m, and the lower metal layered screen has a pore size of 0.01m by 0.01 m;
the bottom of the left side wall and the bottom of the right side wall of the garbage collection bin are provided with bottom slideways along the track direction, pushing plates are arranged in the bottom slideways, the pushing plates are connected with pushing pieces, and the pushing plates can slide back and forth along the bottom slideways under the driving of the pushing pieces;
the left side wall and the right side wall are provided with curved slideways corresponding to the two layers of metal layered screens, the metal layered screens are connected with sliding pieces, and under the driving of the sliding pieces, the front ends of the metal layered screens can slide backwards along the curved slideways to dump beach wastes on the metal layered screens;
the rear side plate of the garbage collection bin is connected with the top plate through a revolute pair, the revolute pair is connected with a rotary motor, and the rear side plate can rotate around the revolute pair under the driving of the rotary motor.
5. The ecological and environment-friendly beach waste collection and treatment device of claim 4, wherein a WIFI communication module is arranged in the intelligent garbage can, and when the amount of garbage stored in the intelligent garbage can reaches 3/4 of the maximum amount of garbage stored, the WIFI communication module sends a signal to a console to prompt relevant personnel to recycle the intelligent garbage can.
6. The ecological and environment-friendly beach waste collection and treatment device of claim 5 further comprising a movable platform and a metal charging pile;
the movable platform comprises a ramp and a horizontal unloading platform, the unloading platform is positioned at the top end of the ramp and has the same height as the cubic structure I;
the metal charging pile is provided with a metal contact, and the garbage collecting head is provided with a metal charging contact matched with the metal contact.
7. The eco-friendly beach waste collection and treatment apparatus of claim 6 wherein the sensors comprise an infrared sensor, an ultrasonic sensor, a touch sensor, a humidity sensor, a position sensor I, a position sensor II, a position sensor III, a position sensor IV and a position sensor V;
infrared sensor and ultrasonic sensor install on rubbish collection storehouse front side plate, touch sensor installs at rubbish collection head front portion, humidity transducer installs in the mainframe box bottom, position sensor I, position sensor II, position sensor III, position sensor IV and position sensor V install respectively at rubbish collection storehouse rear side plate, ramp, discharge platform, metal charge upper end and lower extreme of stake.
8. The eco-friendly beach waste collection and treatment apparatus of claim 7, wherein the infrared sensor is configured to scan an environment near the beach waste intelligent robot through a 3D vision technology and an infrared technology, and acquire information related to the beach waste, the information related to the beach waste including a position of the beach waste, whether the beach waste is ultra-high and is collectable garbage;
the ultrasonic sensor is used for searching beach waste in a large range through an ultrasonic technology;
the humidity sensor is used for sensing the humidity of the sand, and when the humidity of the sand is sensed to exceed 10%, the processor drives the intelligent beach waste robot to leave the area;
the touch sensor is used for sensing an obstacle in front of the garbage collecting head;
the position sensor I, the position sensor II and the position sensor III are matched with each other to calibrate the position of the beach waste intelligent robot in the unloading process;
and the position sensor IV and the position sensor V are used for matching with the ultrasonic sensor to complete the butt joint of the metal charging contact and the metal contact.
9. The ecological and environment-friendly beach waste collection and treatment device as claimed in claim 1, wherein the garbage collection bin is provided with a sensor for detecting the amount of garbage stored therein, when the amount of garbage stored in the garbage collection bin reaches 3/4 of the maximum amount of garbage stored therein, the sensor sends a message to the processor, and the processor drives the intelligent beach waste robot to unload the intelligent garbage bin;
the garbage collection device further comprises a fan for providing suction, a filtering hole for filtering gravel is formed in the inlet of the garbage collection head, and an internal compressor for compressing garbage is further arranged on the garbage collection head.
10. The eco-friendly beach waste collection and treatment apparatus as claimed in claim 5, wherein the beach waste in the uppermost compartment of the cubic structure I is treated as follows:
(1.1) carrying out magnetic absorption treatment on the waste to separate out metal in the waste, wherein the metal is recovered through melting;
(1.2) breaking the waste bag treated in the step (1.1);
(1.3) screening the waste, wherein the aperture of the screen is 0.05m by 0.05m, so as to obtain small-size waste and large-size waste;
(1.4) sequentially carrying out crushing treatment and stirring treatment on the large-size waste obtained in the step (1.3);
(1.5) carrying out hot pressing treatment on the waste treated in the step (1.4) to prepare garbage carbon, wherein the hot pressing treatment is to apply 100kg/cm under the conditions of 6MPa and 200-250 DEG C2Adding peach gum under the pressure of (1), pressing once every 10s for 10 times;
(1.6) sequentially carrying out biodegradation and acid-base dissolution on the small-size waste obtained in the step (1.3), wherein the biodegradation liquid comprises digestive juice which is extracted from the earthworm body and is rich in a plurality of digestive enzymes;
the beach waste in the middle compartment in the cubic structure I is treated as follows:
(2.1) screening the shell waste to obtain shell waste with larger particle size, wherein the aperture of the screen is 0.005m by 0.005 m;
(2.2) crushing the shell wastes;
(2.3) washing the waste treated in the step (2.2) with water, wherein the soaking time of the washing treatment is 2 hours, and the mass of water for soaking is twice of that of the waste;
the beach waste in the lowermost compartment in the cubic structure I is treated as follows:
the waste is sequentially subjected to biodegradation and acid-base dissolution, and the biodegradation liquid comprises digestive juice which is extracted from the earthworm body and is rich in a plurality of digestive enzymes.
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