CN111483722A - Garbage cleaning unmanned aerial vehicle based on garbage classification - Google Patents

Garbage cleaning unmanned aerial vehicle based on garbage classification Download PDF

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Publication number
CN111483722A
CN111483722A CN202010360300.6A CN202010360300A CN111483722A CN 111483722 A CN111483722 A CN 111483722A CN 202010360300 A CN202010360300 A CN 202010360300A CN 111483722 A CN111483722 A CN 111483722A
Authority
CN
China
Prior art keywords
garbage
dustbin
arm
unmanned aerial
aerial vehicle
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202010360300.6A
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Chinese (zh)
Inventor
李金惠
赵娜娜
任慧清
吕溥
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Research Institute For Environmental Innovation (suzhou) Tsinghua
Tsinghua University
Original Assignee
Research Institute For Environmental Innovation (suzhou) Tsinghua
Tsinghua University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Research Institute For Environmental Innovation (suzhou) Tsinghua, Tsinghua University filed Critical Research Institute For Environmental Innovation (suzhou) Tsinghua
Priority to CN202010360300.6A priority Critical patent/CN111483722A/en
Publication of CN111483722A publication Critical patent/CN111483722A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65FGATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
    • B65F1/00Refuse receptacles; Accessories therefor
    • B65F1/0033Refuse receptacles; Accessories therefor specially adapted for segregated refuse collecting, e.g. receptacles with several compartments; Combination of receptacles
    • B65F1/0053Combination of several receptacles
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C27/00Rotorcraft; Rotors peculiar thereto
    • B64C27/04Helicopters
    • B64C27/08Helicopters with two or more rotors
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64DEQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D1/00Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
    • B64D1/22Taking-up articles from earth's surface
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64DEQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00Equipment not otherwise provided for
    • B64D47/08Arrangements of cameras
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64DEQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D9/00Equipment for handling freight; Equipment for facilitating passenger embarkation or the like
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64UUNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00Type of UAV
    • B64U10/10Rotorcrafts
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65FGATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
    • B65F1/00Refuse receptacles; Accessories therefor
    • B65F1/10Refuse receptacles; Accessories therefor with refuse filling means, e.g. air-locks
    • B65F1/105Refuse receptacles; Accessories therefor with refuse filling means, e.g. air-locks the filling means being pneumatic, e.g. using suction
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65FGATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
    • B65F1/00Refuse receptacles; Accessories therefor
    • B65F1/14Other constructional features; Accessories
    • B65F1/1405Compressing means incorporated in, or specially adapted for, refuse receptacles
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64UUNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00UAVs specially adapted for particular uses or applications
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65FGATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
    • B65F2210/00Equipment of refuse receptacles
    • B65F2210/162Pressing means
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65FGATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
    • B65F2210/00Equipment of refuse receptacles
    • B65F2210/176Sorting means

Abstract

The invention discloses a garbage sorting-based garbage cleaning unmanned aerial vehicle, which comprises a propeller, a control room, a camera and a garbage can arranged below the control room, wherein the garbage can comprises a dry garbage can, a wet garbage can and a recyclable garbage can, vacuum suction devices are arranged in the dry garbage can and the wet garbage can and are connected with a garbage suction pipe extending out of the dry garbage can and the wet garbage can, the recyclable garbage can comprises a garbage input opening, a mechanical arm and a mechanical claw, the mechanical claw is arranged below the garbage input opening, and can move to the garbage input opening to place garbage into the recyclable garbage can by matching with the mechanical arm. The garbage picking machine can classify garbage when picking up garbage, different picking modes are designed according to the characteristics of different garbage, the picking efficiency and the picking success rate are high, and secondary pollution is effectively prevented. Meanwhile, the vacuum suction device can be larger in size and higher in power, and can directly suck garbage into the dry garbage can and the wet garbage can.

Description

Garbage cleaning unmanned aerial vehicle based on garbage classification
Technical Field
The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to a garbage cleaning unmanned aerial vehicle.
Background
Due to the rapid development of society, the living standard of people is gradually improved, the living pressure is also gradually increased, the traveling at home becomes a good decompression mode for people, and the mountain climbing becomes the most popular mode for traveling for people. It has been reported that some civilized tourists discard peel scraps, food packaging bags and plastic bottles on the roadside or even on the cliff during mountaineering, and the task of picking up such garbage is given to "spiders" on the cliff. This operation is not only very dangerous and inefficient, but also does not complete the waste sorting work.
Patent CN107881980A discloses a collect garbage bin in unmanned aerial vehicle that picks up of an organic whole. This unmanned aerial vehicle includes screw, control room, dustbin, robotic arm subassembly and gripper. The control room sets up in the screw below, and the dustbin is fixed in the control room bottom, and the robotic arm subassembly is fixed in the dustbin below, and the gripper sets up in the robotic arm subassembly below. The dustbin is for dismantling the dustbin, can be under the condition that dustbin and unmanned aerial vehicle unseparated, carries out the collection processing work to the rubbish of picking up. This unmanned aerial vehicle has solved the great and dangerous problem of the clearance intermountain rubbish degree of difficulty, sets up the dustbin in the unmanned aerial vehicle below, makes this unmanned aerial vehicle realize picking up many times of unmanned aerial vehicle rubbish in the same flying distance. Meanwhile, the vacuum suction device is arranged at the bottom of the mechanical arm, so that garbage with light weight and large area, such as garbage bags, can be effectively adsorbed.
This unmanned aerial vehicle both can pick up and get heavier solid article, also can pick up and get the rubbish that the disposal bag is lighter, but pick up the back and all unify to place in a dustbin, can't realize waste classification, be not conform to the modern requirement categorised when to refuse treatment, the rubbish of collection still need carry out classification work when subsequent processing. Simultaneously, vacuum getter device fixes in the arm bottom, and volume and power all receive the restriction, can only play supplementary absorbent effect, and to some neither the gripper of being convenient for snatch heavy rubbish again, gripper and vacuum getter device can't function all, make this unmanned aerial vehicle receive the restriction in using.
Disclosure of Invention
The invention aims to solve the technical problem of providing an unmanned aerial vehicle for picking up garbage in scenic spots and mountainous areas, which can pick up and store garbage in a classified manner according to the classification modes of dry garbage, wet garbage and recyclable garbage.
In order to solve the technical problems, the invention is realized by the following technical scheme: the utility model provides a rubbish clearance unmanned aerial vehicle based on waste classification, including the screw, the control room, the camera with locate the dustbin of control room below, the dustbin is including doing the dustbin, wet dustbin and recoverable dustbin, it all is equipped with the vacuum getter device in dustbin and the wet dustbin futilely, the vacuum getter device links to each other with the rubbish straw that extends to outside dry dustbin and the wet dustbin, recoverable dustbin includes rubbish input and locates the arm and the gripper of rubbish input below, the gripper cooperation arm is movable to rubbish input and puts into in the recoverable dustbin with rubbish.
Furthermore, the camera is arranged on one side of the control room, and the mechanical arm, the mechanical claw, the garbage throwing-in opening and the garbage suction pipe are arranged on one side of the garbage can corresponding to the camera.
Furthermore, the dustbin is provided with an openable and closable garbage outlet at the side opposite to the camera.
Furthermore, the garbage suction pipe comprises a telescopic hose connected with the garbage can and a main suction pipe arranged at the end part of the telescopic hose.
Furthermore, the power of the vacuum suction devices in the dry garbage bin and the wet garbage bin are respectively and independently set.
Further, the vacuum suction device comprises a motor, a dust filter bag and a filter disc.
Furthermore, the dry dustbin and the wet dustbin are positioned at two sides of the recoverable dustbin, and the side surfaces of the dry dustbin and the wet dustbin are provided with air outlet pipes.
Furthermore, a compressing device is arranged in the recyclable garbage can and comprises a propelling device and a puncturing device.
Further, the puncturing device comprises a pogo pin.
Further, the arm includes the base, brushless motor A, first arm, the second arm, brushless motor B, the third arm, the surface at the dustbin is fixed to the base, the base links to each other with first arm, the centre is provided with brushless motor A, brushless motor A can be 360 rotatory in vertical direction, the second arm links to each other with first arm is perpendicular, the second arm is connected through horizontal pivot with the third arm, set up brushless motor B in the middle of horizontal pivot, brushless motor B can be 360 rotatory in the horizontal direction, the third arm links to each other with the gripper, be provided with brushless motor C between the two, brushless motor C can be rotatory in vertical direction.
The garbage picking machine has the beneficial effects that the garbage picking machine can classify garbage when picking up garbage, different picking modes are designed according to the characteristics of different garbage, the picking efficiency and the success rate are high, and secondary pollution is effectively prevented. Meanwhile, the vacuum suction device is arranged inside the dry garbage can and the wet garbage can, so that the vacuum suction device with larger volume and higher power can be adopted, and garbage can be directly sucked into the dry garbage can and the wet garbage can.
Drawings
Fig. 1 is a schematic structural diagram according to an embodiment of the present invention.
Detailed Description
The invention is described in detail below with reference to the following figures and embodiments:
as shown in fig. 1, a rubbish clearance unmanned aerial vehicle based on waste classification, including screw 1, control room 3, camera 2 and the dustbin of locating control room 3 below, the dustbin includes dry dustbin 4, wet dustbin 5 and recoverable dustbin 6, all be equipped with the vacuum getter device in dry dustbin 4 and the wet dustbin 5, the vacuum getter device links to each other with the rubbish straw that extends to outside dry dustbin 4 and the wet dustbin 5, recoverable dustbin 6 includes rubbish input mouth and locates arm 10 and gripper 11 of rubbish input mouth below, gripper 11 cooperates arm 10 movable to rubbish input mouth and puts into recoverable dustbin 6 with rubbish.
According to the invention, a dry garbage can 4, a wet garbage can 5 and a recyclable garbage can 6 are respectively arranged according to the standards of dry garbage, wet garbage and recyclable garbage, and garbage is picked up in scenic spots and mountainous areas. Because the application scene is limited to the scenic spot mountain area, the garbage types are relatively fixed, and the classification standard has practicability. The dry dustbin 4 and the wet dustbin 5 are respectively provided with a vacuum suction device, and dry garbage and wet garbage are respectively sucked into the dry dustbin 4 and the wet dustbin 5 through a garbage suction pipe by utilizing negative pressure. The dry garbage in scenic spots is paper towels and food packaging bags, and the dry garbage is light in weight and can be conveniently sucked into the dry garbage can 4 through the vacuum suction device. Common wet rubbish in scenic spot is peel, stone and by extravagant food, and the manipulator is difficult to snatch, inhales wet dustbin 5 through the vacuum getter device and realizes more easily in. The recyclable garbage includes plastic bottles, pop cans and other packing materials, and is suitable for being grabbed by the mechanical claw 10 and then placed into the recyclable garbage can 6. The mechanical claw 10 and the mechanical arm 11 are matched to realize high-degree-of-freedom movement, so that garbage can be conveniently grabbed and put into the recyclable garbage can 6 from a garbage throwing-in opening.
Therefore, the garbage picking machine can classify garbage when picking up garbage, different picking modes are designed according to the characteristics of different garbage, the picking efficiency and the success rate are high, and secondary pollution is effectively prevented.
Meanwhile, the vacuum suction device is arranged inside the dry garbage can 4 and the wet garbage can 5, so that the vacuum suction device with larger volume and higher power can be adopted, and garbage can be directly sucked into the dry garbage can 4 and the wet garbage can 5.
In this embodiment, camera 2 is located 3 one sides of control room, and one side that dustbin and camera 2 correspond is located to arm 10, gripper 11, rubbish input mouth and rubbish straw, makes things convenient for the operator to operate accurately and picks up rubbish. The dustbin is provided with a openable and closable garbage outlet at the side opposite to the camera 2 for dumping garbage.
In this embodiment the waste suction pipe comprises a flexible hose 8 connected to the waste bin and a main suction pipe 9 provided at the end of the flexible hose 8. To the rubbish that weight is heavier, main straw 9 can not be separated the certain distance and absorb, accessible operation unmanned aerial vehicle descends this moment, makes main straw 9 cover rubbish, forms one and is more for inclosed space, can strengthen the suction. In the process, the flexible connection between the main suction pipe 9 and the garbage can is realized by the flexible hose 8, so that the main suction pipe 9 can better cover the garbage.
The power of the vacuum suction devices in the dry waste bin 4 and the wet waste bin 5 are set independently of each other. Dry rubbish often is lighter rubbish such as paper handkerchief, food package bag in the scenic spot, and the vacuum getter device in the dry dustbin 4 can set up less power, and is not only more energy-conserving, can also select the vacuum getter device that the volume is littleer, increases rubbish storage space. Whereas wet waste tends to be heavier, the vacuum suction in the wet waste bin 5 can be set at a higher power for better suction of the waste.
In a preferred embodiment, the vacuum suction device includes a motor, a dust filter bag, and a filter sheet. The motor rotates at a high speed to enable the garbage can to generate a certain vacuum, garbage enters the dust filtering bag in the garbage can through the telescopic hose 8 and the main suction pipe 9, the garbage is left in the dust filtering bag, and filtered air enters the motor through the filter disc and flows out.
In a preferred embodiment, the dry trash bin 4 and the wet trash bin 5 are located on both sides of the recyclable trash bin 6, and the dry trash bin 4 and the wet trash bin 5 are provided with air outlet pipes on the sides thereof, and the air flow generated by the vacuum suction device flows out of the air outlet pipes and can be used for cleaning fallen leaves on the cliff.
In a preferred embodiment, the recyclable waste bin 6 is provided with a compacting means 7, the compacting means 7 comprising a pushing means and a puncturing means comprising a pogo pin. Because recoverable rubbish in the scenic spot is mostly packing materials such as easy open can, plastic bottle, consequently, put into recoverable dustbin 6 with this type of packing material after, can also start compressor arrangement 7, advancing device extrudees the packing material, reduces the space that the packing material occupy, promotes the storage capacity of dustbin. The puncture device can puncture some sealed plastic bottles for compression, the spring needle is used as the puncture device, and when garbage which cannot be punctured is encountered, the spring needle is contracted into the propelling device under pressure, so that damage is avoided.
In a preferred embodiment, the mechanical arm comprises a base, a brushless motor A, a first mechanical arm, a second mechanical arm, a brushless motor B and a third mechanical arm, wherein the base is fixed on the surface of the garbage can, the base is connected with the first mechanical arm, the brushless motor A is arranged in the middle of the base, the brushless motor A can rotate for 360 degrees in the vertical direction, the second mechanical arm is vertically connected with the first mechanical arm, the second mechanical arm is connected with the third mechanical arm through a transverse rotating shaft, the brushless motor B is arranged in the middle of the transverse rotating shaft, the brushless motor B can rotate for 360 degrees in the horizontal direction, the third mechanical arm is connected with a mechanical claw, a brushless motor C is arranged in the middle of the third mechanical arm, and the brushless motor C can rotate in the vertical direction so that the picked garbage can enter the garbage can through an inlet of. The mechanical arm mechanism is only a specific structure which can be adopted by a mechanical arm.
Unmanned aerial vehicle's control room 3 sets up in the below of screw 1, including the battery in the control room 3, the camera 2 and the GPS system that are connected with the battery.
It is to be emphasized that: the above embodiments are only preferred embodiments of the present invention, and are not intended to limit the present invention in any way, and all simple modifications, equivalent changes and modifications made to the above embodiments according to the technical spirit of the present invention are within the scope of the technical solution of the present invention.

Claims (10)

1. The utility model provides a rubbish clearance unmanned aerial vehicle based on waste classification, includes screw, control room, camera and locates the dustbin of control room below, its characterized in that: the dustbin includes dry dustbin, wet dustbin and recoverable dustbin, dry dustbin and wet dustbin in all be equipped with the vacuum getter device, the vacuum getter device links to each other with the rubbish straw that extends to dry dustbin and wet dustbin outside, recoverable dustbin includes that rubbish is thrown into the mouth and is located the outer arm and the gripper of rubbish throwing into mouth below, and the gripper cooperation arm is movable to rubbish throwing into the mouth and puts into recoverable dustbin with rubbish.
2. The garbage sorting-based garbage cleaning unmanned aerial vehicle according to claim 1, wherein: the camera is arranged on one side of the control room, and the mechanical arm, the mechanical claw, the garbage throwing-in opening and the garbage suction pipe are arranged on one side of the garbage can corresponding to the camera.
3. The garbage sorting-based garbage cleaning unmanned aerial vehicle according to claim 2, wherein: the dustbin is provided with a openable garbage outlet at one side opposite to the camera.
4. The garbage sorting-based garbage cleaning unmanned aerial vehicle according to claim 1, wherein: the garbage suction pipe comprises a telescopic hose connected with the garbage can and a main suction pipe arranged at the end part of the telescopic hose.
5. The garbage sorting-based garbage cleaning unmanned aerial vehicle according to claim 1, wherein: the power of the vacuum suction devices in the dry garbage can and the wet garbage can are respectively and independently set.
6. The garbage sorting-based garbage cleaning unmanned aerial vehicle according to claim 1, wherein: the vacuum suction device comprises a motor, a dust filter bag and a filter disc.
7. The garbage sorting-based garbage cleaning unmanned aerial vehicle according to claim 1, wherein: the dry dustbin and the wet dustbin are positioned at two sides of the recoverable dustbin, and the side surfaces of the dry dustbin and the wet dustbin are provided with air outlet pipes.
8. The garbage sorting-based garbage cleaning unmanned aerial vehicle according to claim 1, wherein: the recyclable dustbin is internally provided with a compression device, and the compression device comprises a propelling device and a puncturing device.
9. The garbage-classification-based garbage cleaning unmanned aerial vehicle according to claim 8, characterized in that: the puncturing device comprises a pogo pin.
10. The garbage sorting-based garbage cleaning unmanned aerial vehicle according to claim 1, wherein: the arm includes the base, brushless motor A, first arm, the second arm, brushless motor B, the third arm, the surface at the dustbin is fixed to the base, the base links to each other with first arm, the centre is provided with brushless motor A, brushless motor A can be 360 rotatory in vertical direction, the second arm links to each other with first arm is perpendicular, the second arm is connected through horizontal pivot with the third arm, set up brushless motor B in the middle of horizontal pivot, brushless motor B can be 360 rotatory in the horizontal direction, the third arm links to each other with the gripper, be provided with brushless motor C between the two, brushless motor C can be rotatory in vertical direction.
CN202010360300.6A 2020-04-30 2020-04-30 Garbage cleaning unmanned aerial vehicle based on garbage classification Pending CN111483722A (en)

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Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106436618A (en) * 2016-08-30 2017-02-22 中建路桥集团有限公司 Trash cleaner for roadside slopes and ditches
CN107100124A (en) * 2017-04-28 2017-08-29 苏州亮磊知识产权运营有限公司 The Intelligent road purging system and control method of lifting drive are provided using unmanned plane
DE102016103375A1 (en) * 2016-02-25 2017-08-31 Airbus Operations Gmbh Trolley and system for collecting waste in a vehicle
CN107881980A (en) * 2017-12-14 2018-04-06 郑州启硕电子科技有限公司 A kind of rubbish pickup unmanned plane for integrating dustbin
CN107902079A (en) * 2017-12-14 2018-04-13 郑州启硕电子科技有限公司 A kind of unmanned plane that rubbish is picked up on Yushan Hill
CN108005006A (en) * 2017-12-31 2018-05-08 湖北国苗特种车辆制造有限公司 Vacuum dust collecting truck with double rubbish suction ports
CN109808102A (en) * 2019-04-01 2019-05-28 河南科技大学 A kind of plastic bottle horizontal type punctures compression mechanism and plastic bottle punctures pressure recovery machine
KR102087091B1 (en) * 2019-06-25 2020-03-10 노원일 System for collecting garbage using drone

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102016103375A1 (en) * 2016-02-25 2017-08-31 Airbus Operations Gmbh Trolley and system for collecting waste in a vehicle
CN106436618A (en) * 2016-08-30 2017-02-22 中建路桥集团有限公司 Trash cleaner for roadside slopes and ditches
CN107100124A (en) * 2017-04-28 2017-08-29 苏州亮磊知识产权运营有限公司 The Intelligent road purging system and control method of lifting drive are provided using unmanned plane
CN107881980A (en) * 2017-12-14 2018-04-06 郑州启硕电子科技有限公司 A kind of rubbish pickup unmanned plane for integrating dustbin
CN107902079A (en) * 2017-12-14 2018-04-13 郑州启硕电子科技有限公司 A kind of unmanned plane that rubbish is picked up on Yushan Hill
CN108005006A (en) * 2017-12-31 2018-05-08 湖北国苗特种车辆制造有限公司 Vacuum dust collecting truck with double rubbish suction ports
CN109808102A (en) * 2019-04-01 2019-05-28 河南科技大学 A kind of plastic bottle horizontal type punctures compression mechanism and plastic bottle punctures pressure recovery machine
KR102087091B1 (en) * 2019-06-25 2020-03-10 노원일 System for collecting garbage using drone

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Application publication date: 20200804