CN111572769A

CN111572769A - Coastline rubbish recovery robot

Info

Publication number: CN111572769A
Application number: CN202010413657.6A
Authority: CN
Inventors: 李东; 明平象; 李明聪
Original assignee: Wuhan City Vocational College
Current assignee: Wuhan City Vocational College
Priority date: 2020-05-15
Filing date: 2020-05-15
Publication date: 2020-08-25

Abstract

The invention relates to the field of environment-friendly equipment, in particular to a coastline garbage recycling robot which comprises an unmanned aerial vehicle, wherein the unmanned aerial vehicle comprises a machine body, a positioning system, a plurality of sensors, a storage battery and an industrial computer, wherein the positioning system, the plurality of sensors, the storage battery and the industrial computer are arranged in the machine body; according to the technical scheme, the problem that time and labor are wasted and the cost is high because the fishing vessel needs to be driven manually to salvage the floating garbage on the sea surface in the traditional technology is solved.

Description

Coastline rubbish recovery robot

Technical Field

The invention relates to the field of environment-friendly equipment, in particular to a coastline garbage recycling robot.

Background

Marine waste refers to persistent, man-made or processed solid waste in marine and coastal environments. Marine waste affects the marine landscape, threatens navigation safety, and affects the health of marine ecosystems, thereby having a negative effect on marine economy, and part of the marine waste stays on the beach, and part of the marine waste can float on the sea surface or sink to the sea bottom.

The ocean waste on the Pacific alone reaches over 300 million square kilometers, even exceeds the territorial area of India, and forms a plastic-based 'ocean waste zone' with an area as large as Texas. Without action, the ocean will not be burdened and humans will not survive.

The plastic garbage in the sea mainly has three sources, namely, the plastic garbage buried on land is flushed into the sea by storm; secondly, a minority of people in the marine industry lack environmental awareness and pour the plastic garbage into the sea; thirdly, various sea damage accidents occur, the cargo ship meets storm at sea, the containers on the deck fall into the sea, and the plastic products in the containers become sea surfers.

The result of statistics on marine garbage monitoring in 2008 shows that marine activities such as coastal activities, recreational activities, shipping, fishing and the like of human beings are main sources of beach garbage, and the marine activities account for 57% and 21% respectively; human coastal activities and recreational activities, other abandoned objects are the main sources of floating garbage on the sea surface, and account for 57% and 31% respectively.

Plastic packages such as plastic bags, plastic bottles, etc. are now replete with our lives under a "white pollution" cage, and plastic has been rated as the "worst invention" in the 20 th century by certain media in the uk. The monitoring result shows that the floating garbage on the sea surface mainly comprises plastic bags, floating wood blocks, buoys, plastic bottles and the like.

The average number of the large garbage and the extra large garbage floating on the sea surface is 0.001/hundred square meters; the average number of the small blocks and the medium blocks of the surface water body is 0.12 per hundred square meters. The statistical results of the classification of the floating garbage on the sea surface show that the quantity of the plastic garbage is the largest and accounts for 41%, and the quantities of the polystyrene plastic foam garbage and the wood garbage respectively account for 19% and 15%. The total density of the small and medium garbage on the surface water body is 2.2 g/hundred square meters, wherein the densities of the wooden garbage, the glass garbage and the plastic garbage are the highest, and are respectively 0.9 g/hundred square meters, 0.5 g/hundred square meters and 0.4 g/hundred square meters.

The marine garbage not only can cause visual pollution, but also can cause water body pollution and water quality deterioration. Every piece of plastic we consume is likely to flow into the sea. Light is ocean garbage on the Pacific ocean, which reaches 350 ten thousand square kilometers and exceeds the territorial area of India, and if no measures are taken, the ocean cannot be loaded, and human beings cannot survive.

The garbage sinking into the sea bottom is not recovered by the existing technical means of human, but the garbage floating on the sea surface can be effectively collected by the existing technical means of human, so that equipment capable of fishing the floating garbage on the sea surface is needed.

Chinese patent CN107117268B discloses a method and a system for recovering marine garbage of a heterogeneous system, wherein the system includes a multi-rotor aircraft for collecting marine environment information in a flight area, positioning marine garbage and sending the marine garbage to a ship, and a ship for communicating with the aircraft and recovering the garbage. The multi-rotor aircraft is used for monitoring above the sea, the visual field range is wide, the problems of small range and low efficiency of marine garbage in the traditional positioning and recovery method are solved, and the problem of quick cleaning of the marine garbage is effectively solved by adopting the cooperation of the multi-rotor aircraft and a ship and searching the marine garbage in a multi-level and space three-dimensional mode, so that the marine garbage collection system has important significance for protecting the marine environment.

The marine garbage search device disclosed by the patent can effectively search floating garbage on the sea surface, so that only an unmanned aerial vehicle capable of collecting garbage on the sea surface needs to be developed, particularly an unmanned aerial vehicle capable of collecting garbage near a coastline by itself, because the floating garbage near the coastline can bring visual feeling to people, cities and countries which depend on the development of the coastline tourism industry can be obviously affected, any garbage floating near the coastline or garbage which is artificially abandoned on the coastline and is drawn into the sea surface by tides should be immediately treated, and the condition that the coastline is blocked by garbage is avoided.

Chinese patent CN201910765691.7 discloses a rubbish recovery robot on water, which comprises a ship body, hull middle part symmetry is equipped with left flotation pontoon and right flotation pontoon, be connected through rubbish recovery unit between left flotation pontoon and right flotation pontoon and the hull, rubbish recovery unit includes oblique rubbish shelves pole, gyration driving lever and rubbish bin, and oblique rubbish shelves pole can block rubbish when the robot is walked on water, and rubbish is blocked the back, and the gyration driving lever is rotatory around its top, dials rubbish to the upper end along rubbish recovery unit's gyration route, and rubbish is dialled to the rubbish bin in by rubbish shelves pole. The automatic garbage stirring machine is mainly characterized in that garbage can be stirred while being recycled, the water surface is stirred when the garbage is rotated to the lower end, the reacting force of water on the rotary stirring rod can be used as a part of power for advancing of the machine, automatic garbage collection on water is achieved, manpower is saved, and garbage collection efficiency is improved.

The underwater garbage recycling robot disclosed by the patent is only suitable for a gentle water surface, collects a small amount of floating garbage in a small range, is not suitable for a wide sea surface with huge sea waves, and therefore a recycling robot which can work near a coastline, is suitable for the larger sea waves and can collect garbage in a large range is needed.

Disclosure of Invention

The invention aims to provide a coastline garbage recycling robot, and the technical scheme solves the problems that in the prior art, floating garbage on the sea surface needs to be manually driven to be salvaged in front of a salvage ship, time and labor are wasted, and the cost is high.

In order to solve the technical problems, the invention provides the following technical scheme:

the utility model provides a coastline rubbish recovery robot, including unmanned aerial vehicle, unmanned aerial vehicle is including the fuselage and install the positioning system in the fuselage inside, multiple sensor and battery, industrial computer, the wing is installed to the both sides of fuselage, the engine is all installed to the tail end of fuselage and the free end of wing, install the screw on the output shaft of engine, the inside of fuselage is provided with equipment cabin and net cabin, the net ware is received in the equipment cabin is installed, the net is installed in the cabin and is intercepted the net, the wing, the engine, receive the net ware and all be connected with industrial computer electricity.

As a preferred scheme of a coastline garbage recycling robot, the intercepting net comprises a fishing net and a plurality of counterweight balls arranged at the bottom of the fishing net, the counterweight balls are arranged at equal intervals along the length direction of the fishing net, and the working end of the net collecting device is fixedly connected with the top of the fishing net.

As a preferred scheme of the coastline garbage recycling robot, a plurality of floats are arranged at the top of the fishing net and are arranged at equal intervals along the length direction of the fishing net.

As a preferred scheme of a coastline garbage recycling robot, the tail of a machine body is provided with an opening communicated to a net cabin, the bottom of the opening is provided with a reversible cabin door and a linear driver for driving the cabin door to turn over, the cabin door comprises a door plate, a cross rod, a first hinge and a second hinge, the cross rod is fixedly arranged in the net cabin, the cross rod is positioned above the side of the opening, the first hinge is fixedly arranged on two sides of the bottom of the opening, the bottom end of the door plate is fixedly connected with the first hinge, the second hinge is fixedly arranged on two sides of the middle of the door plate, the second hinge is positioned on one side of the door plate close to the opening, the linear drivers are respectively arranged on two sides of the cabin door, and two ends of the; when the door plate is in the opening-closing state, the free end of the door plate is inclined upwards and towards the direction far away from the machine body, and when the door plate is in the opening state, the free end of the door plate is inclined downwards and towards the direction far away from the machine body.

As a preferable scheme of the coastline garbage collection robot, a storage frame is arranged at the bottom of a door plate, the storage frame is in a long strip shape bent into a C shape, the storage frame is positioned on one side of a cabin door facing a net cabin, and the opening direction of the storage frame always faces the direction of a free end of the door plate.

As a preferred scheme of a coastline garbage recycling robot, the wing comprises a main shaft, auxiliary shafts, wing parts and a first rotary driver, the wing parts are arranged on two sides of the outer portion of the body, the main shaft can be horizontally and rotatably arranged in the equipment cabin, the auxiliary shafts are fixedly arranged at two ends of the main shaft, the main shaft and the auxiliary shafts are coaxially arranged, the auxiliary shafts penetrate through a shell of the body and are fixedly connected with the wing parts, the first rotary driver is fixedly arranged in the equipment cabin, and an output shaft of the first rotary driver is in transmission connection with the main shaft.

As a preferable scheme of the coastline garbage recycling robot, the first rotary driver comprises a servo motor, a worm wheel and a worm, the worm wheel is fixedly installed on the main shaft, the worm is rotatably installed inside the equipment cabin, and the worm is meshed with the worm wheel and is in transmission connection with an output shaft of the servo motor through a rigid coupling. As a preferable scheme of the coastline garbage recycling robot, buoys with bottom surfaces below the bottom surface of the machine body are arranged on two sides of the machine body.

As a preferred scheme of a coastline rubbish recovery robot, the bottom of fuselage is provided with the universal wheel, and the universal wheel has four altogether, and four universal wheels distribute in the four corners of fuselage respectively, and the universal wheel fixed mounting is on the bottom surface of fuselage or the bottom surface of flotation pontoon.

As an optimal scheme of a coastline rubbish recovery robot, receive the net ware including the pivot, the pivot is rotatably installed inside the equipment compartment, and fixed mounting has a pair of capstan winch in the pivot, and every capstan winch all convolutes wire rope, wire rope respectively with the both ends fixed connection of interception net, the side of pivot still is provided with the second rotary actuator who is connected with the axial region transmission of pivot.

Compared with the prior art, the invention has the beneficial effects that:

the positioning system is used for sending position signals to an industrial computer, the sensor is used for sending signals such as vision, auditory signals, wind power and height to the industrial computer, the unmanned aerial vehicle can correct routes under the guidance of the positioning system and according to the feedback of the sensor so as to move, the storage battery is used for supplying power to the industrial computer, the engine and the net collector, the engine generates lift force through the propeller so that the unmanned aerial vehicle can fly, the inside of the machine body is separated into an equipment cabin and a net cabin through the partition plate, the net collector is used for collecting and releasing the intercepting net, the intercepting net is dragged at the tail of the unmanned aerial vehicle and floats on the sea surface, and the intercepting net is dragged to move through the;

the unmanned aerial vehicle has three different working states, is respectively suitable for three different working environments of sea, land and air, and the monitoring control center monitors the sea surface near the coastline in real time to detect whether floating garbage exists on the sea surface;

when the unmanned aerial vehicle is parked in a garage under a non-working state, when the monitoring control center finds that floating garbage exists on the sea surface, the monitoring control center sends a signal to the unmanned aerial vehicle, the unmanned aerial vehicle is started, the wings rotate forward to enable the engine and the propeller to face the front of the unmanned aerial vehicle, the engine drives the propeller to rotate to generate backward thrust, the unmanned aerial vehicle runs on the road surface through universal wheels, and when steering is needed, the two sides of the machine body obtain different thrusts to achieve steering by adjusting the output power of the engines on the two sides of the machine body;

when the unmanned aerial vehicle comes to the end of the road, the wings rotate upwards to enable the engine and the propeller to face the top end of the unmanned aerial vehicle, the engine drives the propeller to rotate to generate downward thrust, and the unmanned aerial vehicle vertically rises through the two ends of the wings and the engine mounted at the tail of the unmanned aerial vehicle;

after the unmanned aerial vehicle is lifted off, the wings rotate forwards to enable the engine and the propeller to generate backward thrust, and the unmanned aerial vehicle flies through buoyancy generated by the wings;

after the unmanned aerial vehicle comes to the place over the sea surface floating garbage, the linear driver drives the cabin door to be opened, the counterweight balls placed in the containing frames slide downwards under the action of gravity and fall into the sea, the counterweight balls drag the fishing net and the float to fall into the sea together, and a wide range of intercepting nets is formed;

then, the unmanned aerial vehicle flies to the front of the sea surface floating garbage, the garbage tuck net is arranged in the unmanned aerial vehicle through the intercepting net, then the unmanned aerial vehicle descends to the sea surface, the wings rotate forwards to enable the engine and the propeller to face the front of the unmanned aerial vehicle, the engine drives the propeller to rotate to generate backward thrust, the unmanned aerial vehicle sails on the sea surface through the buoy, and when steering is needed, the two sides of the fuselage are enabled to obtain different thrusts to achieve steering through adjusting the output power of the engines on the two sides of the fuselage;

when the unmanned aerial vehicle arrives at the coast, the unmanned aerial vehicle flies up again and pulls floating garbage to the coast through the intercepting net, and the unmanned aerial vehicle waits for the staff to come and handle.

The robot can automatically complete the collection process in the sea surface garbage recovery work, and the efficiency of the coastline environment-friendly cleaning work is greatly improved.

Drawings

Fig. 1 and 2 are perspective views of a shoreline garbage collection robot in two different view angles in flight according to the present invention;

FIG. 3 is a perspective view of the coastline waste recovery robot in an operational state according to the present invention;

FIG. 4 is a side view of the coastline waste recovery robot in an operational state according to the present invention;

FIG. 5 is a rear view of the operation state of the coastline garbage collection robot according to the present invention;

FIG. 6 is an enlarged view of a portion of FIG. 5 at A;

FIG. 7 is a sectional view taken along line B-B of FIG. 5;

FIG. 8 is an enlarged view of a portion of FIG. 7 at C;

FIG. 9 is a perspective view of a wing of a shoreline waste recovery robot in accordance with the present invention;

fig. 10 is a perspective view of a net collector of the coastline garbage collection robot according to the present invention;

the reference numbers in the figures are:

1-a fuselage; 1 a-a hatch door; 1a 1-storage frame; 1 b-linear drive; 1 c-a buoy; 1 d-universal wheel;

2-an airfoil; 2 a-a main shaft; 2 b-a secondary shaft; 2 c-a wing; 2 d-a first rotary drive; 2d 1-servomotor; 2d 2-worm gear; 2d 3-worm;

3-an engine;

4-a propeller;

5-a net collector; 5 a-a rotating shaft; 5 b-a capstan; 5 c-a steel wire rope; 5 d-a second rotary drive;

6-intercepting net; 6 a-a fishing net; 6 b-a counterweight ball; 6 c-float.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

Referring to fig. 1 to 10, the coastline garbage recycling robot comprises an unmanned aerial vehicle, the unmanned aerial vehicle comprises a body 1 and a positioning system installed inside the body 1, various sensors and storage batteries, and an industrial computer, wings 2 are installed on two sides of the body 1, an engine 3 is installed on the tail end of the body 1 and the suspended end of the wings 2, a propeller 4 is installed on an output shaft of the engine 3, an equipment cabin and a net cabin are arranged inside the body 1, a net collector 5 is installed in the equipment cabin, an interception net 6 is installed in the net cabin, and the wings 2, the engine 3 and the net collector 5 are electrically connected with the industrial computer.

The unmanned aerial vehicle is controlled remotely through a monitoring control center, the monitoring control center sends working signals to an industrial computer of the unmanned aerial vehicle when detecting floating garbage on the sea surface, a positioning system is used for sending position signals to the industrial computer, a sensor is used for sending vision, auditory signals, wind power, height and other signals to the industrial computer, so that the unmanned aerial vehicle can correct routes under the guidance of the positioning system and move according to the feedback of the sensor, a storage battery is used for supplying power to the industrial computer, an engine 3 and a net collector 5, the engine 3 generates lifting force through a propeller 4 to enable the unmanned aerial vehicle to fly, the inside of a machine body 1 is separated into an equipment cabin and a net cabin through a partition plate, the net collector 5 is used for collecting and collecting an interception net 6, the interception net 6 is hung at the tail of the unmanned aerial vehicle and floats on the sea surface, the interception net 6 is dragged to move through the movement of the unmanned aerial vehicle, and, and dragging the garbage to the shore through an unmanned aerial vehicle to wait for the processing of workers.

The interception net 6 comprises a fishing net 6a and a plurality of counterweight balls 6b arranged at the bottom of the fishing net 6a, the counterweight balls 6b are arranged at equal intervals along the length direction of the fishing net 6a, and the working end of the net collector 5 is fixedly connected with the top of the fishing net 6 a.

The density of the counterweight balls 6b is greater than that of the seawater, the net collector 5 drags the top of the fishing net 6a to prevent the fishing net from sinking on the water surface, and the counterweight balls 6b drag the bottom of the fishing net 6a downwards under the action of gravity to vertically spread the fishing net 6a on the water surface, so that the fishing net can contain floating garbage on the sea surface as many as possible.

A plurality of floats 6c are installed on the top of the fishing net 6a, and the floats 6c are arranged at equal intervals along the length direction of the fishing net 6 a.

The density of cursory 6c is less than the density of sea water, cursory 6c is used for guaranteeing that every position at fishing net 6a top all is located the sea, can not appear fishing net 6a both ends and being dragged and float in the sea by receiving net ware 5, and fishing net 6a middle part then sinks the condition of sea below, simultaneously, turn to or slow down when unmanned aerial vehicle, lead to receiving the work end of net ware 5 and the pulling power between the fishing net 6a is relaxed, cursory 6c can guarantee that fishing net 6 a's top is located the sea top.

The tail part of the fuselage 1 is provided with an opening communicated with a net cabin, the bottom of the opening is provided with a reversible cabin door 1a and a linear actuator 1b for driving the cabin door 1a to turn, the cabin door 1a comprises a door plate 1a1, a cross rod 1a2, a first hinge 1a3 and a second hinge 1a4, the cross rod 1a2 is fixedly arranged in the net cabin, a cross rod 1a2 is positioned above the side of the opening, a first hinge 1a3 is fixedly arranged on two sides of the bottom of the opening, the bottom end of the door plate 1a1 is fixedly connected with a first hinge 1a3, a second hinge 1a4 is fixedly arranged on two sides of the middle part of the door plate 1a1, a second hinge 1a4 is positioned on one surface of the door plate 1a1 close to the opening, linear actuators 1b are respectively arranged on two sides of the cabin door 1a, and two ends of the linear actuator 1b are respectively hinged with; in the state where the door panel 1a1 closes the opening, the free end of the door panel 1a1 is inclined upward and toward a direction away from the body 1, and in the state where the door panel 1a1 opens the opening, the free end of the door panel 1a1 is inclined downward and toward a direction away from the body 1.

The linear actuator 1b is an electric push rod, the linear actuator 1b extends or shortens to respectively cause the door panel 1a1 to be opened clockwise or closed anticlockwise, when the door panel 1a1 is closed, the free end of the door panel 1a1 is inclined upwards and towards the direction far away from the fuselage 1, the counterweight ball 6b is lapped at the bottom end of the door panel 1a1, when the door panel 1a1 is opened, the free end of the door panel 1a1 is inclined downwards and towards the direction far away from the fuselage 1, so that the net cabin is exposed outside, and the counterweight ball 6b can fall from the inside of the fuselage 1 towards the sea surface.

The bottom of the door panel 1a1 is provided with a storage frame 1a5, the storage frame 1a5 is bent into a C-shaped long strip shape, the storage frame 1a5 is positioned on one side of the cabin door 1a facing the net cabin, and the opening direction of the storage frame 1a5 is always towards the free end direction of the door panel 1a 1.

When the opening direction of the storage frame 1a5 is inclined upwards, the storage frame 1a5 is used for storing the counterweight balls 6b, when the linear actuator 1b drives the cabin door 1a to overturn outwards to enable the storage frame 1a5 to incline downwards, the counterweight balls 6b slide downwards along the inner wall of the cabin door 1a under the action of gravity, meanwhile, the net collector 5 releases the fixation of the fishing net 6a, the counterweight balls 6b drag the fishing net 6a to fall into the sea surface, so that net scattering is completed, the storage frame 1a5 has the function equivalent to a manipulator which performs overturning work along with the cabin door 1a, and is used for moving the counterweight balls 6b from the inside of the net cabin to the outside of the net cabin.

The wing 2 comprises a main shaft 2a, a secondary shaft 2b, wing parts 2c and a first rotary driver 2d, the wing parts 2c are arranged on two sides of the outer portion of the fuselage 1, the main shaft 2a can be horizontally and rotatably arranged in the equipment cabin, the secondary shaft 2b is fixedly arranged at two ends of the main shaft 2a, the main shaft 2a and the secondary shaft 2b are coaxially arranged, the secondary shaft 2b penetrates through a shell of the fuselage 1 and is fixedly connected with the wing parts 2c, the first rotary driver 2d is fixedly arranged in the equipment cabin, and an output shaft of the first rotary driver 2d is in transmission connection with the main shaft 2 a.

The main shaft 2a transmits the torque output by the first rotary driver 2d to the auxiliary shaft 2b, the auxiliary shaft 2b is used for installing the wing part 2c, during work, the first rotary driver 2d is used for driving the main shaft 2a to rotate, the main shaft 2a rotates to drive the auxiliary shaft 2b to rotate, the auxiliary shaft 2b rotates to drive the wing part 2c to rotate, the wing part 2c rotates to drive the engine 3 and the propeller 4 to rotate, and the engine 3 and the propeller 4 change directions to enable the unmanned aerial vehicle to take off and land vertically and fly like a normal double-wing aircraft.

The first rotary driver 2d comprises a servo motor 2d1, a worm wheel 2d2 and a worm 2d3, wherein the worm wheel 2d2 is fixedly arranged on the main shaft 2a, the worm 2d3 is rotatably arranged inside the equipment compartment, and the worm 2d3 is meshed with the worm wheel 2d2 and is in transmission connection with an output shaft of the servo motor 2d1 through a rigid coupling.

The worm 2d3 is rotatably installed on two bearing seats, the servo motor 2d1 drives the worm 2d3 to rotate and drive the worm wheel 2d2 to rotate, the worm gear pair has a high transmission ratio, so that the servo motor 2d1 can drive the bulky wing part 2c to rotate with small power, and meanwhile, the worm gear pair can be self-locked, so that when the servo motor 2d1 does not work, the wing part 2c cannot rotate by itself.

The two sides of the machine body 1 are provided with buoys 1c with bottom surfaces positioned below the bottom surface of the machine body 1.

Buoy 1c is used for providing buoyancy to fuselage 1, make unmanned aerial vehicle descend when on the sea, unmanned aerial vehicle can float on the sea through buoy 1c, when unmanned aerial vehicle floats on the sea, first rotary actuator 2d work drive main shaft 2a drives countershaft 2b, alar part 2c is rotatory forward, make the place ahead of

engine

3 and 4 levels of screw towards unmanned aerial vehicle, unmanned aerial vehicle moves ahead on the sea through the wind-force of

engine

3 and 4 backward outputs of screw, drag the string bag on the coast at the inside sea floating garbage of interception net 6, this operating condition compares in unmanned aerial vehicle flight state, can be for the unmanned aerial vehicle power saving by a wide margin, the work continuation of the journey of battery has been improved.

The bottom of fuselage 1 is provided with universal wheel 1d, and universal wheel 1d has four altogether, and four universal wheels 1d distribute in the four corners of fuselage 1 respectively, and universal wheel 1d fixed mounting is on the bottom surface of fuselage 1 or the bottom surface of flotation pontoon 1 c.

The universal wheel 1d is used for providing a supporting effect, so that the unmanned aerial vehicle can move on the ground, when the unmanned aerial vehicle lands on the ground, the unmanned aerial vehicle can run on the road surface through the universal wheel 1d, when the unmanned aerial vehicle stops on the road surface, the first rotary driver 2d works to drive the main shaft 2a to drive the auxiliary shaft 2b and the wing part 2c to rotate forwards, so that the engine 3 and the propeller 4 horizontally face the front of the unmanned aerial vehicle, the unmanned aerial vehicle moves forwards on the road surface through wind power output backwards by the engine 3 and the propeller 4, the unmanned aerial vehicle is convenient to enter and exit the hangar, compared with the flight state of the unmanned aerial vehicle, the working state can greatly save electricity for the unmanned; treat that unmanned aerial vehicle moves when the region of no road surface, unmanned aerial vehicle switches into the flight state, and first rotary actuator 2d drive main shaft 2a drives countershaft 2b and alar part 2c and makes the vertical setting up of engine 3 and screw 4, thereby unmanned aerial vehicle VTOL flies.

The net collecting device 5 comprises a rotating shaft 5a, the rotating shaft 5a is rotatably installed inside the equipment cabin, a pair of winches 5b is fixedly installed on the rotating shaft 5a, each winch 5b is wound with a steel wire rope 5c, the steel wire ropes 5c are respectively and fixedly connected with two ends of the intercepting net 6, and a second rotary driver 5d in transmission connection with the shaft portion of the rotating shaft 5a is further arranged beside the rotating shaft 5 a.

Second rotary driver 5d is including servo motor and gear pair, specifically, the gear pair is the bevel gear pair, and servo motor passes through the bevel gear pair and is connected with the middle part transmission of pivot 5a, and pivot 5a is rotatory to drive capstan winch 5b rotatory, and capstan winch 5b is rotatory to be convoluteed wire rope 5c, and wire rope 5c winds to capstan winch 5b on, and interception net 6 is dragged by wire rope 5c and is got back to in the net cabin simultaneously.

The working principle of the invention is as follows:

in a non-working state, the unmanned aerial vehicle stops in a garage, when the monitoring control center finds that floating garbage exists on the sea surface, the monitoring control center sends a signal to the unmanned aerial vehicle, the unmanned aerial vehicle is started, the wings 2 rotate forwards to enable the engines 3 and the propellers 4 to face the front of the unmanned aerial vehicle, the engines 3 drive the propellers 4 to rotate to generate backward thrust, the unmanned aerial vehicle runs on the road surface through the universal wheels 1d, and when steering is needed, different thrusts are obtained on two sides of the fuselage 1 by adjusting the output power of the engines 3 on the two sides of the fuselage 1 to realize steering;

when the unmanned aerial vehicle comes to the end of the road, the wings 2 rotate upwards to enable the engines 3 and the propellers 4 to face the top end of the unmanned aerial vehicle, the engines 3 drive the propellers 4 to rotate to generate downward thrust, and the unmanned aerial vehicle vertically rises through the two ends of the wings 2 and the engines 3 arranged at the tail of the unmanned aerial vehicle;

after the unmanned aerial vehicle is lifted off, the wings 2 rotate forwards to enable the engine 3 and the propeller 4 to generate backward thrust, and the unmanned aerial vehicle flies through buoyancy generated by the wings 2;

after the unmanned aerial vehicle comes to the sky above the sea surface where garbage floats, the linear driver 1b drives the cabin door 1a to be opened, the counterweight ball 6b placed in the containing frame 1a5 slides downwards under the action of gravity and falls into the sea, the counterweight ball 6b drags the fishing net 6a and the float 6c to fall into the sea together, and a wide-range intercepting net is formed;

then, the unmanned aerial vehicle flies to the front of the sea surface floating garbage, the garbage tuck net is arranged inside through the intercepting net 6, then the unmanned aerial vehicle descends to the sea surface, the wings 2 rotate forwards to enable the engines 3 and the propellers 4 to face the front of the unmanned aerial vehicle, the engines 3 drive the propellers 4 to rotate to generate backward thrust, the unmanned aerial vehicle sails on the sea surface through the buoy 1c, and when steering is needed, the two sides of the airframe 1 obtain different thrusts to achieve steering;

when the unmanned aerial vehicle arrives at the coast, the unmanned aerial vehicle flies up again and pulls floating garbage to the coast through the interception net 6 to wait for the staff to come and handle.

Claims

1. A coastline garbage recycling robot comprises an unmanned aerial vehicle, wherein the unmanned aerial vehicle comprises a machine body (1), a positioning system, a plurality of sensors, a storage battery and an industrial computer, wherein the positioning system, the various sensors, the storage battery and the industrial computer are installed inside the machine body (1); the novel airplane is characterized in that wings (2) are installed on two sides of a fuselage (1), an engine (3) is installed on the tail end of the fuselage (1) and the suspension end of the wings (2), a propeller (4) is installed on an output shaft of the engine (3), an equipment cabin and a net cabin are arranged inside the fuselage (1), a net collector (5) is installed in the equipment cabin, an interception net (6) is installed in the net cabin, and the wings (2), the engine (3) and the net collector (5) are all electrically connected with an industrial computer.

2. The coastline garbage collection robot according to claim 1, wherein the intercepting net (6) comprises a fishing net (6a) and a plurality of weight balls (6b) installed at the bottom of the fishing net (6a), the weight balls (6b) are arranged at equal intervals along the length direction of the fishing net (6a), and the working end of the net collector (5) is fixedly connected with the top of the fishing net (6 a).

3. The coastline garbage collection robot according to claim 2, wherein a plurality of floats (6c) are installed on the top of the fishing net (6a), and the floats (6c) are arranged at equal intervals along the length direction of the fishing net (6 a).

4. The coastline garbage recycling robot according to claim 3, wherein the tail of the body (1) is provided with an opening communicated to the net cabin, the bottom of the opening is provided with a reversible cabin door (1a) and a linear actuator (1b) for driving the cabin door (1a) to turn, the cabin door (1a) comprises a door panel (1a1), a cross bar (1a2), a first hinge (1a3) and a second hinge (1a4), the cross bar (1a2) is fixedly arranged in the net cabin, the cross bar (1a2) is arranged above the side of the opening, the first hinge (1a3) is fixedly arranged on two sides of the bottom of the opening, the bottom end of the door panel (1a1) is fixedly connected with the first hinge (1a3), the second hinge (1a4) is fixedly arranged on two sides of the middle of the door panel (1a1), the second hinge (1a4) is arranged on one side of the door panel (1a1) close to the opening, and the linear actuator (1b) is respectively arranged on two sides of the door panel (1, two ends of the linear driver (1b) are respectively hinged with the cross bar (1a2) and the second hinge (1a 4); in the state that the door panel (1a1) closes the opening, the free end of the door panel (1a1) inclines upwards and towards the direction far away from the machine body (1), and in the state that the door panel (1a1) opens the opening, the free end of the door panel (1a1) inclines downwards and towards the direction far away from the machine body (1).

5. The coastline garbage collection robot according to claim 4, wherein a storage frame (1a5) is provided at a bottom of the door panel (1a1), the storage frame (1a5) is a long strip bent into a C-shape, the storage frame (1a5) is located on a side of the hatch door (1a) facing the net cabin, and an opening direction of the storage frame (1a5) always faces a free end direction of the door panel (1a 1).

6. The coastline garbage recycling robot according to claim 1, wherein the wing (2) comprises a main shaft (2a), a secondary shaft (2b), an airfoil (2c) and a first rotary driver (2d), the airfoil (2c) is arranged on two sides of the outside of the body (1), the main shaft (2a) is horizontally and rotatably arranged inside the equipment compartment, the secondary shaft (2b) is fixedly arranged at two ends of the main shaft (2a), the main shaft (2a) and the secondary shaft (2b) are coaxially arranged, the secondary shaft (2b) penetrates through a shell of the body (1) and is fixedly connected with the airfoil (2c), the first rotary driver (2d) is fixedly arranged inside the equipment compartment, and an output shaft of the first rotary driver (2d) is in transmission connection with the main shaft (2 a).

7. The coastline garbage collection robot according to claim 6, wherein the first rotary driver (2d) comprises a servo motor (2d1), a worm wheel (2d2) and a worm (2d3), the worm wheel (2d2) is fixedly installed on the main shaft (2a), the worm (2d3) is rotatably installed inside the equipment compartment, and the worm (2d3) is meshed with the worm wheel (2d2) and is in transmission connection with an output shaft of the servo motor (2d1) through a rigid coupling.

8. The coastline garbage collection robot according to claim 7, wherein the both sides of the body (1) are provided with buoys (1c) having bottom surfaces below the bottom surface of the body (1).

9. The coastline garbage collection robot according to claim 8, wherein the bottom of the body (1) is provided with four universal wheels (1d), the four universal wheels (1d) are distributed at four corners of the body (1), and the universal wheels (1d) are fixedly mounted on the bottom surface of the body (1) or the bottom surface of the buoy (1 c).

10. The coastline garbage recycling robot as claimed in claim 1, wherein the net collector (5) comprises a rotating shaft (5a), the rotating shaft (5a) is rotatably installed inside the equipment compartment, a pair of winches (5b) is fixedly installed on the rotating shaft (5a), each winch (5b) is wound with a steel wire rope (5c), the steel wire ropes (5c) are respectively and fixedly connected with two ends of the intercepting net (6), and a second rotary driver (5d) in transmission connection with a shaft part of the rotating shaft (5a) is further arranged beside the rotating shaft (5 a).