CN112249324A

CN112249324A - Garbage picking robot device facing high-risk scenic spot and working method

Info

Publication number: CN112249324A
Application number: CN202011241231.3A
Authority: CN
Inventors: 王嘉炜; 薛竹筠; 赵跃鹏; 吴起乐; 王天一; 刘燕娜
Original assignee: Zhejiang University of Technology ZJUT
Current assignee: Zhejiang University of Technology ZJUT; Zhejiang Sci Tech University ZSTU; Zhejiang University of Science and Technology ZUST
Priority date: 2020-11-09
Filing date: 2020-11-09
Publication date: 2021-01-22

Abstract

The invention discloses a garbage picking robot device facing a high-risk scenic spot and a working method, and belongs to the technical field of unmanned aerial vehicles. The aircraft mainly comprises a flight control system, a rotor wing protection device, a garbage collection device, a mechanical arm, a four-rotor wing device and a camera. The camera and the garbage collection device are respectively arranged at the left side and the right side of the four-rotor device. The arm module is installed in four rotor device bottoms, and four rotor device fixed mounting are in rotor protection device below. The control system comprises a flight control system, a mainboard, a battery module, a positioning module, a wireless image transmission module and a motor driving module. Unmanned aerial vehicle flight in-process carries out feature extraction and target detection to target rubbish through the mainboard, later sends its coordinate to the arm module, cooperates laser rangefinder to realize that the arm module accurately snatchs target rubbish. The garbage cleaning device is simple and compact in structure, low in cost, high in practicability, suitable for being used in various places, and particularly suitable for garbage cleaning in high-risk scenic spots.

Description

Garbage picking robot device facing high-risk scenic spot and working method

Technical Field

The invention relates to the technical field of unmanned aerial vehicles, in particular to a garbage picking robot device facing a high-risk scenic spot and a working method.

Background

In recent years, the tourism industry has been vigorously developed. At leisure time, people choose to visit sceneries and experience life. However, as more visitors increase, the environmental pressure in these scenic spots also increases. More and more garbage appears in scenic spots, and the workload of sanitary cleaning workers in the scenic spots is greatly increased. Some mountain areas scenic spots and high-risk tourist attractions, because of rugged topography or other reasons, the difficulty of cleaning garbage in the places rises straightly, and even workers cannot go forward to clean the garbage, so that the scenic area environment gradually becomes worse.

The clearance mode in present high-risk scenic spot is various: according to investigation, scenic spot cleaners often tie safety ropes and wear safety helmets to work on cliffs at cliff cliffs such as pall ridges, east peaks and west peaks of the Huashan mountain, and various wastes left by tourists are treated and cleaned. Firstly, the method is very labor-consuming, secondly, the working risk is very high, and the safety of the working personnel cannot be completely guaranteed.

In order to improve the defects, the invention designs the garbage picking robot facing the high-risk scenic spot. The flexibility of rubbish clearance is improved through the flight of four rotors, adopts high definition digtal camera discernment, and in rubbish collection storehouse was placed to cooperation arm and sucking disc for scenic spot rubbish clearance is intelligent more, the security.

Disclosure of Invention

Aiming at the situation, in order to overcome the defects of the prior art, the invention provides a garbage picking robot facing a high-risk scenic spot and a working method, which can effectively solve the problem that the garbage in the high-risk scenic spot is difficult to clean in the regions with high danger coefficients such as steep slopes, cliffs, low valleys and the like.

In order to achieve the purpose, the invention adopts the following technical scheme:

a robot device for picking up garbage facing a high-risk scenic spot comprises a four-rotor device, a rotor protection device, a camera, a mechanical arm module, a garbage collection device, a wireless image transmission module and a mainboard; the four-rotor wing device is fixedly arranged below the inner side of the rotor wing protection device, the mainboard and the wireless image transmission module are arranged on the four-rotor wing device, and the wireless image transmission module is in wireless communication with the ground receiver; the camera and the garbage collection device are respectively arranged on two sides of the bottom of the four-rotor device, and the mechanical arm module is arranged right below the bottom of the four-rotor device; the wireless image transmission module, the camera and the mechanical arm module are all in communication connection with the mainboard;

the four-rotor device comprises a cross mounting frame, a bottom bracket, a flight control system, a battery module, four pairs of rotors and motors thereof; the bottom support and the cross-shaped mounting frame are connected to form a main body structure, and the flight control system and the battery module are installed on the main body structure; the four pairs of rotors and motors thereof are respectively arranged at the four end parts of the cross-shaped mounting frame, each pair of rotors consists of two blades, and the blades are connected with the power output end of the motor; the flight control system is in communication connection with the main board and comprises a flight main control module, a positioning module and a motor driving module; the motor driving module is connected with the control end of the motor, and the flight main control module is in wireless communication with the ground receiver;

the camera is fixed on one side of the bottom of the cross-shaped mounting rack through a support tripod head, and the support tripod head is provided with a horizontal steering engine and a vertical steering engine;

the mechanical arm module is positioned on the inner side of the bottom support and comprises a self-stabilizing cradle head, a mechanical arm and a suction pickup assembly; the upper end of the mechanical arm is connected to the central position of the bottom of the cross-shaped mounting rack through a self-stabilizing cradle head, and the lower end of the mechanical arm is connected with the suction pickup assembly; the mechanical arm and the self-stabilizing cradle head are controlled by a rudder unit, and the rudder unit is in communication connection with the main board.

Preferably, the support holder on still install laser range finding sensor, laser emission direction and the camera direction of laser range finding sensor are the same.

Preferably, the garbage collection device comprises an adapter plate, a garbage bin, a cover plate and a telescopic rod; the adapter plate is fixed on the other side of the bottom of the cross-shaped mounting frame, and the garbage bin is fixed below the adapter plate through a support column; the cover plate is arranged between the adapter plate and the garbage bin through the telescopic rod and is positioned right above the garbage bin.

Preferably, the rotor protection device comprises a rotor protection bracket and four mounting plates; four mounting panels evenly arrange in rotor protective cradle's inboard along circumference, all be equipped with the connecting hole that is used for connecting four rotor devices on each mounting panel.

Preferably, the rotor wing protection bracket is of a round-corner rectangular bracket structure, and the size of the outer wall of the round-corner rectangular bracket is larger than that of the four rotor wing devices; the four mounting plates are respectively mounted on the inner sides of four round corners of the round-corner rectangular support structure.

Preferably, the mechanical arm module is further provided with a pneumatic control module, and the steering engine is in communication connection with the main board through the pneumatic control module.

Preferably, the steering engine group comprises a first steering engine, a second steering engine, a third steering engine, a fourth steering engine and a fifth steering engine, and the first steering engine is arranged on the self-stabilizing pan-tilt; the mechanical arm comprises a first driven arm and a second driven arm, and the upper end of the first driven arm is connected with the self-stabilizing pan-tilt through a second steering engine; the upper end of the second driven arm is hinged with the lower end of the first driven arm, and a third steering engine is arranged at the hinged position; the lower end of the second driven arm is connected with the suction pickup assembly through a fourth steering engine; and the fifth steering engine is arranged on the suction pickup assembly.

Preferably, the suction pick-up assembly comprises a flat plate and two suction cups made of polyurethane material; the flat plate is connected with the lower end of the mechanical arm, and a sucker mounting hole is formed in the flat plate; the fifth steering engine is fixedly installed on the upper surface of the flat plate, the sucker is fixedly installed on the lower surface of the flat plate, and the rotating shaft of the sucker penetrates through the sucker installation hole to be connected with the fifth steering engine.

The invention has the following beneficial effects:

(1) the invention combines a four-rotor unmanned aerial vehicle with garbage collection, and adopts a garbage bin with a cover plate and a mechanical arm with a sucker in order to realize garbage collection. Wherein, the arm is connected to four rotor devices through stabilizing the cloud platform certainly on, because the arm will cause the interference to unmanned aerial vehicle's state of hovering grabbing rubbish in-process, causes the fuselage to rock, and the steady cloud platform certainly is through adjusting the cloud platform gesture, and then reduces the influence of arm motion to unmanned aerial vehicle state of hovering. The sucker is made of polyurethane, so that the sucker is good in durability and long in service life, and can treat various types of garbage; meanwhile, the cover plate on the garbage bin is controlled to be opened and closed through the telescopic rod, the picked up garbage can be prevented from falling, the workload of the device is reduced, and the efficiency is improved.

(2) The robot device for picking up garbage has high maneuverability, the two-degree-of-freedom cradle head is adopted to realize the searching of the camera to the largest range of target garbage, the high-definition camera transmits the shot real-time scene back to the main board for processing, and the calculation of a ground computer is not required to be returned, so that the whole garbage grabbing delay is shortened; after the target rubbish is identified, the target rubbish can be positioned, and the flight control module can help the device to effectively plan a route; and then, sending a command to a mechanical arm steering engine, and matching with laser ranging to realize accurate grabbing of the target garbage.

(3) According to the invention, the rotor wing protection device is arranged on the garbage picking robot, and the size of the rotor wing protection device is larger than that of the four-rotor wing device, so that the four-rotor wing device can be completely positioned in the rotor wing protection device, and the rotor wing is protected from being influenced by the environment to normally work; simultaneously, the bottom support among the four rotor devices plays the supporting role on the one hand, and on the other hand, when not reaching target rubbish department, the arm module is in the shrink state, contracts to the inside of bottom support completely, has still protected the arm module not influenced normal work by the environment, when reaching target rubbish department, through the cooperation work of multiple steering wheel, the arm module can the multi-angle extend to inhale and pick up rubbish, can adapt to and carry out rubbish pick up the operation in high-risk scenic spots such as cliff, low ebb, hillside.

Drawings

FIG. 1 is a front view of the entire apparatus;

figure 2 is a schematic view of a quad-rotor arrangement;

FIG. 3 is a schematic view of a rotor protection device;

FIG. 4 is a schematic view of a robot arm module;

FIG. 5 is a schematic view of a waste collection device;

FIG. 6 is a schematic diagram of modules used in the present invention;

FIG. 7 is a flow chart of a working method of the garbage picking robot facing a high-risk scenic spot according to the present invention;

wherein, 1-a four-rotor device; 2-rotor wing protection devices; 3-a camera; 4-a robotic arm module; 5-a garbage collection device; 101 a main board; 102-a flight master control module; 103-a battery; 104-a positioning module; 105-a wireless map transmission module; 106-bottom support; 107-motor; 108-rotor; 201-rotor protection bracket; 202-connecting hole; 401-a first steering engine; 402-a pneumatic control module; 403-a second steering engine; 404-a third steering engine; 405-a fourth steering engine; 406-plate; 407-suction cup; 408-a fifth steering engine; 501-an adapter plate; 502-a garbage bin; 503-telescopic rod; 504-cover plate.

Detailed Description

The present invention will be described in more detail below with reference to the accompanying drawings.

In order to more clearly explain the technical features of the present invention, the present invention will be explained by the following embodiments in combination with the accompanying drawings.

As shown in figure 1, the device of the garbage picking-up robot facing the high-risk scenic spot comprises a four-rotor device 1, a rotor protection device 2, a camera 3, a mechanical arm module 4 and a garbage collection device 5. Four rotor devices 1 fixed mounting is in rotor protection device 2's inboard below, and camera 3 and garbage collection device 5 are installed respectively in the both sides of four rotor devices 1 bottom, and arm module 4 installs under four rotor devices 1 bottom.

Specifically, the quadrotor device 1 is fixedly installed on the installation plate of the rotor protection device 2. A mechanical arm module 4 is fixedly arranged right below the four-rotor device 1; the left side of a bracket in the middle of the four-rotor device 1 is fixedly provided with a camera bracket in a bolt connection mode, and the top of a bracket holder is of a cross structure; the top of the camera support and the four-rotor device 1 are fixedly connected through bolts and nuts, and the lower portion of the camera support is used for fixedly mounting the camera 3. Preferably, the adopted camera is a high-definition camera. Two steering engines of high definition digtal camera support installation, it is rotatory at horizontal direction and vertical direction to control camera 3 respectively, realizes that the cloud platform of two degrees of freedom rotates, increases the shooting scope of camera. The garbage collection device 5 is fixedly installed on the right side of the middle support of the four-rotor device 1 through bolts and nuts. Preferably, the support holder is further provided with a laser ranging sensor, the laser emitting direction of the laser ranging sensor is the same as the direction of the camera, the laser ranging sensor is used for acquiring height information, and a three-dimensional position is obtained by combining the two-dimensional plane position of the target garbage.

As shown in fig. 2, the four-rotor device 1 adopts a four-axis structure, and includes a cross-shaped mounting frame, a bottom bracket 106, a flight control system, a battery module, four pairs of rotors 108 and motors thereof, wherein the four pairs of rotors 108 are on the same horizontal plane, and the bottom bracket 106 and the cross-shaped mounting frame are connected to form a main body structure. In one embodiment of the present invention, the rotors 108 are semi-hingeless rotors, each pair of which is a two-piece blade. The paddle is fixed on the output shaft of the motor 107; a battery 103 is mounted and fixed below the four-rotor device 1 as an electric power output of the whole device.

The flight control system comprises a mainboard 101, a flight main control module 102, a wireless image transmission module 105 and a positioning module 104; the flight main control module 102 and the wireless image transmission module 105 are installed on the mainboard 101, and the camera 3 is in communication connection with the mainboard 101; the flight master control module 102 is respectively connected with the motor 107 and the positioning module 104, and the flight master control module 102 and the wireless image transmission module 105 are in wireless communication with the ground receiver. The specific installation positions are as follows: a wireless image transmission module 105 is arranged near the battery 103; a Jetson Nano control main board 101 and a flight main control module 102 are fixed above the four-rotor device 1, and a right bracket of the four-rotor device is used for installing a positioning module 104, and is used for recording the flight path of the whole device and determining the geographical position of the device.

As shown in fig. 3, the rotor protection bracket 201 is square outside the rotor protection device 2, and the outer wall size of the rotor protection bracket 201 is larger than that of the quadrotor device 1, so that the quadrotor device can be completely located in the rotor protection device, and the rotor is protected from being influenced by the environment to work normally. The rotor protection bracket 201 is provided with four mounting plates on the inner side, and each mounting plate is provided with a connecting hole 202 for connecting the four-rotor device 1. Rotor protective cradle 201's shell adopts the fillet to handle, four mounting panels install respectively at four fillet inboards, increase the security of whole device.

As shown in fig. 4, the robot arm module 4 includes a self-stabilizing pan-tilt, a steering engine, a suction pickup assembly, and a robot arm. The self-stabilizing cradle head is installed at the connecting part (omitted in the figure) of the mechanical arm and the quadrotor device 1, the mechanical arm causes interference to the hovering state of the unmanned aerial vehicle in the process of grabbing garbage, the machine body shakes, the self-stabilizing cradle head adjusts the posture of the cradle head, the influence of the motion of the mechanical arm on the hovering state of the unmanned aerial vehicle is reduced, and the interference to the posture of the unmanned aerial vehicle during operation is reduced. Four support columns and two circular plates are arranged below the self-stabilizing pan-tilt, the circular plates are supported by the four support columns, and a pneumatic control module 402 and a first steering engine 401 are fixedly installed in the middle of the circular plates. The mechanical arm is composed of two driven arms. The upper end of the upper driven arm is fixed below the self-stabilizing pan-tilt through a connecting piece, and a second steering engine 403 is fixed on the connecting piece and used for controlling the upper driven arm to turn over, so that the rotation angle is allowed to be 180 degrees. The two driven arms are movably connected, and a third steering engine 404 is fixed at the joint for controlling the overturning of the lower driven arm and allowing the overturning angle to be 270 degrees. The lower end of the lower section driven arm is connected with the suction pickup assembly through a fourth steering engine 405, the fourth steering engine 405 is used for controlling the suction pickup assembly to rotate up and down, and the rotation allowable angle is 270 degrees.

In one embodiment of the present invention, the suction pickup assembly includes a flat plate 406, a fifth steering engine 408 and two suction cups 407; the flat plate 406 is connected with the lower end of the lower driven arm, and the two suckers 407 are respectively and symmetrically fixedly installed on the left side and the right side of the lower surface of the flat plate 406. And a fifth steering engine 408 is fixedly arranged in the middle of the upper surface of the flat plate and is used for controlling the operation of the suction cup 407. Specifically, two sucker mounting holes are formed in the flat plate 406, and a rotating shaft of each sucker penetrates through the sucker mounting holes and then is connected with a rudder plate of the fifth steering engine 408, so that the fifth steering engine 408 drives the sucker to turn.

And a pneumatic control module (402) for controlling the steering engine is further installed on the mechanical arm module 4, and the pneumatic control module is connected with the flight main control module.

As shown in fig. 5, the garbage collection device 5 includes an adapter plate 501, a garbage bin 502, a cover plate 504, and a telescopic rod 503. The telescopic rod 503 is connected with the adapter plate 501 and the cover plate 504, the cover plate 504 is located between the adapter plate 501 and the garbage bin 502 and is located right above the garbage bin, and the cover plate 504 of the garbage collection device 5 is controlled to be closed in a telescopic mode through the telescopic rod 503. In one embodiment of the present invention, the garbage bin 502 is a hollow cuboid for storing picked up garbage, and the adapter plate 501 is connected to the garbage bin 502 by a support column.

FIG. 6 is a block diagram of the system of modules used in the present invention: the system comprises an embedded development control system and a flight control system. The embedded development control system is developed by utilizing a Jetson Nano mainboard, and the wireless image transmission module 105, the camera 3, the mechanical arm steering engine and the self-stabilizing pan-tilt steering engine are directly in communication connection with the mainboard; the flight control system is used for realizing the flight control of the unmanned aerial vehicle, mainly comprises a flight main control module, a positioning module and a motor driving module, and can also realize communication between the flight control system and a mainboard. In one embodiment of the present invention, the flight control system is calibrated for attitude and altitude by a barometer and an embedded IMU. The positioning module is calibrated through a GPS and a compass. Realize driving unmanned aerial vehicle through flight control system, orientation module cooperation motor drive module and move, and can guarantee that the aircraft realizes accurate hovering aloft, realize rubbish discernment, the accurate basis of snatching of machinery for the mainboard. Preferably, the main board utilizes the ssd mobilenet v1 model to train and recognize images. After the mainboard reads the camera information and processes, the camera information is transmitted to the ground computer end or the mobile phone end through the image transmission module, images can be checked in real time at the ground end, and ground artificial visualization is achieved.

In one specific implementation of the invention, the main board adopts a Jetson Nano to control the main board, the main board reads a video stream from a high-definition camera through opencv, the GPU in the control board is used for operation, the target garbage is subjected to feature extraction and target detection, the calculation power of the main board is controlled through the Jetson Nano to realize the detection of the target garbage, and the calculation is not required to be returned to a ground computer, so that the whole garbage grabbing time delay is shortened.

FIG. 7 shows a working method of the garbage picking robot for high-risk scenic spots, which is disclosed by the invention:

after the unmanned aerial vehicle takes off, the high definition camera 3 catches ground target rubbish in real time, if the target rubbish appears in the target field of vision, then the operation of target rubbish detection is carried out, if the rubbish target does not appear in the target field of vision, then the unmanned aerial vehicle continues to fly until the target rubbish is detected.

After the target rubbish is detected, the main board 101 performs target detection and feature extraction on the image, if the accuracy of the detected target is higher than 80%, the main board performs frame selection on the detected target, so that a center coordinate point of the image in the two-dimensional plane can be obtained, and if the target detection rate is lower than 80%, the unmanned aerial vehicle continues flying.

Further, when the rate of accuracy of detecting the target is higher than 80%, mainboard 101 calculates the central point that is detected the target this moment, coordinates laser rangefinder and converts the two-position plane into the coordinate point in the three-dimensional world, later sends the coordinate point to pneumatic control module 402 for control arm steering wheel work, make the arm drive the sucking disc, carry out accurate collection to target rubbish, send into the garbage bin at last, accomplish garbage collection.

After the mainboard 101 finishes detecting the target, and when the mechanical arm is driven to drive the sucker to collect the target garbage, a series of actions are processed through the mainboard, the video stream can be sent back to the ground end (a mobile phone end or a computer end) without returning to the ground computer to calculate the wireless image transmission module, and the garbage detection and recovery conditions can be checked in real time.

More specifically, the working method can be divided into the following steps:

s1, defining a garbage picking area range of the high-risk scenic spot, controlling the garbage picking robot device to fly in the preset area range of the high-risk scenic spot, and then enabling the mechanical arm module 4 to retract into the bottom support 106;

s2, the camera 3 collects the scenic spot images in real time on the two-degree-of-freedom bracket holder, transmits the video stream to the main board 101 for image recognition, and transmits the video stream to the ground end through the wireless image transmission module 105;

s3, detecting the received image in real time through a pre-training recognition algorithm in the main board 101, when the target rubbish is detected and the recognition accuracy is higher than 80%, framing the two-dimensional plane position of the target rubbish and obtaining a two-dimensional coordinate value, and entering the step S4; otherwise, repeating steps S2-S3;

s4, fixing the angle of the camera 3, and simultaneously obtaining a real-time three-dimensional coordinate value of the target garbage by combining laser ranging; the main board 101 plans a target route according to the three-dimensional coordinate value and the real-time position acquired by the positioning module 104, transmits the target route to the flight main control module 102, and controls the garbage picking robot device to fly along the target route;

s5, when the distance between the three-dimensional coordinate of the target garbage and the garbage picking robot device is smaller than a threshold value, the main board sends a position signal to the pneumatic control module 402, the pneumatic control module 402 controls the first steering engine, the second steering engine, the third steering engine, the fourth steering engine and the fifth steering engine to work in a matched mode, the garbage is sucked through the sucking disc 407, the garbage is placed into the garbage bin 502, the cover plate 504 on the garbage bin is closed, and the target garbage collection is completed;

and S6, the garbage picking robot device repeats the steps S2 to S5 according to the control of the preset route or the ground end, and the garbage picking work in the preset area range of the high-risk scenic spot is realized.

The flight path control program of the robot device for picking up garbage is pre-stored in the flight main control module 102, and the flight path can be modified through the ground end.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims

1. A robot device for picking up garbage facing a high-risk scenic spot is characterized by comprising a four-rotor device (1), a rotor protection device (2), a camera (3), a mechanical arm module (4), a garbage collection device (5), a wireless image transmission module (105) and a main board (101); the four-rotor device (1) is fixedly arranged below the inner side of the rotor protection device (2), the mainboard (101) and the wireless image transmission module (105) are arranged on the four-rotor device (1), and the wireless image transmission module (105) is in wireless communication with a ground receiver; the camera (3) and the garbage collection device (5) are respectively arranged on two sides of the bottom of the four-rotor device (1), and the mechanical arm module (4) is arranged right below the bottom of the four-rotor device (1); the wireless image transmission module (105), the camera (3) and the mechanical arm module (4) are in communication connection with the mainboard;

the four-rotor device (1) comprises a cross mounting frame, a bottom bracket (106), a flight control system, a battery module, four pairs of rotors (108) and motors thereof; the bottom support (106) and the cross-shaped mounting frame are connected to form a main body structure, and the flight control system and the battery module are installed on the main body structure; the four pairs of rotors (108) and motors thereof are respectively arranged at four end parts of the cross-shaped mounting rack, each pair of rotors (108) consists of two blades, and the blades are connected with the power output end of the motor; the flight control system is in communication connection with the main board (101) and comprises a flight main control module (102), a positioning module (104) and a motor driving module; the motor driving module is connected with a control end of a motor, and the flight main control module (102) is in wireless communication with the ground receiver;

the camera (3) is fixed on one side of the bottom of the cross-shaped mounting frame through a support tripod head, and the support tripod head is provided with a horizontal steering engine and a vertical steering engine;

the mechanical arm module (4) is positioned on the inner side of the bottom support (106) and comprises a self-stabilizing cradle head, a mechanical arm and a suction pickup assembly; the upper end of the mechanical arm is connected to the central position of the bottom of the cross-shaped mounting rack through a self-stabilizing cradle head, and the lower end of the mechanical arm is connected with the suction pickup assembly; the mechanical arm and the self-stabilizing cradle head are controlled through a rudder unit, and the rudder unit is in communication connection with the main board (101).

2. The robot device for picking up garbage facing high-risk scenic spots as claimed in claim 1, wherein a laser ranging sensor is further mounted on the support holder, and a laser emitting direction of the laser ranging sensor is the same as a direction of the camera.

3. The robot device for picking up garbage facing high-risk scenic spots as claimed in claim 1, wherein the garbage collection device (5) comprises an adapter plate (501), a garbage bin (502), a cover plate (504) and a telescopic rod (503); the adapter plate (501) is fixed on the other side of the bottom of the cross-shaped mounting frame, and the garbage bin (502) is fixed below the adapter plate (501) through a support column; the cover plate (504) is arranged between the adapter plate (501) and the garbage bin (502) through an expansion rod (503) and is positioned right above the garbage bin.

4. The robot device for picking up garbage facing high-risk scenic spots according to claim 1, wherein the rotor wing protection device (2) comprises a rotor wing protection bracket (201) and four mounting plates; four mounting panels evenly arrange the inboard at rotor protective cradle (201) along circumference, all be equipped with connecting hole (202) that are used for connecting four rotor devices (1) on each mounting panel.

5. The robot device for picking up garbage facing high-risk scenic spots as claimed in claim 4, wherein the rotor protection bracket (201) is a rounded rectangular bracket structure, and the size of the outer wall of the rounded rectangular bracket is larger than that of the four-rotor device (1); the four mounting plates are respectively mounted on the inner sides of four round corners of the round-corner rectangular support structure.

6. The robot device for picking up garbage towards high-risk scenic spots as claimed in claim 1, wherein a pneumatic control module (402) is further arranged on the mechanical arm module (4), and the steering engine is in communication connection with the main board through the pneumatic control module (402).

7. The robot device for picking up garbage facing to the high-risk scenic spots as claimed in claim 6, wherein the steering engine group comprises a first steering engine (401), a second steering engine (403), a third steering engine (404), a fourth steering engine (405) and a fifth steering engine (408), and the first steering engine (401) is mounted on a self-stabilizing pan-tilt; the mechanical arm comprises a first driven arm and a second driven arm, and the upper end of the first driven arm is connected with the self-stabilizing pan-tilt through a second steering engine (403); the upper end of the second driven arm is hinged with the lower end of the first driven arm, and a third steering engine (404) is arranged at the hinged position; the lower end of the second driven arm is connected with the suction pickup assembly through a fourth steering engine (405); and the fifth steering engine (408) is arranged on the suction pickup assembly.

8. The robot device for picking up garbage facing high-risk scenic spots as claimed in claim 7, wherein the picking up assembly comprises a flat plate (406) and two suction cups (407) made of polyurethane material; the flat plate (406) is connected with the lower end of the mechanical arm, and a sucker mounting hole is formed in the flat plate (406); the fifth steering engine (408) is fixedly installed on the upper surface of the flat plate (406), the sucking disc (407) is fixedly installed on the lower surface of the flat plate (406), and a rotating shaft of the sucking disc (407) penetrates through the sucking disc installation hole to be connected with the fifth steering engine (408).

9. An operating method of the robot device for picking up garbage facing high-risk scenic spots as claimed in any one of claims 1 to 8, comprising the steps of:

s1, defining a garbage picking area range of the high-risk scenic spot, controlling the garbage picking robot device to fly in the preset area range of the high-risk scenic spot, and enabling the mechanical arm module (4) to retract into the bottom support (106) at the moment;

s2, the camera (3) collects the scenic spot images in real time on the two-degree-of-freedom support holder, transmits the video stream to the main board (101) for image recognition, and transmits the video stream to the ground end through the wireless image transmission module (105);

s3, detecting the received image in real time through a pre-training recognition algorithm in the main board (101), when the target rubbish is detected and the recognition accuracy is higher than 80%, framing the two-dimensional plane position of the target rubbish and obtaining a two-dimensional coordinate value, and entering the step S4; otherwise, repeating steps S2-S3;

s4, fixing the angle of the camera (3), and simultaneously obtaining a real-time three-dimensional coordinate value of the target garbage by combining laser ranging; the main board (101) plans a target route according to the three-dimensional coordinate values and the real-time position acquired by the positioning module (104) and transmits the target route to the flight main control module (102) to control the garbage picking robot device to fly along the target route;

s5, when the distance between the three-dimensional coordinate of the target garbage and the garbage picking robot device is smaller than a threshold value, the main board sends a position signal to the pneumatic control module (402), the pneumatic control module (402) controls the first steering engine, the second steering engine, the third steering engine, the fourth steering engine and the fifth steering engine to work in a matched mode, the garbage is sucked through the sucking disc (407), the garbage is placed into the garbage bin (502), the cover plate (504) on the garbage bin is closed, and the target garbage is collected;

10. The working method of the robot device for picking up garbage oriented to high-risk scenic spots as claimed in claim 9, wherein the flight path control program of the robot device for picking up garbage is pre-stored in the flight master control module (102) and the flight path can be modified through ground end.