CN112813917A

CN112813917A - Full-automatic collection device of mud flat rubbish

Info

Publication number: CN112813917A
Application number: CN202110191215.6A
Authority: CN
Inventors: 李云; 张栋; 傅锦枫
Original assignee: Zhejiang International Maritime College
Current assignee: Zhejiang International Maritime College
Priority date: 2021-02-19
Filing date: 2021-02-19
Publication date: 2021-05-18

Abstract

A full-automatic collection device for mud flat garbage comprises a shell and a driving wheel, wherein a garbage collection mechanism is arranged at the front part of the shell, the top opening of the shell is provided with navigation sensors distributed around the top opening of the shell, the navigation sensors are connected with a control part, an inner cavity of the shell is divided into a front cavity and a rear cavity, the driving wheel is a blade driving wheel, the blade driving wheel comprises a front blade driving wheel and a rear blade driving wheel, the rear driving mechanism is positioned in the rear cavity, the front driving mechanism is positioned in the front cavity, a partition plate capable of isolating the front driving mechanism and garbage is arranged in the front cavity, the front driving mechanism is positioned in a cavity formed by the partition plate and the inner wall of the front cavity, the front driving mechanism and the rear driving mechanism are connected with the control part, the control part is connected with a power supply, and the control part is. The invention has the advantages that: can be used on the mudflat and can drive through a large-range water accumulation area, and has flexible use and high garbage collection efficiency.

Description

Full-automatic collection device of mud flat rubbish

Technical Field

The invention relates to a garbage collection device, in particular to a full-automatic collection device for mud flat garbage.

Background

The present Chinese utility model with application number of CN201720542908.4 entitled "a mud flat garbage collection arm and mud flat garbage collection vehicle" discloses a mud flat garbage collection arm and mud flat garbage collection vehicle, belongs to the clean field of mud flat, and wherein the mud flat garbage collection arm includes first arm and second arm, and first arm and second arm are all cavity, and the one end of second arm is perpendicular and fixed connection with the one end of first arm. The second arm is provided with a sliding block which can be close to or far away from the first arm, the sliding block is provided with a fork rod and a gear motor, the fork rod is provided with a rack, the output end of the gear motor is provided with a first gear, the first gear is meshed with the rack, the first arm is internally provided with a first driving piece, and the first driving piece can drive the sliding block to be far away from or close to the first arm. The beach garbage can be accurately positioned and forked through the beach garbage collecting arm. The beach garbage collection vehicle comprises a beach garbage collection arm and a vehicle body, wherein the vehicle body is provided with crawler wheels, so that the beach garbage collection efficiency is improved, and the probability that the vehicle body falls into a beach is reduced. However, the device cannot be used on the water surface, and the larger water accumulation area on the beach can cause the device to malfunction and influence the normal use, so the structure of the device needs to be further improved.

Disclosure of Invention

The invention aims to solve the technical problem of providing a full-automatic collection device which can be used on mudflats and water areas and can collect the mudflat garbage with clean and high efficiency.

The technical scheme adopted by the invention for solving the technical problems is as follows: this full automatic collection device of mud flat rubbish, including casing and the drive wheel that can drive the casing and remove the front portion of casing is provided with garbage collection mechanism, its characterized in that: the top opening of the shell is distributed with navigation sensors around the top opening of the shell, the navigation sensors are connected with the control part, the inner cavity of the shell is divided into a front cavity body which can contain garbage and a back cavity body which can be provided with the control part and a power supply, the driving wheel is a blade driving wheel which can move on the mudflat and the water surface, the blade driving wheel comprises a front blade driving wheel and a rear blade driving wheel, a rear driving mechanism which can drive the rear blade driving wheel is positioned in the rear cavity, a front driving mechanism which can drive the front blade driving wheel is positioned in the front cavity, a partition plate capable of isolating the front driving mechanism and the garbage is arranged in the front cavity, the front driving mechanism is positioned in a cavity enclosed by the partition plate and the inner wall of the front cavity, the front driving mechanism and the rear driving mechanism are connected with a control part, the control part is connected with a power supply, and the control part is in communication connection with an instruction input device outside the shell.

As an improvement, the front driving mechanism is a front driving motor, the front driving motor is in transmission connection with a rotating shaft of the front blade driving wheel through a gear set, the front driving motor is connected with the control part through a circuit, the rear driving mechanism is a rear driving motor, the rear driving motor is in transmission connection with a rotating shaft of the rear blade driving wheel through a second gear set, and the rear driving motor is connected with the control part through a circuit.

The improved structure is characterized in that a hollow roller is concentrically arranged on the rotating shaft, a hollow rolling wheel is concentrically arranged on the rotating shaft, a partition board for dividing the rear cavity into an upper cavity and a lower cavity is arranged on the rear cavity, the control part and the power supply are connected in the upper cavity, and the rotating shaft and the rear driving motor are connected in the lower cavity.

As an improvement, the power supply is a solar panel, and the solar panel is connected to the top of the rear cavity; the solar panel comprises a deck capable of sealing the top opening of the rear cavity and a solar film capable of covering the deck, the solar film is connected with the input end of the charge-discharge controller through a wire, the output end of the charge-discharge controller is connected with a storage battery, and the storage battery is connected with the control part.

As an improvement, the shell is a rectangular ship body made of carbon fibers, and the front bottom angle and the rear bottom angle of the rectangular ship body are cambered surfaces capable of reducing friction.

As an improvement, the garbage collection mechanism comprises a roller mechanism and mechanical hands, a shell notch is formed in the front of the shell, the roller mechanism is arranged on the shell notch, and the mechanical hands are distributed on the tops of the shells on two sides of the roller mechanism.

The garbage collecting device is characterized in that the garbage collecting device comprises a front cavity and a rear cavity, the front cavity is provided with a front cavity, the rear cavity is provided with a front cavity, the front cavity.

In a further improvement, the top of the belt is lower than the top height of the shell notch.

Further improved, the belt is distributed with permeable filtering holes.

As an improvement, the control part comprises a navigation sensor, a shipboard control computer and shipboard wireless communication equipment, the instruction input device comprises onshore wireless communication equipment and an onshore control computer, the navigation sensor is connected with the shell, the shipboard control computer comprises a data acquisition receiving module, a shipboard communication module and an execution mechanism driving module, the data acquisition receiving module is connected with the navigation sensor and the shipboard communication module through a circuit, the shipboard communication module is connected with the execution mechanism driving module, the shipboard communication module is interactively connected with the shipboard wireless communication equipment, the execution mechanism driving module is connected with a front driving mechanism and a rear driving mechanism, the shipboard wireless communication equipment is in communication connection with the onshore wireless communication equipment, the onshore control computer comprises a navigation parameter display module, an onshore communication module, The system comprises a motion control module and a task planning module, wherein the shore communication module is interactively connected with shore wireless communication equipment, the shore communication module is connected with the motion control module and a navigation parameter display module, and the motion control module is connected with the task planning module and the navigation parameter display module.

Compared with the prior art, the invention has the advantages that: firstly, the control part is in communication connection with the instruction input device outside the shell to realize full-automatic control of the device, and the instruction input device can realize path planning, so that workers picking up wastes in a tidal flat area can be reduced, manpower use is reduced, and the garbage collection efficiency is high; secondly, the driving wheel is a blade driving wheel which can be used on the mudflat and the water surface, even if the device meets accumulated water with larger area, the device can be normally used, the use effect of the device on the mudflat is improved, and the device is not influenced by the rising tide and the falling tide of the mudflat area due to the structure and has flexible maneuverability in use; then, the device adopts the technical scheme of solar power supply, so that not only can energy be saved, but also the use is more environment-friendly; thirdly, the device adopts two garbage collection mechanisms, the roller type is used for collecting garbage for the first time in a large area, and the manipulator is used for collecting garbage for the second time accurately, so that the garbage collection efficiency can be improved, and the accurate positioning can be realized, so that the garbage is completely collected; finally, this device adopts concentric corresponding roll wheel of connection on the blade drive wheel, and the roll wheel adopts hollow structure, so both can reduce the ground pressure when boats and ships are coated on the beach and travel, avoids sinking because the drive wheel that boats and ships weight caused falls, again can be when the mud flat tide rise, provides buoyancy, and the blade drive wheel can regard as surface of water driven power moreover, normally travels on the surface of water, reaches very perfect application effect, is worth popularizing and applying.

Drawings

FIG. 1 is a perspective view of an embodiment of the present invention;

FIG. 2 is a perspective view of FIG. 1 at another angle;

FIG. 3 is a top view of FIG. 1;

FIG. 4 is a cross-sectional view taken along line A-A of FIG. 3;

fig. 5 is a schematic diagram of the operation of the control unit and the command input device according to the embodiment of the present invention.

Detailed Description

The invention is described in further detail below with reference to the accompanying examples.

As shown in fig. 1 to 5, the fully automatic collection device for tidal flat garbage of this embodiment includes a housing 1 and a driving wheel capable of driving the housing 1 to move, a garbage collection mechanism is disposed at the front of the housing 1, the top of the housing 1 is open, navigation sensors are distributed around the top of the housing, the navigation sensors are connected to a control part 2, the inner cavity of the housing is divided into a front cavity 11 capable of accommodating garbage and a rear cavity 12 capable of installing the control part 2 and a power supply, the driving wheel is a vane driving wheel capable of moving on the tidal flat and on the water surface, the vane driving wheel includes a front vane driving wheel 31 and a rear vane driving wheel 32, a rear driving mechanism 33 capable of driving the rear vane driving wheel 32 is disposed in the rear cavity 12, a front driving mechanism capable of driving the front vane driving wheel 31 is disposed in the front cavity 11, a partition plate 13 capable of isolating the front driving mechanism from the garbage is disposed in the, the front driving mechanism is positioned in a cavity formed by the partition plate 13 and the inner wall of the front cavity 11, the front driving mechanism and the rear driving mechanism 33 are connected with the control part 2, the control part 2 is connected with a power supply, and the control part 2 is in communication connection with a command input device outside the shell 1. The navigation sensor can be a magnetic sensor or a camera 8, and the camera 8 transmits back the beach road surface condition data in real time for the analysis and processing of the control part 2.

The front driving mechanism is a front driving motor, the front driving motor is in transmission connection with a rotating shaft 34 of the front blade driving wheel 31 through a gear set, the front driving motor is connected with the control part 2 through a circuit, the rear driving mechanism 33 is a rear driving motor, the rear driving motor is in transmission connection with a rotating shaft 35 of the rear blade driving wheel 32 through a second gear set, and the rear driving motor is connected with the control part 2 through a circuit. A hollow roller 341 is concentrically provided on the rotary shaft 34, and a hollow rolling wheel 351 is concentrically provided on the rotary shaft 35. A partition plate for dividing the rear cavity 12 into an upper cavity and a lower cavity is provided in the rear cavity 12, the control part 2 and the power supply are connected to the upper cavity, and the rotating shaft 35 and the rear driving motor are connected to the lower cavity.

The power supply is a solar panel 4, and the solar panel 4 is connected to the top of the rear cavity 12; the solar panel 4 comprises a deck capable of sealing the top opening of the rear cavity 12 and a solar film capable of covering the deck, the solar film is connected with the input end of the charge-discharge controller through a lead, the output end of the charge-discharge controller is connected with a storage battery, and the storage battery is connected with the control part 2.

The shell 1 is a rectangular ship body made of carbon fibers, and the front bottom angle and the rear bottom angle of the rectangular ship body are cambered surfaces capable of reducing friction. The garbage collection mechanism comprises a roller mechanism and a mechanical arm 5, a shell gap 14 is formed in the front portion of the shell 1, the roller mechanism is arranged on the shell gap 14, and the mechanical arm 5 is distributed on the tops of the shell 1 on two sides of the roller mechanism. The roller mechanism comprises a roller 6 which can rotate relative to the shell 1 and a belt 7 which can convey the garbage falling from the roller 6 upwards to the front cavity 11, and garbage collecting convex parts 61 are distributed on the roller 6. The top of the strap 7 is below the top height of the housing notch 14. Permeable filter holes are distributed on the belt 7.

The control part 2 comprises a navigation sensor, a shipboard control computer and shipboard wireless communication equipment, the instruction input device comprises onshore wireless communication equipment and an onshore control computer, the navigation sensor is connected with the shell, the shipboard control computer comprises a data acquisition receiving module, the shipboard communication module and an actuating mechanism driving module, the data acquisition receiving module is connected with the navigation sensor and the shipboard communication module through a circuit, the shipboard communication module is connected with the actuating mechanism driving module, the shipboard communication module is interactively connected with the shipboard wireless communication equipment, the actuating mechanism driving module is connected with a front driving mechanism and a rear driving mechanism, the shipboard wireless communication equipment is in communication connection with the onshore wireless communication equipment, the onshore control computer comprises a navigation parameter display module, an onshore communication module, a motion control module and a task planning module, the onshore communication module is interactively connected with the onshore wireless communication equipment, the shore communication module is connected with the motion control module and the navigation parameter display module, and the motion control module is connected with the task planning module and the navigation parameter display module. The specific circuit configurations of the control section 2 and the command input device are conventional and will not be described in detail.

The working principle is as follows: the device is mainly used for treating mud flat garbage and protecting marine environment.

The coastal line area of China is wide, the beach area is large, the pollution of marine garbage in China is a tendency of gradual deterioration according to relevant survey data in China, the overall situation is not optimistic, the number of the beach garbage rises year by year, and a large amount of manpower and material resources are needed for treating the beach garbage.

According to the analysis report of the quantity of Chinese marine garbage, the accumulation rate of coastal garbage and the policy and condition of coastal garbage in 2019, the estimated value of the quantity accumulation rate of the marine garbage in 2019 is 0.78 per square meter per period, and the mass accumulation rate is 24.63 g per square meter per period.

In recent years, the accumulation speed of the coastal garbage is increased at the speed higher than that of 2015 years, the difficulty of cleaning the coastal garbage is high, and the coastal cleaning work needs to be carried out by a method with higher automation degree and higher efficiency.

The common ship is easy to be stranded in the beach area, and is difficult to pick up waste at the beach side. The ship is mainly used for cleaning mud flat garbage, reducing the labor capacity of corresponding environment sanitation workers and improving the ecological environment of a coastal mud flat area.

The device is mainly used for cleaning coastal urban beach areas aiming at the pollution problem of certain urban beach areas in China. The automatic garbage cleaning operation in the beach area can be realized, the whole cleaning process is fully automatic, the cleaning route is planned under the control of a remote computer, the whole process does not need manual participation, the safety is good, the cleaning efficiency is more than ten times that of manual cleaning, the automatic garbage cleaning operation is not influenced by tides, and the amphibious operation can be carried out.

This device has designed solar energy collection device and has been used for collecting the power that provides boats and ships power, adopts the blade drive wheel as drive arrangement to collect with roller bearing rubbish and the mechanical hand collects mud flat rubbish, it can easily accomodate the discarded object in the mud flat district, is greater than artificial efficiency far away.

The innovation point of the device is that:

1. the device is an amphibious ship, is driven by the blade driving wheels, is not influenced by the tide rising and the tide falling in the beach area, and has flexible maneuverability in use.

2. The device can realize unmanned control, can realize path planning by controlling through a shore computer, can reduce workers picking up wastes in a beach area, and reduces personnel cost.

3. The device is driven by electric power, adopts solar energy as clean energy, can realize the beachtop environment beautification, and does not waste energy.

4. This device designs two kinds of garbage collection mechanisms, and the roller formula is collected for the first large tracts of land, and the manipulator is the accurate collection of second time, can improve garbage collection efficiency, can realize accurate location again, thoroughly picks up rubbish totally.

The device is an automatic beach area environmental sanitation ship, the total length of the ship body is about 5 meters, the ship body is made of carbon fiber, and unmanned intervention cruise and cleaning in beach areas and other water areas can be realized through functions of precise satellite positioning and the like. As a common ship in the intertidal zone is difficult to reach, the work adopts a barge type ship body, 4 blade driving wheels are arranged at the front and the back of the ship body, the buoyancy is large, the stability is good, the ship is not only suitable for the work in the intertidal zone, but also can be used in soft zones, marshland and shallow water areas, and the ship can carry out amphibious operation.

A garbage collection roller and a collection belt are designed at the bow of the ship body, the roller brings garbage to the belt, and the belt conveys the garbage to a garbage collection cabin. In order to realize accurate collection, two mechanical arms are designed on two sides of the bow, and the positioning device is arranged, so that wastes with different sizes and different shapes can be collected, and the wastes left by the rolling shafts can be collected.

The device adopts a new idea to pick up waste at the beach, utilizes the new idea to realize the maximization of beach resources, creates a new method to protect the home, improves the resource utilization rate and protects the natural environment. The device can work in a severe environment, not only can overcome muddy mud flat, but also can work in an environment with large waves. Manpower is eliminated, and waste is collected in the beach area in a remote control mode.

The device is a beach garbage cleaning ship with high picking efficiency and accurate picking precision, and is designed aiming at the defects of low picking efficiency, incomplete monitoring and low automation degree of the existing beach area.

The device mainly comprises five parts: (1) a main hull; (2) a solar energy collection device; (3) a blade driving wheel; (4) a bow waste collection device; (5) unmanned control system.

The device provides electric energy through solar power generation, drives the impeller to rotate, can realize remote unmanned control, and automatically picks up the rubbish in the tidal flat area. The structure and function of each part are as follows:

(1) main hull

The requirement on rapidity of the sanitation ship of the device is not high, so that the main ship body adopts a square body with a large square coefficient.

A garbage collection cabin with large cabin capacity is arranged in the ship body and used for storing various collected garbage. The stern deck is a solar panel and is used for collecting and storing solar energy and finally converting the solar energy into electric energy to drive the ship to move forward.

The main ship body is made of carbon fiber to reduce the weight of the ship, two rolling wheels are arranged between head and tail driving wheels of the ship body, and the rolling wheels are of hollow structures, so that on one hand, the grounding pressure of the ship when the ship runs on a mud flat can be reduced, and the driving wheels sink due to the weight of the ship; on the other hand, buoyancy can be provided when tidal flat rises tide. Therefore, the ship body can work when tidal flat rises or falls, and is not influenced by tide.

(2) Solar energy driving device

The sanitation ship of the device mainly uses solar energy as main power, a ship deck covers a black solar energy film above 1/2, the black solar energy film is generally electrically propelled, an electric motor converts electric energy into shaft power, and a blade driving wheel is driven to rotate to provide power for the sanitation ship. The film power generation technology has the advantages of flexibility, light weight, good weak light, adjustable color, plastic shape and the like.

The solar energy films are connected in series and in parallel to reach a charging voltage and are connected with the input end of a charge-discharge controller, and the output end of the charge-discharge controller is connected with a storage battery. The charge and discharge controller controls the working state between the solar panel battery array and the storage battery. When the main switch of the power supply is switched on, other electric appliances of the ship, the speed-regulating and reversing controller and the main direct current motor are all in corresponding potentials.

The device can save a large amount of fuel cost because an internal combustion engine is not used as power, and the cost of investment in the solar battery can be recovered about half a year. The navigation is quiet without noise, and the environmental protection effect is obvious. The solar cell charges the storage battery at a constant speed and in a low electric quantity state, so that the service life of the storage battery can be greatly prolonged. The working principle of the solar photovoltaic system belongs to the known technology, and therefore, the working principle is not described in detail.

(3) Blade driving wheel

The driving wheel is directly connected with the main direct current motor through the coupler, the blade driving wheel can freely run in a muddy mud flat area and is not influenced by wind and waves, meanwhile, the rolling wheel increases the grounding area, and the blade driving wheel can be effectively prevented from sinking into the mud flat.

The blade driving wheel is a novel fiber material of high-strength and high-modulus fibers with the carbon content of more than 95%. The carbon fiber is a microcrystal graphite material which is formed by piling organic fibers such as flake graphite microcrystals along the axial direction of the fiber and is obtained by carbonization and graphitization treatment, and the carbon fiber is 'soft outside and rigid inside'.

After tide rises, seawater rises, the ship body floats on water, and the blade driving wheel can rotate in the water to drive the ship to move forward.

(4) Bow refuse collector

This works garbage collection device is located the bow, in order to improve garbage collection efficiency to realize accurate collection, the design has two kinds of collection modes:

1) roller type collecting device (high efficiency mode)

This works garbage collection dominant mode is leading gyro wheel device, and this collection mode can realize the purpose of rubbish quick collection, and the gyro wheel rotates on collecting the belt with rubbish, and the belt rotates and transports rubbish to the collection under-deck, and in order to avoid bringing into the cell-phone cabin with the silt that thoughtlessly has water, is equipped with the wash port on the belt, can reduce bringing into of silt.

2) Manipulator collecting device (precision mode)

Because the garbage collection mode above causes partial rubbish to miss easily, consequently designed intelligent mechanical hand, the manipulator is located the bow left and right sides for the secondary of rubbish is collected, and can realize accurate location. The specific structure of the manipulator belongs to the prior art, and therefore, the detailed description is not provided.

The manipulator is provided with the garbage recognition device and can position and transmit the target garbage to the manipulator, so that the aim of accurately picking up the garbage is fulfilled. The garbage recognition device can share the camera 8 with the navigation sensor, and can also be provided with an independent recognition module, and the specific recognition module structure belongs to the prior art, so the detailed description is omitted.

(5) Unmanned control system

The device is a control structure of the unmanned ship, and comprises an onshore module, an shipboard module, a navigation sensor and a ship body propelling and operating mechanism, wherein the shipboard communication module transmits an actuating mechanism driving module, and the ship body propelling and operating mechanism is controlled to drive a ship body to move according to a control requirement.

The device mainly comprises four modules for realizing the functions:

(1) solar power supply module

The solar panel is adopted to collect solar energy, and the solar energy is stored in the storage battery to provide electric energy for the driving motor.

(2) Unmanned control system

And planning a driving path in the onshore control station host through the unmanned control system.

(3) Drive device

The main driving mode is blade roller driving, the collected solar energy is converted into electric energy, and the motor drives the driving wheel to rotate.

(4) Garbage collection device

And cleaning the beach area by adopting a secondary cleaning mode, wherein the primary mode is comprehensive roller garbage collection under a planned path, and the secondary mode is automatic identification mechanical arm garbage pickup.

The technical advantages of the device are that:

1. the beach area is limited by draft, a special blade driving wheel design is adopted, blades and a hub of the impeller are twisted in a three-dimensional curved surface shape, the blades are six, the diameter of the impeller is 500mm, the width of the blades is 150mm, the diameter of the wheel body is 400mm, the impeller adopts Carbon Fiber (CF), the mass of the impeller is lighter than that of metal aluminum, but the strength of the impeller is higher than that of steel, and the impeller has the characteristics of corrosion resistance and high modulus.

2. The solar power supply device and the solar panel battery array select a solar polycrystalline silicon thin film battery array with proper flexibility. Due to the photovoltaic effect, the solar cell can generate weak electric energy in rainy days, therefore, the solar ship is charged for more than 16 hours every day, the sailing time of the ship occupies about one sixth to one eighth of the charging time, so that the storage battery is always in a full-power state, the sailing speed of the solar ship is about 10 to 12 knots, and the solar ship sails for about 6 hours continuously (according to the capacity of the equipped storage battery pack).

3. The unmanned ship control system is designed, a data acquisition receiving module acquires ship motion parameter information measured by a navigation sensor according to a set control period, an on-board communication module transmits the ship motion parameter information to an on-shore communication module, a navigation parameter display module displays the ship motion parameter information, a motion control module performs motion control resolving according to the ship motion parameter information to obtain a driving instruction of ship motion, the on-shore communication module transmits the driving instruction to the on-board communication module, the on-board communication module transmits an execution mechanism driving module, and a ship propulsion and control mechanism is controlled to drive a ship to move according to a control requirement.

4. The manipulator pick device, the device's manipulator have high degree of freedom, and the manipulator combines to form by spherical joint and flexible arm, and such design provides great degree of freedom for the manipulator, conveniently in time clears up rubbish on the drum-type rubbish clearance ware and picks up bottled rubbish, finally puts rubbish into the rubbish cabin.

The coast line of China is long, is mainly distributed in coastal zones of Liaoning, Shandong, Jiangsu, Zhejiang, Fujian, Taiwan, Guangdong, Guangxi and Hainan, is an important component of the coast zone, and the total area of the ocean beach of China is 217.04 ten thousand hectares.

The mudflat is an important reserve land resource in China, has the characteristics of large area, centralized distribution, good regional conditions and large comprehensive development potential in agriculture, animal husbandry and fishery, and is a sea-land transition zone in dynamic change.

But the ecological environment of the mudflat is fragile, and the development and the utilization of the mudflat must follow the principles of comprehensive, three-dimensional, high-efficiency and continuous utilization. The relevant departments in multiple places comprehensively promote coastal and marine garbage treatment, realize the normalization of beach and river sea entrance and offshore marine garbage treatment, well salvage marine garbage and clear the near shore beach garbage, continuously enhance the marine garbage pollution prevention and control capability, and further create clean beaches and clean sea surfaces.

The tidal flat resources are developed vigorously, and the reasonable development of the tidal flat resources is very beneficial to the economic development of coastal areas. According to statistical data, the garbage accumulation speed of four sea areas in China is different, particularly the garbage accumulation speed of the yellow sea, the east sea and the south sea is high, the influence on the environment is large, and the garbage amount of the long triangle area and the pearl triangle area is large.

The statistical data show that the treatment task of the coastal environment is difficult, and the environmental improvement not only influences the local environmental sanitation condition, but also is an important factor for restricting the local economic development.

The device can be operated amphibious, can not be stranded in a mud flat area, has long continuous endurance working time, can collect a large amount of wastes, is far greater than the amount of the wastes manually picked, reduces certain labor cost, and can be operated by only one technician. The efficiency of collecting the discarded object is improved, and more accurate output can pick up the region that the manual work is difficult to get into. The automatic sanitation ship designed by the device has high working efficiency, can save labor cost, can make up the blank of the existing automation of beach garbage cleaning, and has better market prospect.

Under the condition that the quantity of the mudflat garbage is increasing day by day, the benefit maximization can be realized on the basis of reducing the manual quantity and the expenditure, and the method is more convenient than the manual picking of the wastes. The ship works for 6 hours every day, the daily garbage cleaning amount can reach about 10 tons, and the workload of about 10 people on a day can be saved.

Claims

1. The utility model provides a full automatic collection device of mud flat rubbish, includes casing (1) and the drive wheel that can drive casing (1) and remove the front portion of casing (1) is provided with garbage collection mechanism, its characterized in that: the garbage truck is characterized in that the top opening of the shell (1) is provided with navigation sensors distributed around the top opening of the shell, the navigation sensors are connected with the control part (2), the inner cavity of the shell is divided into a front cavity (11) capable of containing garbage and a rear cavity (12) capable of mounting the control part (2) and a power supply, the driving wheels are blade driving wheels capable of moving on mudflats and water surfaces, each blade driving wheel comprises a front blade driving wheel (31) and a rear blade driving wheel (32), a rear driving mechanism (33) capable of driving the rear blade driving wheel (32) is positioned in the rear cavity (12), a front driving mechanism capable of driving the front blade driving wheel (31) is positioned in the front cavity (11), a partition plate (13) capable of isolating the front driving mechanism from the garbage is arranged in the front cavity (11), and the front driving mechanism is positioned in a cavity formed by the partition plate (13) and the inner wall of the front cavity (11), the front driving mechanism and the rear driving mechanism (33) are connected with a control part (2), the control part (2) is connected with a power supply, and the control part (2) is in communication connection with a command input device outside the shell (1).

2. The fully automatic collection device of claim 1, wherein: the front driving mechanism is a front driving motor, the front driving motor is in transmission connection with a rotating shaft (34) of a front blade driving wheel (31) through a gear set, the front driving motor is connected with the control portion (2) through a circuit, the rear driving mechanism (33) is a rear driving motor, the rear driving motor is in transmission connection with a rotating shaft (35) of a rear blade driving wheel (32) through a second gear set, and the rear driving motor is connected with the control portion (2) through a circuit.

3. The fully automatic collection device of claim 2, wherein: the rotary shaft (34) is further concentrically provided with a hollow roller (341), the rotary shaft (35) is further concentrically provided with a hollow rolling wheel (351), a partition board which divides the rear cavity (12) into an upper cavity and a lower cavity is arranged in the rear cavity (12), the control part (2) and a power supply are connected in the upper cavity, and the rotary shaft (35) and a rear driving motor are connected in the lower cavity.

4. The fully automatic collection device of any one of claims 1 to 3, wherein: the power supply is a solar panel (4), and the solar panel (4) is connected to the top of the rear cavity (12); the solar panel (4) comprises a deck capable of sealing the top opening of the rear cavity (12) and a solar film capable of covering the deck, the solar film is connected with the input end of the charge-discharge controller through a wire, the output end of the charge-discharge controller is connected with a storage battery, and the storage battery is connected with the control part (2).

5. The fully automatic collection device of any one of claims 1 to 3, wherein: the shell (1) is a rectangular ship body made of carbon fibers, and the front base angle and the rear base angle of the rectangular ship body are cambered surfaces capable of reducing friction.

6. The fully automatic collection device of any one of claims 1 to 3, wherein: the garbage collection mechanism comprises a roller mechanism and mechanical hands (5), a shell notch (14) is formed in the front of the shell (1), the roller mechanism is arranged on the shell notch (14), and the mechanical hands (5) are distributed on the tops of the shell (1) on two sides of the roller mechanism.

7. The fully automatic collection device of claim 6, wherein: the roller mechanism comprises a roller (6) capable of rotating relative to the shell (1) and a belt (7) capable of conveying garbage falling from the roller (6) upwards into the front cavity (11), and garbage collecting convex parts (61) are distributed on the roller (6).

8. The fully automatic collection device of claim 7, wherein: the top of the belt (7) is lower than the top height of the shell notch (14).

9. The fully automatic collection device of claim 8, wherein: permeable filter holes are distributed on the belt (7).

10. The fully automatic collection device of any one of claims 1 to 3, wherein: the control part (2) comprises a shipboard control computer and shipboard wireless communication equipment, the several instruction input devices comprise onshore wireless communication equipment and onshore control computers, the shipboard control computer comprises a data acquisition receiving module, a shipboard communication module and an executing mechanism driving module, the data acquisition receiving module is connected with a navigation sensor and the shipboard communication module through a circuit, the shipboard communication module is connected with the executing mechanism driving module, the shipboard communication module is interactively connected with the shipboard wireless communication equipment, the executing mechanism driving module is connected with a front driving mechanism and a rear driving mechanism, the shipboard wireless communication equipment is in communication connection with the onshore wireless communication equipment, the onshore control computer comprises a navigation parameter display module, an onshore communication module, a motion control module and a task planning module, the system comprises a shore communication module, a motion control module and a navigation parameter display module, wherein the shore communication module is interactively connected with shore wireless communication equipment, the shore communication module is connected with the motion control module and the navigation parameter display module, and the motion control module is connected with a task planning module and the navigation parameter display module.