A surface object collection device and method with a comb-shaped shovel wheel rotating structure, conveying and separating in one piece

Abstract

The invention discloses a surface object collection device and method with a comb-shaped shovel rotary structure and an integrated conveying-separating structure. The surface object collection device comprises a frame, two electric drive tracks, a battery, an automatic baler, a hollow conveyor belt, a frequency-adjustable vibrating screen, a rotary comb-shaped shovel, rake teeth, a hard brush and an image recognition and sensor module. The image recognition and sensor module comprises a camera device, an infrared sensor, a deep learning algorithm module and a pressure sensor. By identifying the characteristic size, type, density and burial degree of surface objects and measuring the force applied to the rotary comb-shaped shovel, the sand entry angle of the rotary comb-shaped shovel, the operating speed of the hollow conveyor belt and the vibration frequency of the frequency-adjustable vibrating screen are adjusted to reduce the sand entry resistance of the rake teeth, and adjustments are made for bottom materials with different particle sizes, types and densities and objects of different scales to improve the sand screening efficiency of the mixture.

Description

Technical Field

[0001] The present invention belongs to the technical field of collection devices, and in particular relates to a surface object collection device and method with a comb-shaped shovel wheel rotating structure and integrated conveying and separation. Background Art

[0002] With the advancement of industrialization, industries such as agriculture, mining, and environmental protection have made great progress and undergone earth-shaking changes. They all put forward their own requirements for more efficient, reliable, and more automated object collection technologies. This makes the invention of a method and device for collecting objects with better performance and wide application in mining, agricultural product harvesting, and garbage cleaning a hot demand in the market. In the field of agriculture, with the increasing demand for tuberous agricultural products such as potatoes, the traditional manual picking method has problems such as high labor intensity, low efficiency, and high cost, while mechanized collection technology can effectively solve these problems. In the field of industrial manufacturing, with the continuous advancement of automation technology, mechanical collection technology has achieved accurate collection and handling of materials on the production line by integrating components such as sensors, controllers, and actuators. The application of this technology not only improves production efficiency, but also reduces labor costs and enhances the flexibility and reliability of the production line. In terms of environmental protection and sustainable development, traditional collection methods often cause damage and pollution to the environment, while mechanized collection technology can reduce the negative impact on the environment by optimizing collection strategies and reducing manual intervention. In addition, with the continuous development of new energy and environmental protection technologies, future mechanical collection equipment will be more energy-saving, environmentally friendly, and sustainable.

[0003] The existing surface object collection devices have the following problems: 1. Most of the existing patents are driven by diesel, which has large carbon emissions and serious pollution. The noise in the power generation process affects the tourist experience. 2. Most of the existing patents use high-energy consumption, low-speed and heavy-load equipment, and its structure deeply presses on the bottom of fields, beaches, etc. 3. The traditional object collection device separates the object collection device and the vibrating screen for independent operation. The shovel head shears the object-sand mixture as a whole and sends it to the vibrating screen for separation. There are many steps, and the mixture cannot be effectively separated, which is inefficient. 4. The existing patents have a low degree of automation and rely on manual operation, resulting in energy waste. 5. Most of the existing patents can only adapt to one type of working environment and lack versatility. Summary of the invention

[0004] The present invention provides a surface object collection device and collection method with a comb-shaped shovel rotary structure conveying-separation integrated, which is a multi-form adaptive object collection device and collection method based on image recognition technology, pressure sensor recognition and new energy capture and storage utilization technology, combining "rotating comb-shaped shovel, hollow conveyor belt, adjustable frequency vibrator", so as to solve the problems of low accuracy, poor safety performance and low processing efficiency of object picking and processing technology of existing object collection vehicles.

[0005] To solve the above problems, the technical solution provided by the present invention is as follows:

[0006] An embodiment of the present invention provides a surface object collection device with a comb-shaped shovel wheel rotating structure and an integrated conveying and separation type, comprising a vehicle frame (14), two electric drive crawlers (7) are connected to both sides of the vehicle frame (14), a storage battery (5) and an automatic baler (6) are arranged on the bottom of the vehicle frame (14), a frame structure (15) is vertically arranged on the vehicle frame (14), an inclined hollow conveyor belt (16) is arranged between the vehicle frame (14) and the frame structure (15), and the rotating shaft of the hollow conveyor belt (16) is connected to an engine (8); and the hollow conveyor belt (16) is provided with a plurality of rotating shafts at intervals. There are a plurality of frequency-adjustable vibrating screens (9), and a plurality of vibrating screen through holes (10) are arranged in an array on the vibrating screen (9); the automatic baler (6) is butted against the end of the vibrating screen (9); a rotary comb shovel (12) is also arranged between the two vibrating screens (9) corresponding to the hollow conveyor belt (16); the rotary comb shovel (12) is provided with rake teeth (3); and a row of horizontal hard brushes (4) are arranged on the frame structure (15) at the position where the vibrating screen (9) is butted against, and the vibrating hard brushes (4) brush off the debris adhered to the shovel head or in the gap of the rotary comb shovel (12);

[0007] When the two electric drive crawlers (7) are moving, the rotary comb shovel (12) is driven to shovel into the ground, and the target object-sand mixture is lifted to the hollow conveyor belt (16) by the oblique upward force of the rake teeth (3), and then the target object and the bottom particles of the sand are screened out by vibration; the target object enters the separated upper and lower cylinder structures of the automatic baler (6), and after the pressure sensor at the bottom of the lower cylinder structure of the automatic baler (6) detects that the garbage is fully loaded, the spring structure of the automatic baler (6) is automatically closed to complete the baling, and the bagged items are then separated from the frame (14) by the action of the spring.

[0008] In an optional embodiment of the present invention, a plurality of conveyor belt cross beams (11) are provided on the surface of the hollow conveyor belt (16).

[0009] In an optional embodiment of the present invention, a hydraulic support (2) is arranged on the top of the frame structure (15), a solar panel (1) is arranged on the hydraulic support (2), and the electric energy generated by the solar panel (1) is stored in the storage battery (5) and is used to drive the electric drive track (7) to move.

[0010] In an optional embodiment of the present invention, an image recognition and sensor module is arranged on the vehicle frame (14), and the image recognition and sensor module includes a camera device, an infrared sensor, a deep learning algorithm module and a pressure sensor. By identifying the characteristic size, type, density and burial degree of surface objects and measuring the force applied to the rotary comb shovel (12), the sand entry angle of the rotary comb shovel (12), the operating speed of the hollow conveyor belt (16) and the vibration frequency of the adjustable frequency vibrating screen (9) are adjusted to reduce the resistance of the rake teeth (3) shoveling into the beach, and adjustments are made for bottom materials of different particle sizes, types and densities and objects of different sizes, thereby improving the efficiency of screening sand from the mixture.

[0011] In an optional embodiment of the present invention, the rotary comb shovel (12) is used to continuously collect a mixture of target objects and sand and soil onto the hollow conveyor belt (16); the hollow conveyor belt (16) separates the target objects from the bottom particles by vibration, and the target objects fall into the separated upper and lower barrel structures of the automatic baler; when fully loaded, the target objects trigger the pressure sensor of the lower barrel structure, and the bagged items are automatically separated from the frame (14) by automatic sealing with rubber bands.

[0012] In an optional embodiment of the present invention, the two electric drive tracks (7) are lightweight rubber electric drive tracks, which can be used for movement on soft and sparse bottom roads such as sand and mud, increase the contact area with the ground, prevent sinking, and achieve stable walking operation.

[0013] The embodiment of the present invention further provides a surface object collection method with a comb-shaped shovel wheel rotating structure and a conveying-separating integrated structure, which is implemented by using a surface object collection device with a comb-shaped shovel wheel rotating structure and a conveying-separating integrated structure in the above embodiment, and includes the following steps:

[0014] Step 1: First, use the image recognition and sensor module installed on the frame to collect images of the beach or mud surface, and capture image information on the beach or mud, including garbage, fishery resources, crops and other target collection objects;

[0015] Step 2, the collected image is then preprocessed, including denoising, contrast enhancement, brightness adjustment, etc., to improve image quality and prepare for subsequent image recognition;

[0016] Step 3: Then use the deep learning algorithm to analyze the image and identify garbage, fishery resources and other objects in the image; use the well-trained YOLOv10 model to distinguish garbage, fishery resources and other objects. The training results of different target collection objects should be used in different operating environments;

[0017] Step 4, then use the result of image recognition as input data, and further process it through the artificial intelligence algorithm module, including verification, classification and priority sorting of the recognition results. According to the result of image recognition, generate corresponding control instructions. If the target collection object is recognized, the image recognition and sensor module will instruct the surface object collection device to start working, and at the same time transmit the characteristic parameters of the recognized garbage or fishery resources, such as size, to the collection device for further processing by the surface object collection device; if no garbage or fishery resources are recognized, the surface object collection device will stop working; if living organisms that do not need to be collected, such as crabs, turtles, etc., are recognized, a signal will be transmitted to the control center of the surface object collection device to command the vehicle to avoid it, so as to achieve the goal of completing the operation while avoiding damage to the ecosystem of the operation site.

[0018] Compared with the prior art, the embodiment of the present invention provides a surface object collection device and method with a comb-shaped shovel wheel rotating structure that integrates conveying and separation, which has the following beneficial effects:

[0019] (1) Highly intelligent: Based on computer vision image recognition and control, the collection method combines computer vision technology with object image recognition. Through real-time image processing and deep learning algorithms, it realizes the recognition and processing of garbage and marine life. Based on pressure sensing technology, the pressure of the comb shovel is recognized, and the angle of the comb shovel entering the sand, the speed of the hollow conveyor belt, the vibration frequency of the adjustable frequency vibrator and other parameters are adjusted to improve the posture of the shovel head entering the soil, reduce the resistance of the rake shovel entering the beach, and make adjustments for sand with different particle sizes and densities and objects of different sizes to improve the collection efficiency.

[0020] (2) Stronger collection capability: Compared with the traditional object collection device, the present invention increases the working width of the vehicle body and reduces the working resistance of the comb shovel by setting sufficient gaps. On this basis, the conveyor belt can be equipped with more comb shovel units, so that the stability and continuity during operation are stronger, and the collection efficiency of the collection device is improved; an automatic packing machine is installed at the collection box, and more objects can be loaded per unit volume; the traditional heavy-load crawler collection vehicle is replaced by a lightweight one made of high-strength plastic, the walking speed is increased, and the energy consumption is reduced. The above measures improve the accuracy and success rate of the collection operation.

[0021] (3) More environmentally friendly and economical: In view of the shortcomings of conventional four-wheel drive vehicles, such as high energy consumption, high labor costs, and large environmental disturbances, the present invention installs a solar panel on the top, adopts electric drive, and uses clean energy to carry out operations. With the help of image recognition control and multi-parameter optimization methods, the structural parameters of the comb shovel and conveyor belt are optimized to avoid ineffective waste of power and traction, while achieving the purpose of avoiding non-target organisms. Compared with traditional cleaning vehicles, it is more environmentally friendly and economical. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0023] Figure 1 A schematic structural diagram of a surface object collection device with a comb-shaped shovel wheel rotating structure and integrated conveying and separation provided in an embodiment of the present application.

[0024] Figure 2 A schematic diagram of the conveyor belt and vibrating screen structure of a surface object collection device with a comb-shaped shovel wheel rotating structure and integrated conveying and separation provided in an embodiment of the present application.

[0025] Figure 3 A side view of a surface object collection device with a comb-shaped shovel wheel rotating structure and integrated conveying and separation provided in an embodiment of the present application.

[0026] Figure 4 A top view of a surface object collection device with a comb-shaped shovel wheel rotating structure and integrated conveying and separation provided in an embodiment of the present application.

[0027] Figure 5 A front view of a surface object collection device with a comb-shaped shovel wheel rotating structure and integrated conveying and separation provided in an embodiment of the present application.

[0028] Figure 6 A flow chart of a surface object acquisition image recognition method with a comb-shaped shovel wheel rotating structure for conveying and separation provided in an embodiment of the present application.

[0029] Figure 7 A schematic diagram of the functional modules of a target object picking system provided in an embodiment of the present application.

[0030] Figure numerals: solar panel 1, hydraulic support 2, rake teeth 3, hard brush 4, battery 5, automatic baler 6, electric drive track 7, engine 8, vibrating screen 9, vibrating screen through hole 10, conveyor belt beam 11, rotary comb shovel 12, frame 14, frame structure 15, hollow conveyor belt 16. DETAILED DESCRIPTION

[0031] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0032] like Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 As shown, the embodiment of the present invention provides a surface object collection device with a comb-shaped shovel wheel rotating structure and integrated conveying and separation, including a frame 14, two electric drive tracks 7 are connected to both sides of the frame 14, a battery 5 and an automatic baler 6 are arranged on the bottom of the frame 14, a frame structure 15 is vertically arranged on the frame 14, an inclined hollow conveyor belt 16 is arranged between the frame 14 and the frame structure 15, and the rotating shaft of the hollow conveyor belt 16 is connected to the engine 8; a plurality of conveyor belt crossbeams 11 are arranged on the surface of the hollow conveyor belt 16. A plurality of adjustable frequency vibrating screens 9 are arranged at intervals on the hollow conveyor belt 16, and a plurality of vibrating screen through holes 10 are arranged in an array on the vibrating screen 9. An automatic baler 6 is docked at the end of the vibrating screen 9, and a rotary comb shovel 12 is arranged between the two vibrating screens 9 corresponding to the hollow conveyor belt 16. The rotary comb shovel 12 is provided with rake teeth 3. The frame structure 15 is provided with a row of horizontal hard brushes 4 at the position where the vibrating screen 9 is docked, that is, a row of horizontal hard brushes 4 is installed at the bending part of the upper end of the hollow conveyor belt 16, and the vibrating hard brush 4 brushes off the debris adhered to the shovel head of the rotary comb shovel 12 or in the gap.

[0033] When the two electric-drive tracks 7 are moving, the rotary comb shovel 12 is driven to shovel into the ground, and the target object-sand mixture is lifted to the hollow conveyor belt 16 by the oblique upward force of the rake teeth 3, and then the target object and the bottom particles of the sand are screened out by vibration; the target object enters the separate upper and lower cylinder structures of the automatic baler 6, and after the pressure sensor at the bottom of the lower cylinder of the automatic baler 6 detects that the garbage is full, the spring structure of the automatic baler 6 automatically closes to complete the baling, and the bagged items are then separated from the frame 14 by the action of the spring.

[0034] A hydraulic support 2 is arranged on the top of the frame structure 15, and a solar panel 1 is arranged on the hydraulic support 2. The electric energy generated by the solar panel 1 is stored in the battery 5 and is used to drive the electric drive track 7 to move. The solar panel 1, the battery 5 and the electric drive track 7 form an energy supply-power storage-energy replenishment module, which uses high-efficiency energy-capturing solar panels and high-capacity storage batteries to carry out operations using clean energy. The hollow conveyor belt 16, the vibrating screen 9, the rotary comb shovel 12 and the automatic baler 6 form a collection-transmission-screening-baling module.

[0035] The "transport-separation" integrated operation technology of this embodiment is to combine the conveyor belt and the vibrating screen into one: different from the traditional conveying and lifting equipment, the present invention uses a hollow conveyor belt and assembles a multi-layer vibrating screen inside the conveyor belt to provide continuous oscillation during the transmission process, separate the target collection object from impurities such as sand and soil, and the target object is transported to the collection box with the conveyor belt, and the impurities fall back to the soil surface to achieve bottom backfilling and protect the ecological environment. The rotary comb shovel is installed on the conveyor belt through a threaded structure. During operation, the shovel head rotates continuously with the motor to shovel into the bottom surface to collect the target object-sand mixture. There is a gap in the shovel head of the comb shovel, which significantly reduces the resistance to entering the soil, and can ensure the successful lifting of the target collection while reducing the damage to the beach landform. The angle of the shovel head and the shovel body of the rotary comb shovel can be adjusted by remote control to adapt to different bottom conditions, terrain conditions and target object distribution. The above design eliminates the cumbersome steps of the traditional "transport first, then screening" mode, and can achieve efficient collection of target objects.

[0036] The vehicle frame 14 of the present embodiment is provided with an image recognition and sensor module, which includes a camera, an infrared sensor, a deep learning algorithm module and a pressure sensor. By identifying the characteristic size, type, density and burial degree of surface objects and measuring the force applied to the rotary comb shovel 12, the sand entry angle of the rotary comb shovel 12, the operating speed of the hollow conveyor belt 16 and the vibration frequency of the adjustable frequency vibrating screen 9 are adjusted to reduce the resistance of the rake teeth 3 shoveling into the beach, and adjustments are made for bottom materials of different particle sizes, types and densities and objects of different sizes to improve the efficiency of screening sand from the mixture.

[0037] The rotary comb shovel 12 is used to continuously collect the target object and the sand-soil mixture onto the hollow conveyor belt 16. The hollow conveyor belt 16 separates the target object from the bottom particles by vibration and falls into the separated upper and lower cylinder structures of the automatic baler. After being fully loaded, the target object triggers the pressure sensor of the lower cylinder structure, and the bagged items are automatically sealed by rubber bands and automatically detached from the frame 14. The two electric drive tracks 7 use lightweight rubber electric drive tracks, which can move on soft bottom roads with sand and silt, increase the contact area with the ground, prevent sinking, and achieve stable walking operations.

[0038] This embodiment switches different structural forms and collection modes for two different substrates, sand and silt. Among them, the rotary comb shovel is detachable, and the hollow conveyor belt part can adjust the parameters such as the angle of the comb shovel entering the sand, the conveyor belt running speed, and the vibration frequency of the vibrating screen. For example, the angle of the comb shovel entering the sand is changed to adapt to the substrate with different internal friction angles to achieve the optimal resistance condition; the appropriate conveyor belt running speed is selected according to the resistance value to achieve the maximum power output; the vibration frequency of the vibrating screen is adjusted according to the substrate type, and the vibration frequency is increased when the substrate is more viscous to ensure the efficiency of the substrate particle backfilling process. Through the above design, the present invention can make adjustments for substrates of different particle sizes, types, and densities and objects of different scales, and improve the efficiency of screening sand from mixtures based on a multi-parameter optimization method.

[0039] During the operation, the comb-shaped shovel will inevitably adhere to debris. If it is not handled in time, it is easy to reduce the collection efficiency and even cause mechanical failure. For this reason, the present invention installs a row of horizontal hard brushes at the bend of the upper end of the conveyor belt. The base of a row of horizontal hard brushes 4 is installed on the bracket on the opposite side of the hollow conveyor belt 16, and the hard brushes 4 are extended to contact the vibrating screen, and the operation is used to drive the brushes to vibrate at the same frequency. When the rotary comb-shaped shovel 12 passes the horizontal position with the conveying wheel of the hollow conveyor belt 16, the vibrating hard brush will brush off the debris adhered to the shovel head of the rotary comb-shaped shovel 12 or in the gap, thereby improving the cleaning efficiency.

[0040] In terms of the way of packing collected items, the traditional method usually pours the collected items into the collection box for temporary storage, and then packs them manually, which is inefficient. The solution is to design an upper and lower separated upper and lower cylinder structure automatic packing machine 6 at the collection point of collected items, and an automatic plastic bag packing and bag changing machine is provided at the upper layer of the lower cylinder of the automatic packing machine 6. A pressure sensor is installed next to the plastic bag. When the pressure of the plastic bag reaches the threshold, the packing rod starts to release the rubber band to tighten the plastic bag and let the plastic bag fall automatically, and then the upper and lower channels are closed, and the upper layer completes the bag change; in the lower cylinder, a small fan is used to form negative pressure, and the plastic bag is adsorbed to the inner wall of the lower cylinder to complete automatic packaging.

[0041] In the driving module of the surface object collection device, conventional manually driven vehicles are greatly affected by the terrain, and are unstable when walking on some tidal flats and coasts, with the risk of rollover. The present invention uses lightweight rubber electric drive tracks, which can increase the contact area between the vehicle and the ground, disperse the pressure, prevent sinking, and achieve stable walking operation when walking on soft substrates such as sandy beaches and mud; and is equipped with solar panels and high-capacity storage batteries on the roof. This driving method is convenient for remote control, saves manpower, has stable and long-lasting power, is applicable to a wide range of terrains, and the storage batteries are energy-saving and have long-lasting endurance.

[0042] According to the above embodiment, a comb-shaped shovel wheel rotating structure conveying-separating integrated surface object collection device is combined with Figure 6The embodiment of the present invention also provides a surface object collection method with a comb-shaped shovel wheel rotating structure, which is an integrated conveying and separation method, comprising the following steps:

[0043] Step 1, first use the image recognition and sensor module installed on the frame to collect images of the beach or mud surface, and capture image information on the beach or mud, including target collection objects such as garbage, fishery resources, and crops; the image recognition and sensor module in step 1 of this embodiment is mainly responsible for identifying the type of target objects and the working bottom type on the beach or mud, and directing the collection vehicle to collect effectively.

[0044] Step 2, the collected image is then preprocessed, including denoising, contrast enhancement, brightness adjustment, etc., to improve image quality and prepare for subsequent image recognition;

[0045] Step 3: Then use the deep learning algorithm to analyze the image and identify garbage, fishery resources and other objects in the image; use the well-trained YOLOv10 model to distinguish garbage, fishery resources and other objects, and use the training results of different target collection objects in different operating environments;

[0046] Step 4, then use the result of image recognition as input data, and further process it through the artificial intelligence algorithm module, including verification, classification and priority sorting of the recognition results. According to the result of image recognition, generate corresponding control instructions. If the target collection object is recognized, the image recognition and sensor module will instruct the surface object collection device to start working, and at the same time transmit the characteristic parameters of the recognized garbage or fishery resources, such as size, to the collection device for further processing by the surface object collection device; if no garbage or fishery resources are recognized, the surface object collection device will stop working; if living organisms that do not need to be collected, such as crabs, turtles, etc., are recognized, a signal will be transmitted to the control center of the surface object collection device to command the vehicle to avoid it, so as to achieve the goal of completing the operation while avoiding damage to the ecosystem of the operation site.

[0047] The image recognition and sensor module of this embodiment is used to realize highly automated and intelligent collection of resources such as beach garbage, silt fisheries, and field crops, reduce human intervention, improve work efficiency, and ensure that the ecological environment on different substrates is not damaged. The pressure sensor is then responsible for determining the type of working substrate to adjust: the gap of the rotary comb shovel, the angle of the rotary comb shovel entering the sand, the inclination angle of the hollow conveyor belt, the operating speed of the hollow conveyor belt, the vibration frequency of the adjustable frequency vibrator and other parameters. In this way, the rotary surface object collection device can complete its collection task more accurately and efficiently.

[0048] like Figure 7As shown, the surface object collection device adopts an efficient target object picking system when performing object collection operations. The core component of the target object picking system is a rotary comb shovel, which is installed on a hollow conveyor belt through a threaded structure. When the surface object collection device starts the cleaning operation, the rotary comb shovel will continue to rotate, repeatedly insert into the surface of the bottom material, and collect a mixture of impurities such as sand and soil and target objects. The gap between the shovel head of the rotary comb shovel enables the target object to be initially separated from impurities such as sand and soil during the collection process, reducing the bottom material components that are shoveled up, thereby reducing the damage to the bottom material. The angle of the shovel head of the rotary comb shovel can be adjusted by remote control to adapt to different terrain conditions and target object distribution. While the shovel head collects the target object-bottom material mixture, the mixture is sent to the hollow conveyor belt. The hollow conveyor belt has a unique design. It has a hollow structure with multiple layers of vibrating screens in between, which separate the target object from the bottom material through vibration during the conveying process. The "transmission and screening integrated" design allows fine sand to fall through the holes of the hollow conveyor belt and then backfill onto the beach. The target collection objects cannot pass through the holes due to their large size and will be transported to the collection box by the hollow conveyor belt. In addition, the surface object collection device also uses image recognition technology to distinguish the characteristics of the target object, such as size, type, density and burial degree. This information will be used to adjust the various structural parameters of the surface object collection device to achieve the best cleaning effect. This integrated intelligent transmission and screening function allows the cleaning vehicle to effectively separate the target object from the bottom without completely shoveling up the surface of the bottom. This design not only reduces the cost of work because it avoids unnecessary soil damage and backfilling and leveling work, but also greatly improves work efficiency. Fine sand and dust are backfilled on the beach, and those objects that cannot pass through the hollow part of the hollow conveyor belt will be packaged in the collection box at the rear of the vehicle. Then, through path planning, the objects will be further classified after the vehicle returns to the station. This efficient object collection and recycling system protects the environment and avoids the potential harm of garbage to the marine ecosystem, while efficiently collecting fishery resources and promoting economic development.

[0049] In summary, although the present invention has been disclosed as above in terms of preferred embodiments, the above preferred embodiments are not intended to limit the present invention. A person skilled in the art may make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the present invention shall be based on the scope defined in the claims.

Claims

1. A surface object collection device with a comb-shaped shovel wheel rotating structure and integrated conveying and separation, characterized in that: The invention comprises a vehicle frame (14), two electric drive crawlers (7) are connected to both sides of the vehicle frame (14), a storage battery (5) and an automatic baler (6) are arranged on the bottom of the vehicle frame (14), a frame structure (15) is vertically arranged on the vehicle frame (14), an inclined hollow conveyor belt (16) is arranged between the vehicle frame (14) and the frame structure (15), and the rotating shaft of the hollow conveyor belt (16) is connected to an engine (8); a plurality of frequency-adjustable vibrating screens (9) are arranged at intervals on the hollow conveyor belt (16), and the vibrating screens (9) are arranged at intervals on the hollow conveyor belt (16). A plurality of vibrating screen through holes (10) are arranged in an array on the screen (9); the automatic baler (6) is butted against the end of the vibrating screen (9); a rotary comb shovel (12) is arranged between the two vibrating screens (9) corresponding to the hollow conveyor belt (16); rake teeth (3) are arranged on the rotary comb shovel (12); a row of horizontal hard brushes (4) are arranged on the frame structure (15) at the position where the vibrating screen (9) is butted against; the vibrating hard brushes (4) brush off debris adhered to the shovel head or in the gap of the rotary comb shovel (12); When the two electric drive crawlers (7) are moving, the rotary comb shovel (12) is driven to shovel into the ground, and the target object-sand mixture is lifted to the hollow conveyor belt (16) by the oblique upward force of the rake teeth (3), and then the target object and the bottom particles of the sand are screened out by vibration; the target object enters the separated upper and lower cylinder structure of the automatic baler (6), and after the pressure sensor at the bottom of the lower cylinder structure of the automatic baler (6) detects that the garbage is fully loaded, the spring structure of the automatic baler (6) is automatically closed to complete the baling, and the bagged items are then separated from the frame (14) by the action of the spring; The frame (14) is provided with an image recognition and sensor module, which includes a camera, an infrared sensor, a deep learning algorithm module and a pressure sensor. The image recognition and sensor module recognizes the characteristic size, type, density and burial degree of surface objects and measures the force applied to the rotary comb shovel (12), thereby adjusting the sand entry angle of the rotary comb shovel (12), the operating speed of the hollow conveyor belt (16) and the vibration frequency of the adjustable frequency vibrating screen (9), so as to reduce the resistance of the rake teeth (3) shoveling into the beach, and makes adjustments for bottom materials of different particle sizes, types and densities and objects of different sizes, thereby improving the efficiency of screening sand from the mixture; The rotary comb shovel (12) is used to continuously collect a mixture of target objects and sand onto the hollow conveyor belt (16); the hollow conveyor belt (16) separates the target objects from the bottom particles by vibration and drops them into the separated upper and lower barrel structures of the automatic baler; when fully loaded, the target objects trigger the pressure sensor of the lower barrel structure, and the bagged items are automatically separated from the frame (14) by automatic sealing with rubber bands.

2. The surface object collection device with a comb-shaped shovel wheel rotating structure and integrated conveying and separation according to claim 1 is characterized in that: A plurality of conveyor belt cross beams (11) are arranged on the surface of the hollow conveyor belt (16).

3. The surface object collection device with a comb-shaped shovel wheel rotating structure and integrated conveying and separation according to claim 1 is characterized in that: A hydraulic support (2) is arranged on the top of the frame structure (15), a solar panel (1) is arranged on the hydraulic support (2), and the electric energy generated by the solar panel (1) is stored in the storage battery (5) and is used to drive the electric drive track (7) to move.

4. The surface object collection device with a comb-shaped shovel wheel rotating structure and integrated conveying and separation according to claim 1 is characterized in that: The two electric drive tracks (7) are lightweight rubber electric drive tracks, which can move on soft and sparse bottom roads such as sand, soil and silt, increase the contact area with the ground, prevent sinking, and achieve stable walking operation.

5. A method for collecting surface objects with a comb-shaped shovel wheel rotating structure and a conveying-separating integrated structure, which is implemented by using a surface object collecting device with a comb-shaped shovel wheel rotating structure and a conveying-separating integrated structure as claimed in any one of claims 1 to 4, characterized in that: The following steps are involved: Step 1: First, use the image recognition and sensor module installed on the frame to collect images of the beach or mud surface, and capture image information on the beach or mud, including target collection objects such as garbage, fishery resources, and crops; Step 2, the collected image is then preprocessed, including denoising, contrast enhancement, and brightness adjustment, to improve image quality and prepare for subsequent image recognition; Step 3: Then use the deep learning algorithm to analyze the image and identify garbage, fishery resources and other objects in the image; use the well-trained YOLOv10 model to distinguish garbage, fishery resources and other objects. The training results of different target collection objects should be used in different operating environments; Step 4: The image recognition result is then used as input data for further processing by the artificial intelligence algorithm module, including verification, classification and priority sorting of the recognition result. According to the image recognition result, corresponding control instructions are generated. For example, if the target collection object is recognized, the image recognition and sensor module will instruct the surface object collection device to start working, and at the same time, the characteristic parameters of the recognized garbage or fishery resources are transmitted to the collection device for further processing by the surface object collection device. If no garbage or fishery resources are identified, the surface object collection device will stop working; if a living organism that does not need to be collected is identified, a signal will be transmitted to the surface object collection device control center to direct the vehicle to avoid it, thereby completing the target operation while avoiding damage to the ecosystem at the work site.

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