An unmanned aerial vehicle suction device for garbage cleaning in scenic areas

Abstract

The present invention discloses a drone suction device for cleaning garbage in scenic areas, which includes a drone body, an image acquisition module, and a suction main rod. The suction main rod includes a horizontal rotating shaft, a connecting column, a first vertical rotating shaft, a telescopic robotic arm, a second vertical rotating shaft, and an adjustable suction device. The telescopic robotic arm includes a first telescopic rod, a second telescopic rod, and a third telescopic rod. The adjustable suction device includes a vacuum suction device, an electric telescopic rod, a support rod, a suction air path, and an elastic nylon cloth. The suction device of the present invention can adjust the area of the suction aperture according to the size of the target garbage, can suck the garbage in some narrow environments, and fundamentally prevents secondary pollution caused by the falling off of the garbage. The telescopic robotic arm gives the suction device a larger operating space under the drone. Compared with traditional mechanical claws, the drone suction device of the present invention has the advantages of being lightweight and being able to suck heavier garbage under the same drone load.

Description

Technical Field

[0001] The present invention relates to the technical field of rotor unmanned aerial vehicles, and in particular to a drone suction device for cleaning garbage in scenic spots. Background Art

[0002] With the rapid development of the tourism industry, environmental problems need to be taken seriously. The garbage brought by tourists has had a significant impact on the environment of scenic spots. The garbage on the scenic spots not only affects the scenery but also harms the scenic spot environment. For example, food packaging bags and plastic bottles are discarded on the roadside or even on the cliff edge, and this kind of garbage is likely to fall to places that are difficult to pick up. In practice, at present, most of the garbage cleaning is completed by manual picking methods, which are not only inefficient but also dangerous.

[0003] Generally, drones equipped with robotic arms are used to complete the cleaning work, but there are significant drawbacks in using mechanical claws to pick up garbage. First: When the mechanical claw grabs the garbage, it is necessary to consider whether the angle of the mechanical claw grabbing the garbage is appropriate. The movement range of the robotic arm will be restricted by the landing gear of the drone, and generally the length of the robotic arm will be greater than that of the tripod. When taking off and landing, a specific landing device must be used to realize the takeoff and landing of the drone; Second: The structure of the mechanical claw itself determines that the mechanical claw cannot grab garbage with a small volume, a thin thickness, and some garbage stuck in the gap. At the same time, the mechanical claw cannot adjust the size of its own claws and cannot grab garbage in a narrow space; Third: The mechanical claw picks up the garbage by increasing the force on both sides of the claws and increasing the pressure between the claws and the garbage, so as to achieve grabbing the garbage by increasing the friction force. This method is prone to slipping when grabbing smooth garbage, or is prone to falling off after grabbing, resulting in the garbage falling off and causing secondary pollution. The existing technical problems have become urgent problems to be solved by technical personnel in related fields. Summary of the Invention

[0004] The purpose of the present invention is to provide a drone suction device for cleaning garbage in scenic spots. Some components in the suction device are of a hollow structure, and the overall device is relatively light; the vacuum suction method is adopted to adjust the area of the suction aperture according to the size of the target object, so as to suck larger garbage or some garbage in the gap, and fundamentally prevent secondary pollution caused by the garbage falling off.

[0005] A drone suction device for cleaning garbage in scenic spots according to the present invention includes a drone body, an image acquisition module, and an air suction main rod. The image acquisition module includes a camera and a wireless video transmission transmitter; the camera is fixed to the bottom of the drone and cannot be moved; the controller is installed inside the drone body.

[0006] The described suction main rod includes a horizontal rotating shaft, a connecting column, a first vertical rotating shaft, a telescopic robotic arm, a second vertical rotating shaft, and an adjustable suction device. The horizontal rotating shaft is installed at the center position of the bottom of the drone. The bottom of the horizontal rotating shaft and the top of the first vertical rotating shaft are connected by a connecting column.

[0007] The described telescopic robotic arm includes a first telescopic rod, a second telescopic rod, and a third telescopic rod arranged in sequence from top to bottom. Inside the left and right sides of the first telescopic rod and the second telescopic rod of the telescopic robotic arm, there are sliding grooves, and on the outside of the left and right sides of the second telescopic rod and the third telescopic rod, there are protruding tracks. The protruding track of the second telescopic rod is installed in the sliding groove of the first telescopic rod, and the protruding track of the third telescopic rod is installed in the sliding groove of the second telescopic rod.

[0008] The first vertical rotating shaft is connected to the top of the first telescopic rod of the telescopic robotic arm, and the second vertical rotating shaft is connected to the bottom of the third telescopic rod of the telescopic robotic arm.

[0009] The described adjustable suction device includes a vacuum suction device, an electric telescopic rod, a support rod, a suction air path, and an elastic nylon cloth. The vacuum suction device includes a motor, a fan, an exhaust port, an air inlet, and a filter screen. Fans are provided both above and below the motor of the vacuum suction device. The air inlet of the fan below the motor is installed with a filter screen. When the vacuum suction device is working, the lower filter screen prevents dust and foreign objects from being inhaled and blocking. The air outlet of the fan above the motor is installed with a filter screen. When the vacuum suction device is not working, the upper filter screen prevents dust and foreign objects from entering the fan from the exhaust port of the vacuum suction device, avoiding the occurrence of the fan being blocked and stopped. Six equally spaced circular exhaust ports are provided at the upper end of the vacuum suction device, and the gas to be discharged when the vacuum suction device is working is discharged from the exhaust port. The motor of the vacuum suction device is connected to the controller using a wire and receives the control instructions sent by the controller.

[0010] The electric telescopic rod is of a hollow structure, and the top of the electric telescopic rod is connected to the air inlet at the bottom of the vacuum suction device. Fixed rings are provided at the tops of the six support rods and are equally spaced and hinged to the bottom of the electric telescopic rod.

[0011] The six support rods are tightly covered with an elastic nylon cloth to form a closed suction port.

[0012] The suction air path includes a suction port, an electric telescopic rod, and a vacuum suction device. The top of the suction port is connected to the air port at the bottom of the hollow electric telescopic rod. The air inlet of the vacuum suction device is connected to the air port at the top of the hollow electric telescopic rod.

[0013] Furthermore, the horizontal rotating shaft, the first vertical rotating shaft, and the second vertical rotating shaft are connected to the controller using wires and receive the control instructions sent by the controller to achieve control of their respective rotation angles.

[0014] Further, the first telescopic rod, the second telescopic rod, and the third telescopic rod of the telescopic robotic arm are each equipped with an independent motor to control the extension distance of the telescopic rod. The respective independent motors are connected to the controller using wires, and the controller sends control instructions to their respective motors to control the extension distance of the telescopic rod.

[0015] Further, the electric telescopic rod is hinged to the support rod, and the expansion area of the support rod changes with the extension distance of the electric telescopic rod, so that the suction port fits the target garbage to be sucked more closely.

[0016] The method for a drone to suck scenic area garbage includes the following steps:

[0017] Step 1: The drone takes off from the ground and flies in the air. Observe the target garbage to be sucked through the camera, and fly the drone to the obliquely upper position of the target garbage.

[0018] Step 2: Slowly lower the drone close to the target garbage to a certain distance, capture the image of the target garbage through the camera, judge the positional relationship between the drone and the target garbage, and the controller sends control instructions to the horizontal rotating shaft and the first vertical rotating shaft. After receiving the control instructions, the horizontal rotating shaft and the first vertical rotating shaft rotate an appropriate angle to align the suction port with the target garbage.

[0019] Step 3: The controller sends control instructions to the motors of the second telescopic rod and the third telescopic rod of the telescopic robotic arm to extend, so that the second telescopic rod and the third telescopic rod extend an appropriate distance, and the suction port approaches the target garbage, ensuring that the drone body completes the suction work on the target garbage within a safe space.

[0020] Step 4: Observe the orientation of the target garbage through the camera again, and the controller sends control instructions to the second vertical rotating shaft. After receiving the instructions, the second vertical rotating shaft rotates a corresponding angle to align the suction port at the bottom of the adjustable suction device with the target garbage.

[0021] Step 5: The controller controls the extension distance of the electric telescopic rod according to the different sizes of the target garbage to control the area of the suction port, so that the suction port fits the shape of the target garbage more closely.

[0022] Step 6: After the target garbage is in close contact with the suction port, the vacuum suction device starts to work, and the air between the support rod and the target object is discharged through the hollow electric telescopic rod and the exhaust port of the vacuum suction device to form a vacuum environment to suck the target garbage.

[0023] Step 7: After receiving the signal that the target garbage is tightly sucked, the controller first controls the horizontal rotating shaft, the first vertical rotating shaft, and the second vertical rotating shaft to return to their original positions, and then sends control instructions to the motors of the second telescopic rod and the third telescopic rod of the telescopic robotic arm to make the second telescopic rod and the third telescopic rod return to their positions to complete the suction work.

[0024] The present invention has the following beneficial effects:

[0025] (1) The suction aperture area can be adjusted according to the size of the target garbage, so as to achieve more accurate and effective suction of the target garbage. The target garbage can be captured by suction, and the garbage that can be sucked can be garbage with a large surface area, small thickness, and smooth garbage. The suction aperture can also be narrowed to suck up some garbage in the gaps, fundamentally preventing secondary pollution caused by garbage falling off, which is impossible for larger mechanical claws.

[0026] (2) A horizontal rotating shaft, two vertical rotating shafts and a retractable mechanical arm are installed on the UAV. The retractable mechanical arm can effectively increase the working distance of the UAV. The control instructions sent by the controller control the motors of the second telescopic rod and the third telescopic rod of the retractable mechanical arm, so as to achieve precise control of the extension distance of the second telescopic rod and the third telescopic rod, so that the mechanical arm has a larger operating space under the UAV. With the rotation of the horizontal rotating shaft and the vertical rotating shaft, a large range of suction can be achieved, which increases the flexibility of the UAV in sucking target garbage. When working on the edge of a relatively steep rock wall, it can also ensure that the UAV body completes the suction of the target garbage in a safe space, reducing the difficulty of sucking the target garbage.

[0027] (3) The connecting rod in the suction device, the telescopic rod in the telescopic mechanical arm, and the electric telescopic rod in the vacuum suction device are all hollow structures, which reduces the overall weight of the device; compared with the traditional mechanical claw, the drone suction device of the present invention has the advantages of being light and being able to suck heavier garbage under the same drone load. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is the overall structure diagram of the UAV suction device;

[0029] Figure 2 It is a structural diagram of the suction device in the suction device of the drone;

[0030] Figure 3 It is a cross-sectional view of the retractable mechanical arm in the drone suction device;

[0031] Figure 4 This is a structural diagram of the support rod in the drone suction device;

[0032] Figure 5 is a cross-sectional view of an adjustable air suction device in a suction device of a drone;

[0033] Figure 6 It is a schematic diagram of step one in the suction method of the drone suction device;

[0034] Figure 7It is a schematic diagram of step two in the method for the drone suction device to suck.

[0035] Figure 8 It is a schematic diagram of step three in the method for the drone suction device to suck.

[0036] Figure 9 It is a schematic diagram of step four in the method for the drone suction device to suck.

[0037] Figure 10 It is a schematic diagram of case one of step five in the method for the drone suction device to suck.

[0038] Figure 11 It is a schematic diagram of case two of step five in the method for the drone suction device to suck.

[0039] Figure 12 It is a schematic diagram of step seven in the method for the drone suction device to suck.

[0040] Figure 13 It is a flowchart of the drone suction device. Specific implementation manners

[0041] The following further describes the specific implementation manners of the present invention with reference to the accompanying drawings.

[0042] As Figure 1 shown, the present invention provides a drone suction device for cleaning garbage in scenic areas, including a drone body, an image acquisition module, and a suction main rod. The image acquisition module includes a camera and a wireless video transmitter; the camera is fixed to the bottom of the drone and cannot be moved; the controller is installed inside the drone body.

[0043] As Figure 2 shown, the suction main rod includes a horizontal rotating shaft 1, a connecting column 2, a first vertical rotating shaft 3, a telescopic robotic arm 4, a second vertical rotating shaft 5, and an adjustable suction device 6. The center of the bottom of the drone is connected to the top of the horizontal rotating shaft 1. The bottom of the horizontal rotating shaft 1 and the top of the first vertical rotating shaft 3 are connected to the connecting column 2. The first vertical rotating shaft 3 and the second vertical rotating shaft 5 are connected by the telescopic robotic arm 4. The top of the adjustable suction device 6 is connected to the bottom of the second vertical rotating shaft 5. The horizontal rotating shaft 1, the first vertical rotating shaft 3, and the second vertical rotating shaft 5 are connected to the controller by wires and receive control instructions sent by the controller to control their respective rotation angles.

[0044] As Figure 3As shown in the figure, the telescopic robotic arm 4 includes a first telescopic rod 4-1, a second telescopic rod 4-2, and a third telescopic rod 4-3. Inside the left and right sides of both the first telescopic rod 4-1 and the second telescopic rod 4-2, there are sliding grooves. Outside the left and right sides of both the second telescopic rod 4-2 and the third telescopic rod 4-3, there are protruding tracks. The protruding track of the second telescopic rod 4-2 is installed in the sliding groove of the first telescopic rod 4-1, and the protruding track of the third telescopic rod 4-3 is installed in the sliding groove of the second telescopic rod 4-2. The first vertical rotating shaft 3 is connected to the top of the first telescopic rod 4-1 of the telescopic robotic arm 4, and the second vertical rotating shaft 5 is connected to the bottom of the third telescopic rod 4-3 of the telescopic robotic arm 4.

[0045] For the first telescopic rod 4-1, the second telescopic rod 4-2, and the third telescopic rod 4-3 of the telescopic robotic arm 4, each is equipped with an independent motor to control the extension distance of the telescopic rod. Each independent motor is connected to the controller using a wire, and the controller sends control instructions to their respective motors to control the extension distance of the telescopic rod.

[0046] As Figure 4 shown in the figure, the support rod 9 includes a fixed ring 9-1 and a hollow support rod 9-2. The fixed ring 9-1 is provided with a hinge where the fixed ring is hinged to the bottom of the electric telescopic rod 8.

[0047] As Figure 5 shown in the figure, the adjustable suction device 6 includes a vacuum suction device 7, an electric telescopic rod 8, a support rod 9, a suction air path, and an elastic nylon cloth. The vacuum suction device 7 includes a motor 7-1, a fan 7-2, an exhaust port 7-3, an air inlet 7-4, and a filter net 7-5. Above and below the motor 7-1 of the vacuum suction device 7, there are fans 7-2. The double fans make the formed vacuum environment faster and more stable. The air inlet 7-4 of the fan 7-2 below the motor 7-1 is installed with a filter net 7-5. When the vacuum suction device 7 is working, the lower filter net 7-5 prevents dust and foreign objects from being inhaled and blocked. The air outlet of the fan 7-2 above the motor 7-1 is installed with a filter net 7-5. When the vacuum suction device 7 is not working, the upper filter net 7-5 prevents dust and foreign objects from entering the fan 7-2 from the exhaust port of the vacuum suction device, avoiding the occurrence of the fan 7-2 being blocked and stopped. At the top of the vacuum suction device 7, there are 6 circular exhaust ports 7-3 arranged at equal distances. When the vacuum suction device 7 is working, the gas to be discharged is discharged from the exhaust port 7-3. The motor 7-1 of the vacuum suction device 7 is connected to the controller using a wire and receives the control instructions sent by the controller.

[0048] The electric telescopic rod 8 is of a hollow structure. The top of the electric telescopic rod 8 is connected to the air inlet 7-4 at the bottom of the vacuum suction device 7. An elastic nylon cloth is tightly covered on 6 support rods 9 to form a closed suction port. At the top of the 6 support rods 9, there are fixed rings 9-1 which are equally spaced and hinged to the bottom of the electric telescopic rod 8. The expanded area of the support rods changes with the extension distance of the electric telescopic rod, so that the suction port fits the target garbage to be sucked more closely.

[0049] The suction air path includes a suction port, an electric telescopic rod 8, and a vacuum suction device 7. The top of the suction port is connected to the bottom air port of the hollow electric telescopic rod 8. The air inlet 7-4 of the vacuum suction device 7 is connected to the top air port of the hollow electric telescopic rod 8.

[0050] The method for a drone to pick up scenic area garbage includes the following steps:

[0051] Step 1: As shown in Figure 6 , since the physical structure of the suction main rod is longer than the drone's landing gear, when the drone is preparing to take off or land on the ground, the controller sends a control instruction to the first vertical rotating shaft 3. After receiving the instruction, the first vertical rotating shaft 3 rotates 90° clockwise towards the tail of the drone. The second vertical rotating shaft 5 remains unchanged, making the telescopic robotic arm 4 and the adjustable suction device 6 in a straight line and at a 90° angle with the connecting column 2. This posture can ensure the stable takeoff and landing of the drone on the ground. Observe the target garbage to be picked up through the camera, and fly the drone to the oblique upper side of the target garbage.

[0052] Step 2: As shown in Figure 7 , slowly lower the drone close to the target garbage to a certain distance, capture the image of the target garbage through the camera, judge the positional relationship between the drone and the target garbage, and the controller sends control instructions to the horizontal rotating shaft 1 and the first vertical rotating shaft 3. After receiving the control instructions, the horizontal rotating shaft 1 rotates 10° clockwise, and the first vertical rotating shaft 3 rotates 120° counterclockwise. The second vertical rotating shaft 5 remains unchanged, making the telescopic robotic arm 4 and the adjustable suction device 6 in a straight line. At this time, the included angle between the telescopic robotic arm 4 and the adjustable suction device 6 and the connecting column 2 is 120°, and the suction port is aligned with the target garbage.

[0053] Step 3: As shown in Figure 8 , the controller sends control instructions to the motors of the second telescopic rod 4-2 and the third telescopic rod 4-3 of the telescopic robotic arm 4 to extend. The motors work to make the second telescopic rod 4-2 and the third telescopic rod 4-3 extend an appropriate distance, and the suction port approaches the target garbage, ensuring that the drone body completes the work of picking up the target garbage within a safe space.

[0054] Step 4: As shown in Figure 9 , after observing the orientation of the target garbage through the camera again, the controller sends a control instruction to the second vertical rotating shaft 5. After receiving the instruction, the second vertical rotating shaft 5 rotates 15° counterclockwise, making the suction port at the bottom of the adjustable suction device align with the target garbage.

[0055] Step Five: According to the different sizes of the target garbage, the controller sends corresponding control instructions to control the extension distance of the electric telescopic rod 8. The support rod 9 is hinged to the bottom of the electric telescopic rod 8, and the unfolded area of the support rod 9 changes with the extension distance of the electric telescopic rod 8, so as to control the area of the suction port and make the suction port more conform to the shape of the target garbage. For example, Figure 10 as shown, when the size of the target garbage is large, the extension distance of the electric telescopic rod 8 increases, increasing the area of the suction port. As Figure 11 shown, when the target object is in a steep rock wall, through a certain rotation of the first vertical rotating shaft 3 and an appropriate extension of the telescopic robotic arm 4, ensure that the UAV body maintains a safe distance from the rock wall to complete the suction work of the target garbage. At the same time, the extension distance of the electric telescopic rod 8 decreases, reducing the area of the suction port, which is convenient for realizing the suction work.

[0056] Step Six: After the target garbage is in close contact with the suction port, the controller sends a control instruction to the motor 7-1 of the vacuum suction device 7. After receiving the control instruction from the controller, the motor 7-1 starts to work, driving the fan 7-2 to start working. The air between the suction port and the target garbage enters the air inlet 7-4 of the vacuum suction device 7 through the electric telescopic rod 8, and the dust and foreign matters are filtered by the two-layer filter 7-5 and then discharged from the exhaust port 7-3, forming a vacuum environment to suck the target garbage. After sucking the target garbage tightly, a suction signal is fed back to the controller.

[0057] Step Seven: As Figure 12 shown, when the size of the target garbage is large, after the controller receives the suction signal, the controller first sends control instructions to the horizontal rotating shaft 1, the first vertical rotating shaft 3 and the second vertical rotating shaft 5. After receiving the control instructions, the horizontal rotating shaft 1, the first vertical rotating shaft 3 and the second vertical rotating shaft 5 change their rotation directions and rotate by the same angle, making the suction main rod in a vertical state. Then the controller sends control instructions to the motors of the second telescopic rod 4-2 and the third telescopic rod 4-3 of the telescopic robotic arm 4, making the second telescopic rod 4-2 and the third telescopic rod 4-3 return to their original positions to complete the suction work.

Claims

1. An unmanned aerial vehicle suction device for cleaning garbage in scenic areas, characterized in that: It includes a UAV body, an image acquisition module, and a suction main rod; the image acquisition module includes a camera and a wireless video transmitter; the camera is fixed to the bottom of the UAV and is immovable; the controller is installed inside the UAV body; The suction main rod includes a horizontal rotating shaft, a connecting column, a first vertical rotating shaft, a telescopic robotic arm, a second vertical rotating shaft, and an adjustable suction device; the horizontal rotating shaft is installed at the center position of the bottom of the UAV; the bottom of the horizontal rotating shaft and the top of the first vertical rotating shaft are connected by a connecting column; The telescopic robotic arm includes a first telescopic rod, a second telescopic rod, and a third telescopic rod arranged in sequence from top to bottom; inside the left and right sides of the first telescopic rod and the second telescopic rod of the telescopic robotic arm, there are sliding grooves, and on the outside of the left and right sides of the second telescopic rod and the third telescopic rod, there are protruding tracks; the protruding track of the second telescopic rod is installed in the sliding groove of the first telescopic rod, and the protruding track of the third telescopic rod is installed in the sliding groove of the second telescopic rod; The first vertical rotating shaft is connected to the top of the first telescopic rod of the telescopic robotic arm, and the second vertical rotating shaft is connected to the bottom of the third telescopic rod of the telescopic robotic arm; The adjustable suction device includes a vacuum suction device, an electric telescopic rod, a support rod, a suction air path, and an elastic nylon cloth; the vacuum suction device includes a motor, a fan, an exhaust port, an air inlet, and a filter screen; there are fans above and below the motor of the vacuum suction device; the air inlet of the fan below the motor is installed with a filter screen, and the lower filter screen prevents dust and foreign objects from being inhaled and blocked when the vacuum suction device is working; the air outlet of the fan above the motor is installed with a filter screen, and the upper filter screen prevents dust and foreign objects from entering the fan from the exhaust port of the vacuum suction device when the vacuum suction device is not working, avoiding the occurrence of the fan being blocked and stopped; six equally spaced circular exhaust ports are provided at the upper end of the vacuum suction device, and the gas to be discharged when the vacuum suction device is working is discharged from the exhaust port; the motor of the vacuum suction device is connected to the controller by a wire and receives the control instruction sent by the controller; The electric telescopic rod is of a hollow structure, and the top of the electric telescopic rod is connected to the air inlet at the bottom of the vacuum suction device; at the top of the six support rods, there are fixed rings and are equally spaced and hinged to the bottom of the electric telescopic rod; The six support rods are tightly covered with an elastic nylon cloth to form a closed suction port; The suction air path includes a suction port, an electric telescopic rod, and a vacuum suction device; the top of the suction port is connected to the air port at the bottom of the hollow electric telescopic rod; the air inlet of the vacuum suction device is connected to the air port at the top of the hollow electric telescopic rod; The electric telescopic rod is hinged to the support rod, and the expanded area of the support rod changes with the extension distance of the electric telescopic rod, so that the suction port fits the target object to be sucked more closely.

2. The drone suction device for scenic area garbage cleaning according to claim 1, wherein: The horizontal rotating shaft, the first vertical rotating shaft, and the second vertical rotating shaft are connected to the controller by wires and receive the control instructions sent by the controller to control their respective rotation angles.

3. The drone suction device for scenic area garbage cleaning according to claim 1, wherein: The first telescopic rod, the second telescopic rod and the third telescopic rod of the telescopic robotic arm are each equipped with an independent motor to control the extended distance of the telescopic rod. The respective independent motors are connected to the controller by wires, and the controller sends control instructions to their respective motors to control the extended distance of the telescopic rod.

4. The drone suction device for scenic area garbage cleaning according to claim 1, wherein: The method for an unmanned aerial vehicle to pick up scenic area garbage includes the following steps: Step 1: The unmanned aerial vehicle takes off from the ground and flies in the air; observes the target garbage to be picked up through the camera, and flies the unmanned aerial vehicle to the oblique upper part of the target garbage. Step 2: Slowly lower the unmanned aerial vehicle close to the target garbage to a certain distance, capture the image of the target garbage through the camera, judge the positional relationship between the unmanned aerial vehicle and the target garbage, and the controller sends control instructions to the horizontal rotating shaft and the first vertical rotating shaft; after receiving the control instructions, the horizontal rotating shaft and the first vertical rotating shaft rotate an appropriate angle to align the suction port with the target garbage. Step 3: The controller sends control instructions to the motors of the second telescopic rod and the third telescopic rod of the telescopic robotic arm to extend, so that the second telescopic rod and the third telescopic rod extend an appropriate distance, and the suction port approaches the target garbage, ensuring that the unmanned aerial vehicle body completes the work of picking up the target garbage in a safe space. Step 4: Observe the orientation of the target garbage through the camera again, and the controller sends control instructions to the second vertical rotating shaft. After receiving the instructions, the second vertical rotating shaft rotates a corresponding angle to align the suction port at the bottom of the adjustable suction device with the target garbage. Step 5: The controller controls the extended distance of the electric telescopic rod according to the different sizes of the target garbage to control the area of the suction port, making the suction port more suitable for the shape of the target garbage. Step 6: After the target garbage is in close contact with the suction port, the vacuum suction device starts to work, and the air between the support rod and the target object is discharged through the hollow electric telescopic rod and the exhaust port of the vacuum suction device to form a vacuum environment to pick up the target garbage. Step 7: After receiving the signal that the target garbage is tightly sucked, the controller first controls the horizontal rotating shaft, the first vertical rotating shaft, and the second vertical rotating shaft to return to their original positions, and then sends control instructions to the motors of the second telescopic rod and the third telescopic rod of the telescopic robotic arm to make the second telescopic rod and the third telescopic rod return to their positions, completing the picking-up work.

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