Trailing suction type beach garbage cleaning device and method attached to complex substrate layer

Abstract

The invention discloses a drag suction type beach garbage cleaning device and method attached to a complex substrate layer. The device comprises a beach garbage cleaning vehicle, and the beach garbage cleaning vehicle is provided with a vehicle body driving module, an image recognition module, an automatic pickup module and a garbage treatment module; the image recognition module comprises camera equipment, an infrared sensor and a deep learning algorithm module, the automatic pickup module comprises V-shaped soil penetrating rake teeth and industrial-grade dust collection equipment, and the garbage treatment module comprises a vibration conveying screen and a garbage collection box; according to the beach garbage cleaning device, highly automatic and intelligent beach garbage cleaning is achieved through the image processing module, manual intervention is reduced, the cleaning efficiency is improved, meanwhile, the ecological environment on a beach is protected, and therefore the beach garbage cleaning device can complete the cleaning task more accurately and efficiently.

Description

Technical Field

[0001] The invention belongs to the technical field of environmental governance, and in particular relates to a rake-suction beach garbage cleaning device and method attached to a complex bottom layer. Background Art

[0002] my country has rich beach tourism resources, which are widely distributed in many coastal provinces and each has its own distinctive characteristics. With the vigorous development of beach tourism, the number of tourists has increased significantly, which has also led to an increase in the amount of garbage generated on the beach. In order to maintain the cleanliness of the beach, each scenic spot needs to invest a lot of manpower and financial resources. The traditional manual cleaning method is not only inefficient but also costly. To solve this problem, a variety of beach garbage cleaning vehicles have emerged on the market. However, the existing cleaning vehicles are generally large in size, noisy, and mostly require tractor towing and specialist operation, so there are many inconveniences in operating on beaches with dense tourists. At present, the basic technical principles of garbage cleaning vehicles are mostly similar, that is, the sand and garbage are pushed to the entrance of the conveyor belt through the power of the vehicle body, and the conveyor belt transports the collected sand and garbage to the vibrating screen for separation, but this principle has several shortcomings.

[0003] The deficiencies and reasons of existing technologies: 1. Most existing products are driven by diesel, which has large carbon emissions and serious pollution. The noise during the power generation process affects the tourists' experience and hinders the sustainable economic development of tourist cities. 2. Most existing technologies use high-energy consumption, low-speed crawler heavy-duty equipment, which deeply presses the beach terrain structure and causes major environmental damage. 3. Most existing technologies have a low degree of automation and rely heavily on high-cost manual operations. Personnel need to work continuously for a long time in a high-temperature environment, which poses a major safety hazard. 4. When operating in areas with complex terrain beaches with varying bottom hardness, existing technologies cannot ensure that the depth of sand entry remains unchanged, resulting in poor cleaning and low cleaning efficiency. Summary of the invention

[0004] The present invention provides a rake-suction beach garbage cleaning device and method attached to a complex bottom layer, which is based on image recognition technology and new energy storage and utilization technology, combined with an oblique rake and suction flow solution, to solve the problems of low accuracy, poor safety performance and low processing efficiency of garbage picking and processing technology of existing beach garbage cleaning vehicles.

[0005] To solve the above problems, the technical solution provided by the present invention is as follows: An embodiment of the present invention provides a rake-suction beach garbage cleaning device attached to a complex bottom layer, comprising a beach garbage cleaning vehicle (5), wherein the beach garbage cleaning vehicle (5) is provided with a body drive module, an image recognition module, an automatic picking module and a garbage processing module; The vehicle body drive module comprises a four-wheel remote-controlled electric drive wheel (5-1), two electric motors (3), a solar panel (1) and a storage battery (6); the solar panel (1) is used to obtain electric energy and store it in the storage battery (6); the storage battery (6) is used to supply power to the two electric motors (3); and the two electric motors (3) are used to drive the four-wheel remote-controlled electric drive wheel (5-1) to roll; The image recognition module comprises a camera device (13), an infrared sensor (15) and a deep learning algorithm module, wherein the camera device (13) and the infrared sensor (15) are mounted on a chassis (5-2) of the beach garbage cleaning vehicle (5), and the deep learning algorithm module is mounted on a control system of the beach garbage cleaning vehicle (5), and the deep learning algorithm module is used for identifying and processing, and the camera device (13) and the infrared sensor (15) capture and distinguish image information on the beach; The automatic picking module comprises V-shaped rake teeth (12) and an industrial-grade dust suction device, wherein the V-shaped rake teeth (12) are mounted on the chassis (5-2) of the beach garbage cleaning vehicle (5), and the industrial-grade dust suction device is mounted above the V-shaped rake teeth (12) and connected to the frame (5-3) of the beach garbage cleaning vehicle (5), and the industrial-grade dust suction device is used to suck the garbage-sand mixture (16) on the V-shaped rake teeth from the V-shaped rake teeth; The garbage processing module comprises a vibrating conveying screen (10) and a garbage collection box (2); the vibrating conveying screen (10) is installed below the outlet of the industrial-grade dust collection device, and the bottom of the vibrating conveying screen (10) is connected to the inlet of the garbage collection box (2); the garbage-sand mixture enters the vibrating conveying screen (10) through the industrial-grade dust collection device, the sand particles are screened out through the sand discharge holes of the vibrating conveying screen (10), and the large particles of garbage are sorted into the garbage collection box (2).

[0006] In an optional embodiment of the present invention, the V-shaped earth-entering rake teeth (12) include two oblique rakes (12-1) of the same structure, the top ends of the two oblique rakes (12-1) are connected to the chassis (5-2) of the beach garbage cleaning vehicle (5), the bottom ends of the two oblique rakes (12-1) are close to each other and are arranged toward the beach bottom layer (17), and the central axes of the two oblique rakes (12-1) are in a V-shaped structure.

[0007] In an optional embodiment of the present invention, two of the electric motors (3) are symmetrically arranged on the two side frames (5-3) of the beach garbage cleaning vehicle (5), and the two electric motors (3) are also connected to the rear leveling plate (9) of the beach garbage cleaning vehicle (5) via a support plate (11) and a hydraulic rod (8).

[0008] In an optional embodiment of the present invention, the screed plate (9) comprises a straight portion (9-1), a first raised portion (9-2) and a second raised portion (9-3) located on both sides of the straight portion (9-1), and the straight portion (9-1) is arranged to fit the beach substrate (17).

[0009] In an optional embodiment of the present invention, the industrial-grade dust collection equipment comprises a vacuum pump (7), the inlet of the vacuum pump (7) is connected to a dust collection port (14), the outlet of the vacuum pump (7) is connected to a curved suction circular pipe (4), the dust collection port (14) is arranged toward the V-shaped earth-entering rake teeth (12), and the outlet of the curved suction circular pipe (4) is arranged toward the vibrating conveying screen (10).

[0010] In an optional embodiment of the present invention, the dust suction port (14) is a funnel-shaped structure or a hollow boss-shaped structure.

[0011] In an optional embodiment of the present invention, a herringbone anti-skid structure is provided on the surface of the four-wheel remote-controlled electric drive wheel (5-1).

[0012] In an optional embodiment of the present invention, the solar panel (1) is installed on the roof of the beach garbage cleaning vehicle (5), and the storage battery (6) is installed on the chassis (5-2) of the beach garbage cleaning vehicle (5).

[0013] The embodiment of the present invention further provides a method for cleaning beach garbage by means of a rake-suction type attached to a complex bottom layer, which is implemented by means of a rake-suction type beach garbage cleaning device attached to a complex bottom layer of the above embodiment, and comprises the following steps: Step 1, the image processing module identifies beach garbage and guides the beach garbage cleaning vehicle to clean it efficiently. First, the camera device (13) and infrared sensor (15) installed on the vehicle body are used to collect images of the beach surface that is about to pass through the suction port (14). These devices can capture and distinguish image information on the beach, including sand, garbage and other natural objects; then the collected images are pre-processed, including denoising, contrast enhancement, and brightness adjustment, to improve image quality and prepare for subsequent image recognition; Step 2, then use the deep learning algorithm module to analyze the image and identify the garbage in the image, which involves using a well-trained model, using the YOLOv10 module, to distinguish garbage from other objects; Step 3, the image recognition result is then used as input data for further processing through the artificial intelligence algorithm of the image processing module, including verification, classification and priority sorting of the recognition results; based on the image recognition results, corresponding control instructions are generated. For example, if garbage is recognized, the image processing module will instruct the industrial vacuum cleaner to start working; if no garbage is recognized, the industrial vacuum cleaner will stop working; if intertidal organisms such as crabs and turtles are recognized, a signal will be transmitted to the all-terrain vehicle control center to command the vehicle to avoid them.

[0014] Compared with the prior art, the embodiment of the present invention provides a device and method for cleaning beach garbage by a rake suction method attached to a complex bottom layer, which has the following beneficial effects: (1) Significantly improve the beach garbage cleaning capacity. The present invention designs a new set of beach garbage cleaning vehicles. Compared with traditional vehicles, the operating width is increased, the travel resistance is reduced, the stability and continuity are improved, and the cleaning efficiency of the cleaning vehicle is improved; the traditional diesel-powered heavy-duty cleaning vehicle is replaced by an electric-driven lightweight cleaning vehicle, the travel speed is increased, and the energy consumption is reduced; the above measures improve the recovery accuracy and success rate of garbage disposal, thereby enhancing the garbage disposal capacity.

[0015] (2) Highly intelligent, through the camera equipment and sensors on the front and chassis of the vehicle, garbage identification and control based on computer vision. The present invention innovatively combines computer vision technology with beach garbage disposal. Through real-time image processing and deep learning algorithms, it realizes the identification and processing of garbage images and terrain information, and provides feedback information for remote control based on this. It can also automatically adjust the end-of-vehicle execution components to realize unmanned operation.

[0016] (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 disturbance, the present invention installs a solar panel on the top, adopts electric drive, and uses clean energy to carry out operations. The image recognition module is used to control the automatic picking function of the cleaning vehicle, avoiding the ineffective waste caused by the continuous operation of various components of the garbage disposal equipment in the traditional mode, and achieving the purpose of avoiding intertidal organisms. Compared with traditional cleaning vehicles, it is more environmentally friendly and economical. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] 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.

[0018] Figure 1A schematic structural diagram of a rake-suction beach garbage cleaning device attached to a complex bottom layer provided in an embodiment of the present application.

[0019] Figure 2 A bottom view and bottom structure schematic diagram of a rake-suction beach garbage cleaning device attached to a complex bottom layer provided in an embodiment of the present application.

[0020] Figure 3 A front view of a rake-suction beach garbage cleaning device attached to a complex bottom layer provided in an embodiment of the present application.

[0021] Figure 4 A top view of a rake-suction beach garbage cleaning device attached to a complex bottom layer provided in an embodiment of the present application.

[0022] Figure 5 A side view of a rake-suction beach garbage cleaning device attached to a complex bottom layer provided in an embodiment of the present application.

[0023] Figure 6 A schematic diagram of the raking and suction process of a garbage-sand mixture by a raking and suction-type beach garbage cleaning device attached to a complex bottom layer provided in an embodiment of the present application.

[0024] Figure 7 A partial top view of a V-shaped oblique rake of a rake-suction beach garbage cleaning device attached to a complex bottom layer provided in an embodiment of the present application.

[0025] Figure 8 A partial side view of a V-shaped arranged oblique rake of a rake-suction beach garbage cleaning device attached to a complex bottom layer provided in an embodiment of the present application.

[0026] Fig. 9 A schematic diagram of the functional modules of a rake-suction beach garbage cleaning device attached to a complex bottom layer provided in an embodiment of the present application.

[0027] Fig.10 A schematic flow chart of a method for cleaning beach garbage by means of a rake-suction method attached to a complex bottom layer provided in an embodiment of the present application. DETAILED DESCRIPTION

[0028] 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.

[0029] like Figures 1 to 9As shown, an embodiment of the present invention provides a beach garbage cleaning device with a rake suction type attached to a complex bottom layer, including a beach garbage cleaning vehicle 5, on which a body drive module, an image recognition module, an automatic pickup module and a garbage disposal module are provided. The image recognition module drives the industrial-grade vacuum equipment to operate and stop by identifying garbage in the surface soil sediment of the beach, and enables the vehicle body to autonomously avoid intertidal organisms to avoid damage to the beach ecosystem. The automatic pickup module sucks in the garbage-sand mixture 16 through the oblique V-shaped soil rake teeth 12 and the industrial-grade vacuum equipment, and classifies it through the vibrating conveyor screen 10. The body drive module uses a four-wheel remote-controlled electric drive all-terrain vehicle type, and realizes dynamic leveling through the wheel axle structure on both sides that is independent of the vehicle chassis 5-2, ensuring that the chassis part of the body is closely attached to the surface of the beach; at the same time, the towing leveling plate 9 is used to cover the driving traces. In this embodiment, the solar panel 1 is powered by the double-sided independent motor 3, and at the same time drives the oblique V-shaped rake teeth 12 to shovel into the ground. The garbage-sand mixture is lifted to the beach surface near the suction port by the upward force of the V-shaped rake teeth 12, and then the beach surface sediment with garbage is selectively sucked in through image recognition. The garbage-sand mixture 16 enters the vibrating conveyor screen 10 through the curved suction pipe 4, and the sand is screened out through the sand discharge hole by the vibrating screen to achieve sorting.

[0030] Specifically, Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5As shown, the vehicle body drive module includes a four-wheel remote-controlled electric drive wheel 5-1, two motors 3, a solar panel 1 and a battery 6. The solar panel 1 is used to obtain electric energy and store it in the battery 6. The battery 6 is used to power the two motors 3. The two motors 3 are used to drive the four-wheel remote-controlled electric drive wheel 5-1 to roll. The image recognition module includes a camera 13, an infrared sensor 15 and a deep learning algorithm module. The camera 13 and the infrared sensor 15 are installed on the chassis 5-2 of the beach garbage cleaning vehicle 5. The deep learning algorithm module is installed on the control system of the beach garbage cleaning vehicle 5. The deep learning algorithm module is used to identify and process the image information captured and distinguished by the camera 13 and the infrared sensor 15 on the beach. The automatic picking module includes a V-shaped rake 12 and an industrial-grade vacuum cleaner. The V-shaped rake 12 is mounted on the chassis 5-2 of the beach garbage cleaning vehicle 5. The industrial-grade vacuum cleaner is mounted above the V-shaped rake 12 and connected to the frame 5-3 of the beach garbage cleaning vehicle 5. The industrial-grade vacuum cleaner is used to suck the garbage-sand mixture 16 on the V-shaped rake from the V-shaped rake. The garbage processing module includes a vibrating conveyor screen 10 and a garbage collection box 2. The vibrating conveyor screen 10 is mounted below the outlet of the industrial-grade vacuum cleaner, and the bottom of the vibrating conveyor screen 10 is connected to the inlet of the garbage collection box 2. The garbage-sand mixture 16 enters the vibrating conveyor screen 10 through the industrial-grade vacuum cleaner, and the sand is screened out through the sand discharge holes of the vibrating conveyor screen 10, and the large particles of garbage are sorted into the garbage collection box 2.

[0031] like Figure 6 , Figure 7 and Figure 8 As shown, the V-shaped earth-entering rake teeth 12 include two oblique rakes 12-1 of the same structure. The top ends of the two oblique rakes 12-1 are connected to the chassis 5-2 of the beach garbage cleaning vehicle 5, and the lower ends of the two oblique rakes 12-1 are close to each other and arranged toward the beach bottom layer 17. The central axis of the two oblique rakes 12-1 is in a V-shaped structure.

[0032] like Figure 1 As shown, two motors 3 are symmetrically arranged on the two side frames 5-3 of the beach garbage cleaning vehicle 5, and the two motors 3 are also connected to the rear leveling plate 9 of the beach garbage cleaning vehicle 5 through the support plate 11 and the hydraulic rod 8. The surface of the four-wheel remote-controlled electric drive wheel 5-1 is provided with a herringbone pattern anti-skid structure. The solar panel 1 is installed on the roof of the beach garbage cleaning vehicle 5, and the battery 6 is installed on the chassis 5-2 of the beach garbage cleaning vehicle 5.

[0033] like Figure 5 As shown, the screed plate 9 includes a straight portion 9-1, a first raised portion 9-2 and a second raised portion 9-3 located on both sides of the straight portion 9-1, and the straight portion 9-1 is arranged to fit the beach substrate 17. Figure 3 and Figure 6As shown, the industrial-grade vacuuming equipment includes a vacuum pump 7, the inlet of the vacuum pump 7 is connected to a vacuum port 14, the outlet of the vacuum pump 7 is connected to a curved suction pipe 4, the vacuum port 14 is arranged toward the V-shaped rake teeth 12, and the outlet of the curved suction pipe 4 is arranged toward the vibrating transmission screen 10. The vacuum port 14 is a funnel-shaped structure or a hollow boss-shaped structure.

[0034] On the automatic picking module, based on the Bernoulli principle, a vacuum cleaner suitable for beach garbage is designed to replace the traditional conveyor belt transportation, thereby avoiding the structural deficiencies in the conveyor belt-rake tooth structure, such as garbage easily falling and being hinged into the conveyor belt gear, and improving the efficiency of garbage collection. At the same time, mud prying plates are installed on both sides of the lower surface of the industrial-grade vacuum cleaner to reduce the distance change between the suction port and the soil surface, and realize the dynamic attachment of the suction port to the beach surface; in the design of the rake teeth, high-strength steel is used to cast the front narrow and rear wide, V-shaped, small-angle obliquely inserted rake teeth, the insertion angle, depth, and interval are adjustable and fixed, and the adaptability and continuity are strong, so that the speed and cleaning width of the beach cleaning vehicle are improved. Two rows of rake teeth are densely arranged on the chassis of the all-terrain vehicle, with a V-shaped tilt pointing to the suction port in the front. During the operation, the garbage-sand mixture with different burial degrees is gathered near the suction port below the soil surface due to a force biased towards the middle and upper exerted by the rake teeth, which is conducive to concentrated absorption. In addition, the suction port is placed obliquely and parallel to the rake teeth to ensure that the suction power is not wasted.

[0035] In terms of the vehicle body drive module, conventional vehicles need to be driven manually, which is labor-intensive and greatly affected by the terrain. There is a risk of rollover when traveling on some tidal flats and coasts, and it consumes energy and pollutes the environment. The solution of the present invention is to use a four-wheel independent suspension double-reducer new energy remote-controlled electric drive electric all-terrain vehicle. The left and right four wheels are divided into two groups and assembled on the suspension system independent of the vehicle body on both sides, and are equipped with independent motors to enable them to operate independently. Through instant and dynamic rotation and leveling, it can adapt to complex terrain and ensure that the chassis part of the vehicle body is closely attached to the surface of the beach; and solar panels and high-capacity storage batteries are installed on the roof. This all-terrain vehicle is convenient to remotely control, saves manpower, has automatic brakes, strong power, is applicable to a wide range of terrains, and the storage batteries it is equipped with save energy. The all-terrain vehicle has a compact structure, a low center of gravity, and good dynamic stability. Compared with tracked vehicles, it has the advantages of fast speed and low energy consumption.

[0036] In the garbage disposal module, since the suction material contains some sand, if it is directly poured into the garbage collection box, it will not only waste storage volume, but also bring inconvenience to the subsequent garbage disposal. The solution of the present invention is: the garbage-sand mixture enters the inclined conveying vibrating screen through the dust suction port and the curved suction round pipe, so that the sand in the garbage-sand mixture falls back to the beach due to gravity and the sand is peeled off at the same time, which improves work efficiency. A hinged leveling plate is installed on the rear side of the vehicle body to simplify unloading. The hard leveling plate is covered with a soft rubber layer cushion that can be disassembled using threads to reduce wear on the leveling plate.

[0037] refer to Fig. 9 and Fig.10 The embodiment of the present invention also provides a method for cleaning beach garbage by a rake-suction type attached to a complex bottom layer, which is implemented by a rake-suction type beach garbage cleaning device attached to a complex bottom layer of the above embodiment, and includes the following steps: Step 1, the image processing module identifies beach garbage and guides the beach garbage cleaning vehicle to clean it efficiently. First, the camera device 13 and the infrared sensor 15 installed on the vehicle body are used to collect images of the beach surface that is about to pass through the suction port (14). These devices can capture and distinguish image information on the beach, including sand, garbage and other natural objects; then the collected images are pre-processed, including denoising, contrast enhancement, brightness adjustment, etc., to improve image quality and prepare for subsequent image recognition; Step 2, then use the deep learning algorithm module to analyze the image and identify the garbage in the image, which involves using a well-trained model, using the YOLOv10 module, to distinguish garbage from other objects; Step 3, the image recognition result is then used as input data for further processing through the artificial intelligence algorithm of the image processing module, including verification, classification and priority sorting of the recognition results; based on the image recognition results, corresponding control instructions are generated. For example, if garbage is recognized, the image processing module will instruct the industrial vacuum cleaner to start working; if no garbage is recognized, the industrial vacuum cleaner will stop working; if intertidal organisms such as crabs and turtles are recognized, a signal will be transmitted to the all-terrain vehicle control center to command the vehicle to avoid them.

[0038] As mentioned above, the device and method for cleaning beach garbage by rake suction attached to complex bottom layer of the present invention have the following innovative aspects: 1. An efficient rake suction system that is adaptive to the environment. The rake teeth are densely arranged on the chassis of the all-terrain vehicle, tilted in a V shape and pointing to the front suction port position, so that during the operation, the garbage-sand mixture with different burial degrees is gathered to the soil surface due to the force applied by the rake teeth to bias the suction port, so as to achieve high-efficiency operation of the suction equipment. Mud pry plates are respectively installed on both sides of the lower surface of the industrial-grade suction equipment to reduce the distance change between the suction port and the soil surface; at the same time, independently suspended axle systems are respectively arranged on both sides of the vehicle body flat plate, so that the wheels on both sides can operate independently and better adapt to the terrain. The two are combined to achieve dynamic attachment of the suction port and the soil surface. The environment below the pickup module is imaged and inputted by photographic equipment and sensors, and the input image is recognized based on the deep learning algorithm, so that the existence of garbage can be judged at the junction of the beach and seawater, and then the vacuum cleaner and vibrating screen are triggered to operate, so as to achieve "immediate identification and immediate processing" of the garbage, which significantly improves the operation efficiency. 2. To adapt to complex terrain and different bottoms, the present invention adopts an all-terrain vehicle design. The wheels on both sides of the vehicle body are independently suspended on the double-side axles from the flat body. In the complex terrain of the beach, the vehicle can autonomously adjust the posture of the axles on both sides according to the subtle ups and downs of the terrain. When the flat body of the vehicle body is always kept horizontal, the tires are closely attached to the ground, and the stability of the vehicle body equipment is guaranteed, so as to achieve stable walking and operation. In order to adapt to the soil with a large hardness difference between the seawater-beach junction and the beach, multiple high-strength, blade-shaped rake teeth are densely fixed on the chassis of the all-terrain vehicle through a welding process. The traction generated by the forward movement of the vehicle body continuously breaks the hard soil surface at the junction of the seawater-beach, and then herringbone pattern anti-skid tires are selected to achieve free walking on soft beaches with a larger force-bearing surface and wear resistance. Using an underwater and aquatic multi-environment image recognition system and a deep learning algorithm, by using a special image data set, it can not only identify garbage and organisms on the beach, but also objects under a small water depth in the seawater-beach junction area, so that it can adapt well in both water and land states. The environmental adaptation algorithm can automatically adjust the depth of the rake teeth into the soil according to the beach terrain conditions obtained by image recognition, reducing the resistance of the rake teeth shoveling into the beach. This adaptive ability enables the vehicle to maintain efficient garbage cleaning performance under various beach conditions. 3. High-efficiency, lightweight, eco-friendly operation model. The present invention adopts an environmentally adaptive lightweight all-terrain vehicle with a simple body frame structure made of high-strength, low-density plastic. The independent motors on both sides are powered by high-efficiency energy-capturing solar panels. Camera equipment and sensors are installed on the chassis of the vehicle, and intertidal zone organisms are identified based on computer vision to achieve the purpose of avoiding intertidal zone organisms. The rear of the vehicle is equipped with a beach leveling tailboard (leveling plate), which is assembled using a detachable hinge and is equipped with a replaceable wear-resistant soft rubber pad underneath. It can adapt to complex terrain and different bottom materials, effectively remove tire driving marks on the sand, and achieve eco-friendly operations.

[0039] 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 rake-suction beach garbage cleaning device attached to a complex bottom layer, characterized in that: It comprises a beach garbage cleaning vehicle (5), wherein the beach garbage cleaning vehicle (5) is provided with a body drive module, an image recognition module, an automatic picking module and a garbage processing module; The vehicle body drive module comprises a remote-controlled electric drive wheel (5-1), two electric motors (3), a solar panel (1) and a storage battery (6); the solar panel (1) is used to obtain electric energy and store it in the storage battery (6); the storage battery (6) is used to supply power to the two electric motors (3); and the two electric motors (3) are used to drive the four-wheel remote-controlled electric drive wheel (5-1) to roll; The image recognition module comprises a camera device (13), an infrared sensor (15) and a deep learning algorithm module, wherein the camera device (13) and the infrared sensor (15) are mounted on a chassis (5-2) of the beach garbage cleaning vehicle (5), and the deep learning algorithm module is mounted on a control system of the beach garbage cleaning vehicle (5), and the deep learning algorithm module is used for identifying and processing, and the camera device (13) and the infrared sensor (15) capture and distinguish image information on the beach; The automatic picking module comprises V-shaped rake teeth (12) and an industrial-grade dust suction device, wherein the V-shaped rake teeth (12) are mounted on the chassis (5-2) of the beach garbage cleaning vehicle (5), and the industrial-grade dust suction device is mounted above the V-shaped rake teeth (12) and connected to the frame (5-3) of the beach garbage cleaning vehicle (5), and the industrial-grade dust suction device is used to suck the garbage-sand mixture (16) on the V-shaped rake teeth from the V-shaped rake teeth; The garbage processing module comprises a vibrating conveying screen (10) and a garbage collection box (2); the vibrating conveying screen (10) is installed below the outlet of the industrial-grade dust collection device, and the bottom of the vibrating conveying screen (10) is connected to the inlet of the garbage collection box (2); the garbage-sand mixture enters the vibrating conveying screen (10) through the industrial-grade dust collection device, the sand particles are screened out through the sand discharge holes of the vibrating conveying screen (10), and the large particles of garbage are sorted into the garbage collection box (2).

2. The device for cleaning beach garbage by means of a rake suction method attached to a complex bottom layer according to claim 1, characterized in that: The V-shaped earth-penetrating rake teeth (12) comprise two oblique rakes (12-1) of identical structure, the top ends of the two oblique rakes (12-1) being connected to the chassis (5-2) of the beach garbage cleaning vehicle (5), the bottom ends of the two oblique rakes (12-1) being close to each other and arranged toward the beach substrate layer (17), and the central axes of the two oblique rakes (12-1) being in a V-shaped structure.

3. The device for cleaning beach garbage by means of a rake suction method attached to a complex bottom layer according to claim 1, characterized in that: The two electric motors (3) are symmetrically arranged on the two side frames (5-3) of the beach garbage cleaning vehicle (5), and the two electric motors (3) are also connected to the rear leveling plate (9) of the beach garbage cleaning vehicle (5) via a support plate (11) and a hydraulic rod (8).

4. The device for cleaning beach garbage by means of a rake suction method attached to a complex bottom layer according to claim 3, characterized in that: The screed plate (9) comprises a straight portion (9-1), a first raised portion (9-2) and a second raised portion (9-3) located on both sides of the straight portion (9-1), and the straight portion (9-1) is arranged to fit the beach bottom layer (17).

5. The device for cleaning beach garbage by means of a rake suction method attached to a complex bottom layer according to claim 1, characterized in that: The industrial-grade dust collection equipment comprises a vacuum pump (7), the inlet of the vacuum pump (7) is connected to a dust collection port (14), the outlet of the vacuum pump (7) is connected to a curved suction circular pipe (4), the dust collection port (14) is arranged toward the V-shaped earth-entering rake teeth (12), and the outlet of the curved suction circular pipe (4) is arranged toward the vibrating conveying screen (10).

6. The device for cleaning beach garbage by means of a rake suction method attached to a complex bottom layer according to claim 5, characterized in that: The dust suction port (14) is a funnel-shaped structure or a hollow boss-shaped structure.

7. The device for cleaning beach garbage by means of a rake suction method attached to a complex bottom layer according to claim 1, characterized in that: The surface of the four-wheel remote-controlled electric drive wheel (5-1) is provided with a herringbone pattern anti-skid structure.

8. The device for cleaning beach garbage by means of a rake suction method attached to a complex bottom layer according to claim 1, characterized in that: The solar cell panel (1) is mounted on the roof of the beach garbage cleaning vehicle (5), and the storage battery (6) is mounted on the chassis (5-2) of the beach garbage cleaning vehicle (5).

9. A method for cleaning beach garbage by means of a rake-suction method attached to a complex bottom layer, which is realized by means of a rake-suction method for cleaning beach garbage by means of a rake-suction device attached to a complex bottom layer as claimed in any one of claims 1 to 8, characterized in that: The following steps are involved: Step 1, the image processing module identifies beach garbage and guides the beach garbage cleaning vehicle to clean it efficiently. First, the camera device (13) and infrared sensor (15) installed on the vehicle body are used to collect images of the beach surface that is about to pass through the suction port (14). These devices can capture and distinguish image information on the beach, including sand, garbage and other natural objects; then the collected images are pre-processed, including denoising, contrast enhancement, and brightness adjustment, to improve image quality and prepare for subsequent image recognition; Step 2, then use the deep learning algorithm module to analyze the image and identify the garbage in the image, which involves using a well-trained model, using the YOLOv10 module, to distinguish garbage from other objects; Step 3, the image recognition result is then used as input data for further processing through the artificial intelligence algorithm of the image processing module, including verification, classification and priority sorting of the recognition results; based on the image recognition results, corresponding control instructions are generated. For example, if garbage is recognized, the image processing module will instruct the industrial vacuum cleaner to start working; if no garbage is recognized, the industrial vacuum cleaner will stop working; if intertidal organisms such as crabs and turtles are recognized, a signal will be transmitted to the all-terrain vehicle control center to command the vehicle to avoid.

Images