Unmanned aerial vehicle garbage cleaning device

Abstract

The invention discloses an unmanned aerial vehicle garbage cleaning device, and relates to the technical field of riverway inspection unmanned aerial vehicles, the unmanned aerial vehicle garbage cleaning device comprises an unmanned aerial vehicle bracket, the upper end of the unmanned aerial vehicle bracket is fixedly connected with an equipment platform, the center of the upper end of the equipment platform is fixedly connected with a flight control terminal, and the upper end of the unmanned aerial vehicle bracket is fixedly connected with an electric rotor; the four electric rotors are all electrically connected with the flight control terminal, the unmanned aerial vehicle support greatly improves the stability of the unmanned aerial vehicle body through a parallel four-rod structure, common fog, wind and other common sudden influences can be dealt with, the electric rotors and the guide rail driving motors all use brushless motors as power sources, the unmanned aerial vehicle is higher in loading capacity, and the unmanned aerial vehicle is more convenient to use. The brushless motor is high in power, the double-grabbing structure is high in grabbing capacity, large-load grabbing can be achieved, the double-grabbing structure can conduct half-meter-height grabbing, a lead screw in the electric lead screw guide rail and threaded self-locking of a sliding block are used for preventing a grabbed heavy object from slipping off, and the stability during grabbing and lifting is guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of river inspection drones, and in particular to a drone garbage cleaning device. Background Art

[0002] The main functions of existing river inspection drones are mainly focused on high-altitude visual monitoring and data collection, which can quickly capture the overall status of the river, water flow speed, water quality changes, riverbank ecological environment and other information, and provide timely and comprehensive data support for management departments. However, when facing suspended matter on the water surface, such as floating garbage, aquatic plants, algae, etc., these drones often seem to be unable to do so.

[0003] Due to the limitations of the original design and load capacity, most inspection drones are not equipped with cleaning tools or devices, so they cannot directly clean suspended matter on the water surface. Even if some drones can carry small equipment, their cleaning efficiency and effect are often difficult to meet actual needs, especially when facing heavy and high-density suspended matter pollution. For this reason, we propose a drone garbage cleaning device. Summary of the invention

[0004] The purpose of the present invention is to solve the problem that most inspection drones are not equipped with cleaning tools or devices due to the limitation of design and load capacity, and therefore cannot directly clean suspended matter on the water surface. Even if some drones can carry small equipment, their cleaning efficiency and effect are often difficult to meet actual needs, especially when facing large-area, high-density suspended matter pollution, which is even more stretched. The present invention provides a drone garbage cleaning device.

[0005] In order to achieve the above-mentioned purpose, the present invention specifically adopts the following technical solutions:

[0006] A drone garbage cleaning device comprises a drone bracket, the upper end of the drone bracket is fixedly connected to an equipment platform, and the center of the upper end of the equipment platform is fixedly connected to a flight control terminal, the upper ends of the drone brackets are fixedly connected to electric rotors, and four electric rotors are electrically connected to the flight control terminal, the centers of both sides of the equipment platform are fixedly connected to electric screw guide rails, and outer clamping mechanisms are arranged on both sides of the bottom of the equipment platform, and a central clamping mechanism is arranged at the center of the outer clamping mechanism.

[0007] Furthermore, the outer clamping mechanism includes two pairs of scissor arms arranged in mirror symmetry on both sides, the bent hinged ends of the two pairs of scissor arms are arranged outward, and the upper ends of the two pairs of scissor arms are hinged and fixed to the bottom of the equipment platform, the bottoms of the two pairs of scissor arms are hingedly connected to the top of the central clamping mechanism, the inner sides of the lower scissor arms are hingedly connected to the outer triangular mechanical arm, and the middle part of the upper scissor arms is hingedly connected to the mechanical arm push arm, and the lower end of the mechanical arm push arm is hingedly connected to the middle part of the lower outer triangular mechanical arm at the corresponding position, the outer ends of the upper scissor arms are hingedly connected to the scissor drive push rod, and the upper end of the scissor drive push rod is hingedly connected to the bottom of the slider of the electric screw guide rail on the corresponding side.

[0008] Furthermore, the center clamping mechanism includes a bottom center ring seat, on the outer side of which a plurality of center clamping jaws are rotatably mounted, and the upper end of the center clamping jaw is hingedly connected to a clamping jaw push rod, the upper end of the bottom center ring seat is fixedly connected to the scissor arms on both sides corresponding to the front and rear ends of the upper end, and the middle part of the linkage pull rod is movably sleeved with the middle center ring seat, the side wall of the middle center ring seat is hingedly connected to the upper ends of a plurality of clamping jaw push rods, and the upper end of the linkage pull rod is movably sleeved with the top center ring seat, the upper end of the top center ring seat is fixedly connected to the outer side of the scissor arm corresponding to the linkage hinge seat, and the scissor arms on both sides close to the lower side are hingedly connected to the linkage hinge seat, the outer walls of the scissor arms on both sides corresponding to one end of the linkage hinge seat are provided with linkage convex teeth, and the upper end of the linkage pull rod is fixedly connected with a linkage rack, and the linkage rack is meshed with the linkage convex teeth on the outer wall of the scissor arm on the corresponding side.

[0009] Furthermore, the scissor arm, outer triangular mechanical arm, mechanical arm push arm and scissor drive push rod are all square frame structures formed by welding front and rear symmetrical steel sheets through connecting plates, and the upper end of the top center ring seat is provided with linkage articulated seats corresponding to the front and rear of the scissor arm, and two pairs of linkage pull rods are respectively provided corresponding to the front and rear linkage articulated seats.

[0010] Furthermore, a compression spring is sleeved and fixed at one end of the outer wall of the linkage pull rod corresponding to between the middle center ring seat and the top center ring seat, and two ends of the compression spring are respectively against the top surface of the middle center ring seat and the bottom surface of the top center ring seat.

[0011] Furthermore, both sides of the upper end of the bottom center ring seat are fixedly connected to limit sliding rods, and the limit sliding rods pass through the middle center ring seat and the top center ring seat for movably plugging and installation, and the upper end of the limit sliding rod is fixedly connected to the limit block.

[0012] Furthermore, a clamping seat is fixedly connected to the bottom of the outer triangular mechanical arm, and a clamping blade is fixedly connected to the bottom of the clamping seat by bolts, a protruding cutting edge is provided on the inner side of the clamping blade, and a sharp claw bent inward is provided on the bottom of the central clamping claw.

[0013] Furthermore, guide rail drive motors are embedded and fixed in the electric lead screw guide rails corresponding to the two sides of the flight control terminal, and the output shaft of the guide rail drive motor is fixedly connected to the central lead screw of the electric lead screw guide rail.

[0014] Furthermore, an image acquisition camera is fixedly connected to one side of the flight control terminal through a gimbal bracket, and a laser radar is also installed on the other side of the flight control terminal.

[0015] Furthermore, the internal control system of the flight control terminal adopts a combination of ant colony algorithm and A* algorithm to realize automatic cruising of the UAV, and adopts Faster R-CNN model to realize automatic detection of suspended objects on the water surface.

[0016] The beneficial effects of the present invention are as follows:

[0017] 1. The present invention provides a UAV bracket, which is a square frame of a parallelepiped structure. The parallelepiped structure greatly improves the stability of the UAV body and can cope with general fog, wind and other general sudden influences. The electric rotor and the guide rail drive motor both use brushless motors as power sources, so that the UAV has a stronger load-bearing capacity. The brushless motor has a large power, and the double grasping structure has a strong grasping ability, which can achieve a large load grasping. The double grasping structure can grasp at a height of half a meter. The threaded self-locking of the screw rod in the electric screw guide rail and the slider can prevent the heavy object from slipping after grasping, thereby ensuring stability during grasping and lifting.

[0018] 2. The present invention provides scissor arms, and the outer bent ends of the scissor arms on both sides can be driven by the slider of the electric screw guide rail to approach and move away synchronously, so that the lower scissor arm can be extended and retracted. When the scissor arms are contracted, the distance between the upper scissor arm and the lower scissor arm is reduced, and the lower end of the mechanical arm push arm drives the middle part of the outer end of the outer triangular mechanical arm to flip downward, thereby driving the lower end of the outer triangular mechanical arm to shrink inward, so as to clamp and fix the outer side of the floating object on the water surface. When the scissor arms are extended, the distance between the upper scissor arm and the lower scissor arm increases, and the outer end of the mechanical arm push arm drives the outer side of the outer triangular mechanical arm to flip upward, thereby driving the lower end of the outer triangular mechanical arm to flip outward, and release the grabbed floating object on the water surface. The operation is simple and easy to use.

[0019] 3. The present invention provides a bottom center ring seat, a middle center ring seat and a top center ring seat. The upper end of the top center ring seat is hinged to the bottom of the scissor arms. Through the meshing transmission of the linkage convex teeth and the linkage rack, when the scissor arms are contracted, the linkage pull rod is driven to rise, thereby compressing the distance between the bottom center ring seat, the middle center ring seat and the top center ring seat. Therefore, the middle center ring seat pushes the outer side of the center clamping claw to flip outward through the clamping claw push rod, so that the lower ends of multiple center clamping claws contract inward to clamp and fix floating objects. When the scissor arms are extended, the lower ends of multiple center clamping claws are driven in reverse to flip outward to release the floating objects. The setting of the central clamping mechanism can clamp and fix small-sized floating objects, which is convenient for cleaning small-sized floating objects. When large-sized floating objects are grabbed, it can cooperate with the outer clamping mechanism to fix floating objects on the water surface more firmly. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is a stereogram of the present invention;

[0021] Figure 2 The present invention Figure 1 The enlarged view of point A in the middle;

[0022] Figure 3 is a front cross-sectional view of the present invention;

[0023] Figure 4 The present invention Figure 3 The enlarged view of point B in the middle;

[0024] Figure 5 It is a side sectional view of the present invention.

[0025] Figure numerals: 1. UAV bracket; 2. Equipment platform; 3. Electric rotor; 4. Flight control terminal; 5. Electric screw guide rail; 6. Scissor arm; 7. Outer triangular mechanical arm; 8. Mechanical arm push arm; 9. Scissor drive push rod; 10. Bottom center ring seat; 11. Center clamp; 12. Middle center ring seat; 13. Clamp push rod; 14. Top center ring seat; 15. Linkage articulated seat; 16. Linkage convex teeth; 17. Linkage pull rod; 18. Linkage rack; 19. Compression spring; 20. Guide rail drive motor; 21. Image acquisition camera; 22. Limit slide bar; 23. Limit block; 24. Clamp seat; 25. Clamp blade. DETAILED DESCRIPTION

[0026] To make the purpose, technical solution and advantages of the embodiments of the present invention more clear, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0027] See also Figure 1 - Figure 5The present invention provides a UAV garbage cleaning device, comprising a UAV bracket 1, the upper end of the UAV bracket 1 is fixedly connected to an equipment platform 2, and the upper end center of the equipment platform 2 is fixedly connected to a flight control terminal 4, the upper ends of the UAV bracket 1 are fixedly connected to electric rotors 3, and the four electric rotors 3 are electrically connected to the flight control terminal 4, the centers of both sides of the equipment platform 2 are fixedly connected to electric screw guide rails 5, and outer clamping mechanisms are arranged on both sides of the bottom of the equipment platform 2, and a central clamping mechanism is arranged at the center of the outer clamping mechanism.

[0028] In the present embodiment, preferably, the outer clamping mechanism includes two pairs of scissor arms 6 arranged symmetrically on both sides, the bent hinged ends of the two pairs of scissor arms 6 are arranged outward, and the upper ends of the two pairs of scissor arms 6 are hinged and fixed to the bottom of the equipment platform 2, the bottoms of the two pairs of scissor arms 6 are hingedly connected to the top of the central clamping mechanism, the inner sides of the lower scissor arms 6 are hingedly connected to the outer triangular mechanical arms 7, and the middle part of the upper scissor arms 6 is hingedly connected to the mechanical arm push arm 8, and the lower end of the mechanical arm push arm 8 is hingedly connected to the middle part of the lower outer triangular mechanical arm 7 at the corresponding position, the outer ends of the upper scissor arms 6 are hingedly connected to the scissor drive push rod 9, and the upper ends of the scissor drive push rod 9 are hingedly connected to the bottom of the slider of the electric screw guide rail 5 on the corresponding side; by setting the scissor Arm 6, the outer bent ends of the scissor arms 6 on both sides can be driven by the slider of the electric screw guide rail 5 to approach and move away synchronously, so that the lower scissor arm 6 can be extended and retracted. When the scissor arm 6 contracts, the distance between the upper scissor arm 6 and the lower scissor arm 6 is reduced, and the lower end of the mechanical arm push arm 8 drives the middle part of the outer end of the outer triangular mechanical arm 7 to flip downward, thereby driving the lower end of the outer triangular mechanical arm 7 to shrink inward, so as to clamp and fix the outer side of the floating object on the water surface. When the scissor arm 6 is extended, the distance between the upper scissor arm 6 and the lower scissor arm 6 increases, and the outer end of the mechanical arm push arm 8 drives the outer side of the outer triangular mechanical arm 7 to flip upward, thereby driving the lower end of the outer triangular mechanical arm 7 to flip outward, and release the grabbed floating object on the water surface. The operation is simple and easy to use.

[0029] In the present embodiment, preferably, the center clamping mechanism includes a bottom center ring seat 10, on the outer side of the bottom center ring seat 10, a plurality of center clamping claws 11 are installed by rotation, and the upper end of the center clamping claw 11 is hingedly connected to a clamping claw push rod 13, the upper end of the bottom center ring seat 10 is fixedly connected to the scissor arms 6 on both sides corresponding to the front and rear ends, and the linkage pull rod 17 is fixedly connected, the middle part of the linkage pull rod 17 is movably sleeved with the middle center ring seat 12, the side wall of the middle center ring seat 12 is hingedly connected to the upper ends of the plurality of clamping claw push rods 13, and the upper end of the linkage pull rod 17 is movably sleeved with the top center ring seat 14, the upper end of the top center ring seat 14 is fixedly connected to the outer side of the scissor arms 6 with a linkage hinge seat 15, and the scissor arms 6 on both sides close to the lower side are hingedly connected to the linkage hinge seat 15, the outer wall of the scissor arms 6 on both sides corresponding to the linkage hinge seat 15 is provided with a linkage convex tooth 16, and the upper end of the linkage pull rod 17 is fixedly connected with a linkage rack 18, and the linkage rack 18 is connected to the corresponding side The linkage convex teeth 16 on the outer wall of the scissor arm 6 are meshed; through the bottom center ring seat 10, the middle center ring seat 12 and the top center ring seat 14, the upper end of the top center ring seat 14 is hinged with the bottom of the scissor arm 6, and the meshing transmission of the linkage convex teeth 16 and the linkage rack 18, when the scissor arm 6 contracts, the linkage pull rod 17 is driven to rise, thereby compressing the distance between the bottom center ring seat 10, the middle center ring seat 12 and the top center ring seat 14, so that the middle center ring seat 12 pushes the outer side of the center clamping claw 11 to flip outward through the clamping claw push rod 13, so that the lower ends of the multiple center clamping claws 11 contract inward to clamp and fix the floating objects. When the scissor arm 6 is extended, the lower ends of the multiple center clamping claws 11 are driven in reverse to flip outward to release the floating objects. The setting of the central clamping mechanism can clamp and fix small-sized floating objects, which is convenient for cleaning small-sized floating objects. When large-sized floating objects are grabbed, it can cooperate with the outer clamping mechanism to fix the floating objects on the water surface more firmly.

[0030] In the present embodiment, preferably, the scissor arms 6, the outer triangular mechanical arms 7, the mechanical arm push arms 8 and the scissor drive push rods 9 are all square frame structures formed by welding front-to-back symmetrical steel sheets through connecting plates, and the upper end of the top center ring seat 14 is provided with linkage articulated seats 15 corresponding to the front and rear of the scissor arms 6, and two pairs of linkage pull rods 17 are provided corresponding to the front and rear linkage articulated seats 15 respectively; by setting up the square frame structure, the structural strength of the scissor arms 6, the outer triangular mechanical arms 7, the mechanical arm push arms 8 and the scissor drive push rods 9 is greatly improved, and the symmetrical arrangement of the linkage articulated seats 15 at the front and rear of the upper end of the top center ring seat 14 is facilitated, thereby improving the uniformity of the counterweight after grabbing heavy objects and improving the strength of the grabbing structure.

[0031] In the present embodiment, preferably, a compression spring 19 is sleeved and fixed on one end of the outer wall of the linkage pull rod 17 corresponding to the middle center ring seat 12 and the top center ring seat 14, and the two ends of the compression spring 19 are respectively abutted against the top surface of the middle center ring seat 12 and the bottom surface of the top center ring seat 14; through the arrangement of the compression spring 19, the compression spring 19 can push the middle center ring seat 12 downward, and when the linkage pull rod 17 is pulled up and the distance between the bottom center ring seat 10 and the top center ring seat 14 is reduced, the middle center ring seat 12 is pushed downward relative to the bottom center ring seat 10, and the clamping claw push rod 13 is pushed outward.

[0032] In this embodiment, preferably, both sides of the upper end of the bottom center ring seat 10 are fixedly connected with limiting slide rods 22, and the limiting slide rods 22 pass through the middle center ring seat 12 and the top center ring seat 14 for movably plugging and installation, and the upper end of the limiting slide rod 22 is fixedly connected with the limiting block 23; through the set limiting slide rod 22 and limiting block 23, the limiting slide rod 22 can guide and reinforce the middle center ring seat 12 and the top center ring seat 14, thereby improving the structural strength of the bottom center ring seat 10, the middle center ring seat 12 and the top center ring seat 14.

[0033] In this embodiment, preferably, a clamping seat 24 is fixedly connected to the bottom of the outer triangular mechanical arm 7, and a clamping blade 25 is fixedly connected to the bottom of the clamping seat 24 by bolts, and the clamping blade 25 is provided with a protruding cutting edge on the inner side, and the bottom of the center clamping jaw 11 is provided with a sharp claw bent inwardly; by providing the clamping seat 24 and the clamping blade 25, the inner cutting edge of the clamping blade 25 is convenient for clamping into the outer side of the floating object, and the bottom of the center clamping jaw 11 is provided with a sharp claw bent inwardly which can be inserted into the center of the floating object, thereby improving the clamping and fixing effect of the floating object.

[0034] In this embodiment, preferably, a guide rail drive motor 20 is embedded and fixed corresponding to the electric screw guide rails 5 on both sides of the flight control terminal 4, and the output shaft of the guide rail drive motor 20 is fixedly connected to the center screw of the electric screw guide rail 5; through the set guide rail drive motor 20, the guide rail drive motor 20 can drive the center screw of the electric screw guide rail 5 to rotate synchronously, which is convenient for driving the outer clamping mechanism and the center clamping mechanism to work.

[0035] In this embodiment, preferably, one side of the flight control terminal 4 is fixedly connected with an image acquisition camera 21 through a pan-tilt bracket, and a laser radar is also installed on the other side of the flight control terminal 4; through the image acquisition camera 21 and the laser radar, the image acquisition camera 21 uses a hyperspectral camera to ensure the clarity of the collected image, and uses a drone equipped with a hyperspectral imager to obtain the spectral image information of the river, and then uses the splicing software to splice the acquired images to obtain a complete hyperspectral image data of a river. According to the on-site investigation and the hyperspectral image inversion effect, the eutrophication and pollution degree of the river can be reflected, and the pollution source of the river and the cause of the eutrophication of the water body can be judged according to the distribution of eutrophication and pollution of the river on the image. At the same time, the laser radar is used to perceive and identify the surrounding environment to achieve obstacle avoidance control. This product also has autonomous control capabilities, and can be autonomously adjusted and controlled according to cruise tasks and environmental changes to ensure cruise effect and safety.

[0036] In this embodiment, preferably, the internal control system of the flight control terminal 4 adopts a combination of ant colony algorithm and A* algorithm to realize the automatic cruising of the UAV, and adopts the Faster R-CNN model to realize the automatic detection of suspended solids on the water surface; before performing the cruise mission, the UAV needs to perform track planning, formulate the flight route and cruise mode, and the system adopts a combination of ant colony algorithm and A* algorithm to realize the automatic cruising of the UAV. The ant colony algorithm can simulate the behavior of ants when looking for food, and realize the global search of the optimal path through the transmission and update of pheromones. The A* algorithm can calculate the shortest path based on the distance between the current position and the target position, as well as the predicted distance. The combination of the two algorithms can more accurately find the optimal path and improve the cruising efficiency. By using sensors such as laser radar and cameras, the surrounding environment is perceived and identified to achieve obstacle avoidance control. This device adopts a combination of ant colony algorithm and A* algorithm and also has autonomous control capability, which can be adjusted and controlled autonomously according to the cruise mission and environmental changes to ensure the cruise effect and safety. Since the ant colony algorithm on the two-dimensional plane cannot identify the height, the three-dimensional ant colony algorithm in space is strengthened and the program is improved and debugged. The simulation shows that the three-dimensional ant colony algorithm is highly feasible in planning the spatial path, which improves the efficiency and safety of the drone. The introduction of black zone training to solve the problem of drones flying around obstacles can not only enable drones to reach their destination safely and quickly, but also improve the efficiency of drones in delivering express mail. The main principle of the black zone is to first pre-calculate the obstacles; then artificially expand its width on the two-dimensional plane, and its expansion direction is parallel to the longitude and latitude. The main purpose of the expansion is to tolerate the lateral deviation of the drone from the expected direction during flight, and to avoid entering obstacles or no-fly zones due to external forces, which can greatly improve the safety of the drone. The ant colony algorithm introduced in the black zone is an improved ant colony algorithm derived from the high efficiency, short range, and high safety of express delivery drones. The Faster R-CNN model is a target detection algorithm based on deep learning and convolutional neural networks. It performs image recognition on floating objects on the water surface and realizes automatic detection and classification. By improving the model's training data and network structure, the model's detection accuracy and speed have been improved, and it can effectively detect suspended solids on the water surface. In conjunction with the regional river data display platform, it can accurately reflect river pollution and water quality status, realize urban river data visualization, and intelligent monitoring and maintenance.

[0037] The working principle and use process of the present invention: When the device is used, an unmanned aerial vehicle bracket 1 is set up. The unmanned aerial vehicle bracket 1 is a square frame with a parallelepiped structure. The parallelepiped structure greatly improves the stability of the unmanned aerial vehicle itself and can cope with general fog, wind and other general sudden influences. The electric rotor 3 and the guide rail drive motor 20 both use brushless motors as power sources, which makes the unmanned aerial vehicle have a stronger load-bearing capacity. The brushless motor has a large power, and the double grasping structure has a strong grasping ability, which can achieve a large load grasping. The double grasping structure can grasp at a height of half a meter. The threaded self-locking of the screw rod and the slider in the electric screw guide rail 5 can prevent the heavy object from slipping after grasping, thereby ensuring stability during grasping and lifting.

[0038] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A UAV garbage cleaning device, characterized by: The invention comprises an unmanned aerial vehicle support (1), wherein the upper end of the unmanned aerial vehicle support (1) is fixedly connected to an equipment platform (2), and the center of the upper end of the equipment platform (2) is fixedly connected to a flight control terminal (4), the upper ends of the unmanned aerial vehicle support (1) are all fixedly connected to electric rotors (3), and the four electric rotors (3) are all electrically connected to the flight control terminal (4), the centers of both sides of the equipment platform (2) are fixedly connected to electric lead screw guide rails (5), and outer clamping mechanisms are arranged on both sides of the bottom of the equipment platform (2), and a central clamping mechanism is arranged at the center of the outer clamping mechanism.

2. The UAV garbage cleaning device according to claim 1, characterized in that: The outer clamping mechanism comprises two pairs of scissor arms (6) arranged in mirror symmetry on both sides, the bent hinged ends of the two pairs of scissor arms (6) are arranged outward, and the upper ends of the two pairs of scissor arms (6) are hinged and fixed to the bottom of the equipment platform (2), and the bottoms of the two pairs of scissor arms (6) are hingedly connected to the top of the central clamping mechanism, the inner side of the lower scissor arm (6) is hingedly connected to an outer triangular mechanical arm (7), and the middle part of the upper scissor arm (6) is hingedly connected to a mechanical arm push arm (8), and the lower end of the mechanical arm push arm (8) is hingedly connected to the middle part of the lower outer triangular mechanical arm (7) at a corresponding position, and the outer end of the upper scissor arm (6) is hingedly connected to a scissor drive push rod (9), and the upper end of the scissor drive push rod (9) is hingedly connected to the bottom of the slider of the electric screw guide rail (5) on the corresponding side.

3. The UAV garbage cleaning device according to claim 2, characterized in that: The central clamping mechanism comprises a bottom central ring seat (10), a plurality of central clamping claws (11) are rotatably mounted on the outer side of the bottom central ring seat (10), and the upper end of the central clamping claw (11) is hingedly connected to a clamping claw push rod (13), and the scissor arms (6) on both sides corresponding to the front and rear ends of the upper end of the bottom central ring seat (10) are fixedly connected to a linkage pull rod (17), and the middle part of the linkage pull rod (17) is movably sleeved with a middle central ring seat (12), and the side wall of the middle central ring seat (12) is hingedly connected to the upper ends of the plurality of clamping claw push rods (13), and the linkage pull rod The upper end of the linkage rod (17) is movably sleeved with a top center ring seat (14), the upper end of the top center ring seat (14) is fixedly connected to a linkage hinge seat (15) corresponding to the outer side of the scissor arms (6), and the scissor arms (6) on both sides close to the lower side are hingedly connected to the linkage hinge seat (15), and the outer walls of one end of the linkage hinge seat (15) corresponding to the scissor arms (6) on both sides are provided with linkage convex teeth (16), and the upper end of the linkage pull rod (17) is fixedly connected with a linkage rack (18), and the linkage rack (18) is meshed with the linkage convex teeth (16) on the outer wall of the scissor arms (6) on the corresponding side.

4. The UAV garbage cleaning device according to claim 3 is characterized by: The scissor arms (6), the outer triangular mechanical arms (7), the mechanical arm push arms (8) and the scissor drive push rods (9) are all square frame structures formed by welding front and rear symmetrical steel sheets through connecting plates, and the upper end of the top center ring seat (14) is provided with linkage hinge seats (15) corresponding to the front and rear of the scissor arms (6), and two pairs of linkage pull rods (17) are respectively provided corresponding to the front and rear linkage hinge seats (15).

5. The UAV garbage cleaning device according to claim 3 is characterized by: A compression spring (19) is sleeved and fixed at one end of the outer wall of the linkage pull rod (17) corresponding to the middle center ring seat (12) and the top center ring seat (14), and the two ends of the compression spring (19) are respectively against the top surface of the middle center ring seat (12) and the bottom surface of the top center ring seat (14).

6. The UAV garbage cleaning device according to claim 3 is characterized by: Both sides of the upper end of the bottom center ring seat (10) are fixedly connected to limit slide bars (22), and the limit slide bars (22) penetrate the middle center ring seat (12) and the top center ring seat (14) for movably plug-in installation, and the upper end of the limit slide bar (22) is fixedly connected to the limit block (23).

7. The UAV garbage cleaning device according to claim 3 is characterized by: The bottom of the outer triangular mechanical arm (7) is fixedly connected to a clamping seat (24), and the bottom of the clamping seat (24) is fixedly connected to a clamping blade (25) by bolts, and the clamping blade (25) is provided with a protruding cutting edge on the inner side, and the bottom of the central clamping claw (11) is provided with a sharp claw bent inward.

8. The UAV garbage cleaning device according to claim 1, characterized in that: A guide rail drive motor (20) is embedded and fixed on both sides of the flight control terminal (4) corresponding to the electric screw guide rail (5), and the output shaft of the guide rail drive motor (20) is fixedly connected to the central screw of the electric screw guide rail (5).

9. The UAV garbage cleaning device according to claim 1, characterized in that: One side of the flight control terminal (4) is fixedly connected to an image acquisition camera (21) via a pan / tilt bracket, and a laser radar is also installed on the other side of the flight control terminal (4).

10. The UAV garbage cleaning device according to claim 1, characterized in that: The internal control system of the flight control terminal (4) adopts a combination of ant colony algorithm and A* algorithm to realize automatic cruising of the UAV, and adopts Faster R-CNN model to realize automatic detection of suspended matter on the water surface.

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