Garbage sorting and collecting device

Abstract

The application discloses a garbage classification and collection equipment, which comprises a walking frame, a guide-in mechanism, a transmission mechanism, a visual identification system, a sorting mechanism and a plurality of collection boxes.The walking frame is used for walking.The guide-in mechanism comprises a shovel and a synchronous belt.The shovel is protruded on the walking frame and used for guiding in the garbage in the walking direction of the walking frame.The synchronous belt is movably arranged at the opening of the shovel and used for transmitting the guided-in garbage to the rear.The transmission mechanism comprises a movable transmission belt.The transmission belt is close to the synchronous belt so that the garbage transmitted by the synchronous belt is guided to the transmission belt.The camera of the visual identification system is arranged towards the transmission belt and used for acquiring the image of the garbage on the transmission belt and performing image identification.The sorting mechanism is connected with the visual identification system.The sorting mechanism sorts different types of garbage according to the identification result.The plurality of collection boxes are arranged at intervals on the walking frame.The sorting mechanism sorts different types of garbage into different collection boxes.It can be understood that the application improves the efficiency of garbage classification and collection.

Description

Technical Field

[0001] This invention relates to the field of waste sorting technology, specifically to a waste sorting and collection device. Background Technology

[0002] Waste sorting and collection is an important manifestation of modern society's increased environmental awareness and resource recycling. Whether in daily work or life, we advocate for waste sorting and collection. For waste on beaches and in lakes, manual sorting and collection is usually used. However, manual sorting and collection is undoubtedly inefficient, leading to environmental pollution. Summary of the Invention

[0003] The main objective of this invention is to provide a waste sorting and collection device, which aims to improve the efficiency of waste sorting and collection and avoid environmental pollution problems caused by untimely waste disposal.

[0004] To achieve the above objectives, the waste sorting and collection device of the present invention includes:

[0005] Walking frame, used for walking;

[0006] The feeding mechanism includes a bucket and a timing belt. The bucket protrudes from the traveling frame and is used to feed garbage in the direction the traveling frame travels. In the opposite direction of the traveling frame's travel, the timing belt is movably disposed at the opening of the bucket and is used to transport the fed garbage backward.

[0007] A conveying mechanism is provided on the traveling frame. The conveying mechanism includes a movable conveyor belt. Along the traveling direction of the traveling mechanism, the conveyor belt is movably located behind the bucket and close to the synchronous belt so that the garbage conveyed by the synchronous belt is guided to the conveyor belt.

[0008] A visual recognition system, wherein the camera of the visual recognition system is positioned facing the conveyor belt, and the visual recognition system acquires images of garbage on the conveyor belt through the camera and performs image recognition.

[0009] A sorting mechanism, wherein the visual recognition system is connected to the sorting mechanism, and the sorting mechanism sorts different types of waste according to the recognition results of the visual recognition system; and

[0010] Multiple collection bins are spaced apart on the walking frame, and the sorting mechanism sorts different types of waste into different collection bins.

[0011] Optionally, the bottom wall at the opening of the bucket is formed with a guide slope, and the synchronous belt is movably inclined along the extension direction of the guide slope so that the garbage introduced by the guide slope is conducted to the synchronous belt.

[0012] Optionally, the guide slope is provided with a plurality of first screening ports, which are spaced apart on the bottom wall of the bucket to filter out the separated material introduced with the garbage.

[0013] Optionally, the synchronous belt surface is provided with a plurality of screening holes, which are evenly distributed on the synchronous belt. The bottom wall of the bucket facing the synchronous belt is provided with a through second screening port, so that the separated material introduced with the garbage flows out from the second screening port through the screening holes.

[0014] Optionally, the transmission mechanism includes a crank and a drive shaft. Along the traveling direction of the walking frame, the crank and the drive shaft are spaced apart and fitted with the synchronous belt. The part of the crank fitted with the synchronous belt is offset from the axis of the part of the synchronous belt protruding from the synchronous belt. The part of the crank protruding from the synchronous belt is tractively connected to the drive shaft, so that the separated material vibrates and passes through the sieve on the synchronous belt as the crank rotates.

[0015] Optionally, a rotatable brush roller is provided on the synchronous belt, the brush roller extending along the width direction of the synchronous belt, and the brush roller is connected to the crank drive, so that the crank drives the synchronous belt while driving the brush roller to rotate, thereby pushing the feed material containing waste on the synchronous belt toward the conveyor belt.

[0016] Optionally, the feeding mechanism includes a plurality of brush rollers, which are spaced apart along the length of the synchronous belt and are connected in a transmission manner so that the plurality of brush rollers sequentially push the feed material containing waste on the synchronous belt toward the conveyor belt.

[0017] Optionally, the sorting mechanism includes multiple robotic arms and a controller. The multiple robotic arms are respectively connected to the controller, and the controller is connected to the vision recognition system. The controller controls different robotic arms to sort the waste into different collection bins according to the waste type and location identified by the image recognition.

[0018] Optionally, an air box is installed inside the walking frame to enable the walking frame to float on the water surface. The walking frame is equipped with walking wheels and a propeller. The walking wheels and the propeller are respectively connected to a drive motor to drive the walking frame to walk on the ground or water surface.

[0019] Optionally, a solar panel is provided on the top of the walking frame, which is used to power the drive structure of the mechanism.

[0020] The waste sorting and collection equipment proposed in this invention, when applied to waste sorting and collection on beaches or lakes, features a walking frame that travels on the ground or water surface. A bucket protruding from the walking frame guides the waste along the direction of travel. In the opposite direction, a synchronous belt is movably positioned at the opening of the bucket, transporting the waste to the rear of the bucket. A conveyor belt, movably positioned behind the bucket and close to the synchronous belt, guides the waste transported by the synchronous belt. A camera of a visual recognition system is positioned facing the conveyor belt, acquiring images of the waste on the conveyor belt and performing image recognition. A sorting mechanism sorts different types of waste based on the recognition results of the visual recognition system. Multiple collection bins are spaced apart on the walking frame, and the sorting mechanism sorts different types of waste into different collection bins. This invention achieves automatic waste sorting and collection, thereby improving the efficiency of waste sorting and collection and avoiding environmental pollution caused by untimely waste disposal. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0022] Figure 1 This is a schematic diagram of the structure of a waste sorting and collection device according to an embodiment of the present invention;

[0023] Figure 2 For the present invention Figure 1 A schematic diagram of the structure of the inlet mechanism;

[0024] Figure 3 For the present invention Figure 2 Schematic diagram of the structure of the middle bucket and the timing belt;

[0025] Figure 4 For the present invention Figure 3 Schematic diagram of the internal structure of the medium bucket;

[0026] Figure 5 For the present invention Figure 1 Installation diagram of the intermediate conveying mechanism and sorting mechanism;

[0027] Figure 6 For the present invention Figure 5 A schematic diagram of the structure of the magnetic suction robotic arm;

[0028] Figure 7 For the present invention Figure 5 A schematic diagram of the structure of the gripping robotic arm;

[0029] Figure 8 For the present invention Figure 1 A schematic diagram illustrating the traveling principle of the central traveling frame;

[0030] Figure 9 For the present invention Figure 1 Workflow diagram of the visual recognition system;

[0031] Explanation of icon numbers:

[0032]

[0033]

[0034] The objectives, features, and advantages of this invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0035] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0036] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0037] See Figures 1 to 8As shown, in one embodiment of the present invention, a waste sorting and collection device includes: a walking frame 100 for walking; an inlet mechanism 300, the inlet mechanism 300 including a bucket 310 and a timing belt 320, the bucket 310 protruding from the walking frame 100 for inleting waste in the walking direction of the walking frame 100, and the timing belt 320 movably disposed at the opening of the bucket 310 in the opposite direction of the walking frame 100 for conveying the inlet waste backward; and a transmission mechanism 500 disposed on the walking frame 100, the transmission mechanism 500 including a movable transmission belt 501, the transmission belt 501 movably disposed at the bucket 310 in the walking direction of the walking mechanism. Then, the conveyor belt 501 is brought close to the synchronous belt 320 so that the garbage transported by the synchronous belt 320 is guided to the conveyor belt 501; a visual recognition system, the camera of which is set facing the conveyor belt 501, the visual recognition system acquires images of the garbage on the conveyor belt 501 through the camera and performs image recognition; a sorting mechanism 700, the visual recognition system is connected to the sorting mechanism 700, the sorting mechanism 700 sorts different types of garbage according to the recognition results of the visual recognition system; and multiple collection bins 800, the multiple collection bins 800 are spaced apart on the walking frame 100, the sorting mechanism 700 sorts different types of garbage into different collection bins 800.

[0038] The waste sorting and collection equipment proposed in this invention, when applied to waste sorting and collection on beaches or lakes, has a walking frame 100 that travels on the ground or water surface. A bucket 310 protruding from the walking frame 100 guides the waste in the direction of travel of the walking frame 100. In the opposite direction of travel of the walking frame 100, a synchronous belt 320 is movably disposed at the opening of the bucket 310, and the waste guided into the bucket 310 is transported to the rear of the bucket 310 via the synchronous belt 320. Along the travel direction of the walking mechanism, a conveyor belt 501 is movably disposed behind the bucket 310. 501 is located close to the synchronous belt 320. The conveyor belt 501 transports waste backward, and the waste transported by the synchronous belt 320 is guided to the conveyor belt 501. The camera of the visual recognition system is positioned facing the conveyor belt 501. The visual recognition system acquires images of the waste on the conveyor belt 501 through the camera and performs image recognition. The sorting mechanism 700 sorts different types of waste according to the recognition results of the visual recognition system. Multiple collection bins 800 are spaced apart on the traveling frame 100, and the sorting mechanism 700 sorts different types of waste into different collection bins 800. It can be understood that this invention achieves automatic waste sorting and collection, thereby improving the efficiency of waste sorting and collection and avoiding environmental pollution problems caused by untimely waste disposal. Further explanation: The surface of the conveyor belt 501 is distributed with multiple protrusions, which are spaced apart along the traveling direction of the traveling frame 100. In this embodiment of the invention, the protrusions on the surface disperse the waste, thereby facilitating the sorting of the transported waste. The transmission structure 500 includes a conveyor belt 501 and a drive structure for driving the conveyor belt 501. The drive structure includes connecting rods and a drive motor. The drive motor drives the connecting rods to rotate, and the conveyor belt 501 is fitted onto two spaced-apart connecting rods to achieve stable transmission of the conveyor belt 501. Preferably, the connecting rods farther from the synchronous belt 320 are higher than those closer to the synchronous belt 320, so that the conveyor belt 501 is inclined between them, preventing waste from sliding off the conveyor belt 501 due to inertia and ensuring effective sorting of waste by the sorting mechanism 700.

[0039] It should be noted that the visual recognition system includes an image acquisition module, an image processing module, and an image recognition module. The image acquisition module includes a camera mounted on the conveyor belt 501 to acquire real-time images of the conveyor belt 501. The image acquisition module is connected to the image processing module, which uses the YOLOv5 algorithm based on the CSPDarknet framework to preprocess the acquired images under appropriate lighting conditions. The image processing module is connected to the image recognition module, which identifies the type of waste based on its color, shape, and size characteristics. Simultaneously, the visual recognition system identifies the waste and generates bounding boxes. The waste within each bounding box is precisely located to determine its position on the conveyor belt 501, thereby generating a label indicating the type and location of the waste. The image recognition module is connected to the sorting mechanism 700, and sends the identified waste type and location to the sorting mechanism 700. See also... Figure 9 The illustrated process, to improve recognition accuracy, first converts the image from RGB to HSV color space. In the HSV color space, a specific HSV threshold is used to segment the target waste region. Morphological operations are applied, using dilation and erosion to remove noise and fill small holes, making the waste region more coherent and complete. After waste region segmentation, the coordinates of the waste are returned using a line-by-line scanning method, skipping some unnecessary pixels to improve efficiency. For each identified waste point, if it appears white in the binarized image, it is marked as a potential waste target point. Then, pixels within a certain distance are checked; if these pixels also appear white, the point is confirmed as a waste target point, and further searching within its vicinity is stopped to avoid duplicate recognition.

[0040] See Figures 1 to 8As shown, in one embodiment of the present invention, the sorting mechanism 700 includes multiple robotic arms and a controller. The robotic arms are respectively connected to the controller, which is connected to the vision recognition system. The controller controls different robotic arms to sort the waste into different collection bins 800 based on the waste type and location identified by image recognition. It should be noted that in this embodiment, the image recognition module extracts features from the captured image to identify the type and location of the waste. The image recognition module transmits the recognition result to the controller, which controls the corresponding robotic arm to perform sorting based on the recognition result. Different robotic arms have different sorting strokes, thus sorting the waste into the corresponding collection bin 800, thereby achieving waste classification and collection. Different robotic arms correspond to different types of waste and place them into the corresponding collection bins 800 according to their sorting strokes, thus ensuring the orderly progress of the sorting process and guaranteeing the efficiency of waste classification and collection. Specifically, the sorting mechanism 700 includes a magnetic robotic arm 730 and multiple gripping robotic arms 710. Each gripping robotic arm 710 has a gripper 702 capable of grasping. The gripping robotic arm 710 controls the drive to enable the gripper 702 to grasp or place waste. The magnetic robotic arm 730 has a magnetic gripper 702, which is formed by a magnet. The magnetic robotic arm 730 controls the on / off state of the gripper 702 to grasp or place magnetic waste, thereby achieving the sorting of magnetic waste. Specifically, the robotic arm includes a first drive servo motor, a base 701, a second drive servo motor, a first connector, a third drive servo motor, a second connector, a fourth drive servo motor, a third connector, a mechanical claw drive servo motor, and grippers 702, connected sequentially. In this embodiment, the robotic arm includes five drive servos, providing five degrees of freedom for the robotic arm and improving the accuracy of the gripper 702 in grasping waste.

[0041] See Figures 1 to 8As shown, in one embodiment of the present invention, the waste sorting and collection equipment includes three collection bins 800. Two collection bins 800 are spaced apart along the width direction of the conveyor belt 501, respectively used to collect and sort recyclable waste (such as plastic bottles and cans) and non-recyclable waste (such as plastic bags and packaging paper); one collection bin 800 is located behind the conveyor belt 501 along the walking direction of the walking frame 100, used to collect unsorted waste on the conveyor belt 501. Specifically, the visual recognition system identifies the size of the waste and classifies the identified waste into large-sized waste and micro-sized waste. Micro-sized waste flows directly to the collection bin 800 located behind the conveyor belt 501. The visual recognition system identifies whether large-sized waste is recyclable based on its color and shape, thereby determining the type of recyclable and non-recyclable waste. This allows different types of waste to be sorted by different robotic arms to different collection bins 800, thus achieving the recycling and processing of different types of waste.

[0042] See Figures 1 to 8 As shown, in one embodiment of the present invention, a guide slope 311 is formed on the bottom wall of the opening of the bucket 310. The synchronous belt 320 is movably inclined along the extending direction of the guide slope 311, so that the garbage introduced by the guide slope 311 is conducted to the synchronous belt 320. It should be noted that the synchronous belt 320 is movably disposed on the plane of the guide slope 311. The present invention forms a guide slope 311 at the opening of the bucket 310. As the traveling frame 100 moves, the bucket 310 introduces the external object containing garbage through the guide slope 311. The object containing garbage is conducted to the inclined synchronous belt 320 as the traveling frame 100 continues to move. The inclined synchronous belt 320 transports the object upward until it is conducted to the conveyor belt 501, so that the garbage is collected in a classified manner during the transport process on the conveyor belt 501. Preferably, the guide slope 311 is inclined at an angle of 30° relative to the water surface, which is beneficial for introducing garbage during the movement process and improves the efficiency of garbage classification and collection.

[0043] See Figures 1 to 8As shown, in one embodiment of the present invention, the guide slope 311 is provided with a plurality of first screening openings 311a, which are spaced apart from the bottom wall of the bucket 310 for filtering out the separated material introduced with the garbage. It should be noted that the introduced material includes garbage and separated material. When applied to garbage sorting and collection on beaches, the separated material is sand grains. The sand grains leak out through the first screening openings 311a, which facilitates the filtering out of the sand grains introduced with the garbage, thereby reducing transmission energy consumption. When applied to garbage sorting and collection in lakes, the separated material is lake water. The lake water leaks out through the first screening openings 311a, which facilitates the filtering out of the lake water introduced with the garbage, thereby reducing transmission energy consumption and achieving precise sorting and collection of garbage.

[0044] See Figures 1 to 8 As shown, in one embodiment of the present invention, the synchronous belt 320 has a plurality of screening holes 320a on its surface, which are evenly distributed on the synchronous belt 320. The bucket 310 has a through second screening port 311b on its bottom wall facing the synchronous belt 320, so that the separated material introduced with the garbage flows out through the screening holes 320a and the second screening port 311b. It should be noted that when applied to garbage sorting and collection on beaches or lakes, the sand or lake water introduced with the garbage is conducted to the synchronous belt 320. Through the screening holes 320a of the synchronous belt 320, the sand or lake water can flow into the bucket 310. The second screening port 311b on the surface of the bucket 310 communicates with the outside. The sand or lake water flowing into the bucket 310 flows back to the beach or lake through the second screening port 311b, reducing the energy consumption of sand or lake water transmission and realizing accurate sorting and collection of garbage.

[0045] See Figures 1 to 8As shown, in one embodiment of the present invention, the transmission mechanism 500 includes a crank 340 and a drive shaft 330. Along the walking mode of the walking frame 100, the crank 340 and the drive shaft 330 are spaced apart and fitted with the synchronous belt 320. The rod portion of the crank 340 fitted with the synchronous belt 320 is offset from the axis of the rod portion protruding from the synchronous belt 320. The rod portion of the crank 340 protruding from the synchronous belt 320 is drively connected to the drive shaft 330, so that the separated material introduced with the waste vibrates and passes through the synchronous belt 320. It should be noted that the crank 340 is positioned close to the guide slope 311, and the drive shaft 330 is positioned close to the transmission belt 501. The crank 340 and the drive shaft 330 are connected by a belt 350. The crank 340 includes a connecting rod 342 and drive arms 341 protruding from both ends of the connecting rod 342. The drive shaft 330 is connected to a drive structure, which can be a motor. The drive structure drives the drive shaft 330 to rotate. The drive arms 341 are connected to the drive shaft 330 via the belt 350. The drive shaft 330 drives the drive arms 341 to rotate. Because the drive arms 341 are offset from the connecting rod 342... The axis of the connecting rod 342 is not aligned with the axis of the two transmission arms 341. This allows the connecting rod 342 to rotate circumferentially around the axis of the transmission arm 341 during the transmission of the transmission arm 341. The synchronous belt 320 is sleeved on the connecting rod 342 and the transmission shaft 330, causing the separated material introduced with the waste to vibrate up and down on the synchronous belt 320. This facilitates the flow of the introduced separated material through the sieve holes 320a on the synchronous belt 320, reducing transmission energy consumption and avoiding the impact of vibration on other structures, thus promoting accurate waste sorting and collection.

[0046] See Figures 1 to 8As shown, in one embodiment of the present invention, a rotatable brush roller 370 is provided on the synchronous belt 320. The brush roller 370 extends along the width direction of the synchronous belt 320 and is drivenly connected to the crank 340, so that the crank 340 drives the synchronous belt 320 while simultaneously driving the brush roller 370 to rotate, thereby pushing the waste-containing inlet on the synchronous belt 320 toward the conveyor belt 501. It should be noted that the present invention uses the bristles of the rotating brush roller 370 to paddle and pack the waste-containing inlet, causing the waste on the synchronous belt 320 to be transported toward the conveyor belt 501. This improves the transport efficiency of the waste-containing inlet on the synchronous belt 320, and the paddle action helps to disperse the waste-containing inlet, facilitating the removal of sand or lake water. This reduces transport energy consumption while achieving precise waste sorting and collection. Preferably, the brush roller 370 and the crank 340 are meshed and connected via a gear 360, thereby ensuring that during the upward conveying of waste, the brush roller 370 synchronously pushes the waste on the synchronous belt 320 toward the conveyor belt 501, which is beneficial for intelligent control. Of course, to further improve conveying efficiency, the feeding mechanism 300 of this embodiment includes multiple brush rollers 370, which are spaced apart along the length of the synchronous belt 320 and are connected by transmission, so that the multiple brush rollers 370 sequentially push the feeder containing waste on the synchronous belt 320 toward the conveyor belt 501. It should be noted that the multiple brush rollers 370 can be connected by belt drive; of course, other connection methods can also be used, as long as synchronous transmission of the multiple brush rollers is ensured. This embodiment is not limited to this, and all of the above are within the protection scope of this invention.

[0047] See Figures 1 to 8As shown, in one embodiment of the present invention, an air box 110 is installed inside the walking frame 100 to enable the walking frame 100 to float on the water surface. The walking frame 100 is equipped with walking wheels 120 and propellers 130. The walking wheels 120 and the propellers 130 are respectively connected to drive motors 140 to drive the walking frame 100 to move on the land or water surface. It should be noted that when applied to waste sorting and collection in lakes, the walking frame 100 is equipped with air boxes 110. Multiple air boxes 110 can be set according to actual needs. Multiple air boxes 110 are distributed at the bottom of the walking frame 100 to ensure that the walking frame 100 floats on the water surface. Of course, in order to realize the automatic movement of the walking frame 100 on the water, the walking frame 100 is equipped with two propellers 130 spaced apart. The two propellers 130 are driven to rotate by the drive motor 140 to realize the automatic movement of the walking frame 100. When applied to beach waste sorting and collection, the bottom of the walking frame 100 is equipped with four drive wheels. A drive structure is connected to these four drive wheels to rotate them, thus enabling movement on the beach surface. Preferably, the drive wheels are inflatable, providing buoyancy and further ensuring the stability of the equipment in lakes. Of course, the walking wheels 120 and the propeller 130 can be connected to the same drive motor or different drive motors; this embodiment is not limited to this, and all of the above are within the protection scope of this embodiment. Thus, this embodiment achieves waste sorting and collection on beaches and lakes through amphibious operation, improving the adaptability of the equipment.

[0048] See Figures 1 to 8 As shown, in one embodiment of the present invention, a solar panel 900 is provided on the top of the walking frame 100, and the solar panel 900 is used to supply power to the drive structure of the mechanism. It should be noted that in this embodiment of the present invention, the solar panel 900 absorbs sunlight and converts solar energy into electrical energy. The electrical energy converted by the solar panel 900 provides power to the drive structure of the mechanism. Of course, the mechanism includes the drive motor 140 that drives the walking frame 100, as well as the guide structure, the transmission mechanism 500, and the sorting mechanism 700. This embodiment of the present invention is not limited to these, and all of the above are within the protection scope of the present invention. The present invention makes full use of solar energy, thereby achieving full energy utilization and reducing the energy consumption of the equipment.

Claims

1. A waste sorting and collection device, characterized in that, include: Walking frame, used for walking; The inlet mechanism includes a bucket and a timing belt. The bucket protrudes from the traveling frame and is used to inlet waste in the direction the traveling frame travels. In the opposite direction of the traveling frame's travel, the timing belt is movably disposed at the opening of the bucket and is used to transport the inlet waste backward. A conveying mechanism is provided on the traveling frame. The conveying mechanism includes a movable conveyor belt. Along the traveling direction of the traveling frame, the conveyor belt is movably located behind the bucket and close to the synchronous belt so that the garbage conveyed by the synchronous belt is guided to the conveyor belt. A visual recognition system, wherein the camera of the visual recognition system is positioned facing the conveyor belt, and the visual recognition system acquires images of garbage on the conveyor belt through the camera and performs image recognition. The sorting mechanism is connected to the visual recognition system, and the sorting mechanism sorts different types of waste according to the recognition results of the visual recognition system. as well as Multiple collection bins are spaced apart on the walking frame, and the sorting mechanism sorts different types of waste into different collection bins; The bottom wall at the opening of the bucket has a guide slope, and the synchronous belt is movably inclined along the extension direction of the guide slope so that the garbage introduced by the guide slope is conducted to the synchronous belt; The guide slope is provided with a plurality of first screening ports, which are spaced apart on the bottom wall of the bucket for filtering out the separated material introduced with the garbage. The synchronous belt has multiple screening holes on its surface, and the multiple screening holes are evenly distributed on the synchronous belt. The bottom wall of the bucket facing the synchronous belt has a through second screening port, so that the separated material introduced with the garbage can flow out from the second screening port through the screening holes. The transmission mechanism includes a crank and a drive shaft. Along the traveling direction of the walking frame, the crank and the drive shaft are spaced apart and fitted with the synchronous belt. The part of the crank fitted with the synchronous belt is offset from the axis of the part of the synchronous belt protruding from the synchronous belt. The part of the crank protruding from the synchronous belt is connected to the drive shaft so that the separated material vibrates and passes through the sieve on the synchronous belt as the crank rotates. A rotatable brush roller is provided on the synchronous belt. The brush roller extends along the width direction of the synchronous belt and is connected to the crank drive so that the crank drives the synchronous belt and drives the brush roller to rotate, thereby pushing the inlet containing waste on the synchronous belt toward the conveyor belt. The feeding mechanism includes a plurality of brush rollers, which are spaced apart along the length of the synchronous belt and are connected by a transmission mechanism so that the plurality of brush rollers sequentially push the feed material containing waste on the synchronous belt toward the conveyor belt.

2. The waste sorting and collection equipment as described in claim 1, characterized in that, The sorting mechanism includes multiple robotic arms and a controller. The multiple robotic arms are respectively connected to the controller, which is connected to the vision recognition system. The controller controls different robotic arms to sort the waste into different collection bins according to the waste type and location identified by the image recognition.

3. The waste sorting and collection equipment as described in claim 1, characterized in that, The walking frame is equipped with an air box so that it can float on the water surface. The walking frame is equipped with walking wheels and a propeller. The walking wheels and the propeller are respectively connected to a drive motor to drive the walking frame to walk on the land or water surface.

4. The waste sorting and collection equipment as described in claim 1, characterized in that, The top of the walking frame is equipped with a solar panel, which is used to power the drive structure of the mechanism.

Images