Industrial hazardous waste recycling and classifying device based on lightweight self-adaptive unmanned aerial vehicle

Abstract

The invention discloses an industrial dangerous garbage recycling and classifying device based on a lightweight self-adaptive unmanned aerial vehicle. The industrial dangerous garbage recycling and classifying device is suitable for garbage collecting and classifying tasks in a complex environment. The unmanned aerial vehicle main body carries components such as a laser radar and a motor to realize environment perception and flight control. The length of the telescopic rod support can be adjusted to adapt to different working scenes. The multifunctional telescopic mechanical arm is provided with a depth camera and a pressure sensor, and garbage is accurately grabbed. The garbage can adopts a four-unit design, a gravity sensor is arranged in the garbage can, and garbage classification and weight monitoring are achieved. The control system integrates cloud platform regulation and control, a central controller, a flight controller and a mechanical arm controller, and autonomous navigation and garbage recognition and treatment are achieved. The device is made of aluminum alloy and titanium alloy materials, is subjected to topological optimization, has light weight and high strength, and adapts to extreme environments. Through the intelligent and light-weight design, the garbage recycling efficiency is improved, the labor cost is reduced, and the garbage recycling device is suitable for garbage treatment in complex terrains and special environments.

Description

Technical Field

[0001] The present invention relates to the intersection of drone technology and garbage disposal devices, and specifically to a device for recycling and sorting industrial hazardous waste based on a lightweight, adaptive drone. Background Art

[0002] As urbanization progresses, the demand for urban waste removal increases. Traditional waste collection methods are inefficient in urban environments with cramped spaces and traffic congestion, making them difficult to meet. Trash collection in complex terrains such as rural mountainous areas, rooftops, elevated roads, mountainous scenic areas, and narrow alleys presents a serious challenge, making traditional methods difficult to address. Waste collection in nuclear-contaminated areas also presents challenges, placing higher demands on waste collection and treatment systems.

[0003] In the prior art, the Chinese patent CN118160511A discloses a serpentine robotic arm device for picking and collecting Chinese torreya fruit, whose storage box is connected by a rope, but no anti-swaying measures are proposed, and the capacity of the storage box cannot be changed. The structure and method for picking apples based on a drone equipped with a robotic arm disclosed in CN118058080A cannot achieve diversified and efficient collection in a single flight, and there is a problem of frequent returns to the base. The new automatic garbage collection and trash can cleaning multifunctional vehicle with a robotic arm disclosed in CN208882627U cannot solve the problem of garbage collection and dumping in complex environments, cannot realize garbage classification, and requires manual control. The automatic garbage classification and collection aerial robot disclosed in CN112061393A has problems such as garbage being easily blown out, not conforming to aerodynamics, affecting the lift of the drone, and not considering the flight time.

[0004] To solve these problems, the present invention proposes a lightweight, adaptive drone-based industrial hazardous waste recycling and sorting device, which aims to improve the waste collection efficiency and automation level and meet the special cleaning needs in complex environments. Summary of the Invention

[0005] In view of the introduction of the above technical status, the purpose of the present invention is to provide a device for recycling and sorting industrial hazardous waste based on lightweight adaptive drones, so as to better solve the technical problems of collecting garbage in complex environments, improving the automation and efficiency of garbage collection, improving the intelligence of environmental cleaning management, and saving time and labor costs.

[0006] To achieve the above objectives, the present invention provides a lightweight, adaptive, unmanned aerial vehicle (UAV) industrial hazardous waste recycling and sorting device, comprising: a UAV body, comprising a laser radar, an upper UAV plate, a lower UAV plate, fan blades, and a motor, wherein the laser radar is mounted on the upper UAV plate; a retractable rod bracket, comprising a large sleeve and a retractable rod, wherein a motor is disposed within the large sleeve and is used to control the position of the retractable rod so that the connecting rod can be adjusted to a position parallel to the UAV plate during operation; a multifunctional retractable robotic arm, wherein a depth camera is mounted on the upper portion thereof and a pressure sensor is mounted at the gripping portion thereof; the depth camera is used to recognize and transmit images, and the pressure sensor is used to detect the force applied when grasping an object; a trash can, wherein a gravity sensor is mounted internally for monitoring the accumulated weight of the trash, and the trash can is fixed to the bottom of the UAV via a detachable connector and is composed of four parallel trash can units; and a control system, wherein the control system includes an image recognition system based on the depth camera and a dumping mechanism driven by an eccentric gear. The image recognition system enables the multifunctional retractable robotic arm to perform a grabbing task, and the dumping mechanism deposits objects into the trash can.

[0007] Furthermore, the large sleeve of the retractable rod bracket, the retractable rod and the retractable rod bracket constitute a telescopic rod, and the telescopic rod can be freely adjusted in length through an internal precise driving mechanism to meet the needs of different working scenarios.

[0008] Furthermore, the trash can includes a lower perforated gear, a driven gear, a magnetic suction cup, a connecting column, a spacer ring, an upper perforated gear, a transmission gear, an eccentric gear, a connecting rod, a rack, a fixed block, a transmission pinion, a transmission gear column, a gear assembly, a fixed column assembly, a cap assembly, and a trash can cover, wherein: the driven gear is inserted in the middle of the lower perforated gear, and the impact friction caused by sliding and asynchrony is reduced by the mutual engagement between the gears; the magnetic suction cup is welded to the connecting column, the connecting column is connected to the middle shaft hole of the upper perforated gear, and the magnet cylinder is connected to the other shaft hole of the upper perforated gear; the spacer ring is connected to the drone The lower base plate is fixedly connected; the upper perforated gear, transmission gear, and eccentric gear are meshed with each other, the eccentric gear and the connecting rod form a planar connecting rod structure, and the connecting rod is tightly matched with the rack; the lower base plate of the drone is fixedly connected to the fixed block, and the fixed block is used to control the movement direction of the rack; the sliding assembly includes a transmission pinion and a rack slidably mounted on the fixed block, the rack is meshed with the transmission pinion in the lower floor of the drone, and the transmission pinion is connected to the transmission gear column; the cap assembly, the fixed column assembly, the transmission gear column and the trash can are interference fit, and the trash can cover and the hole in the trash can are interference fit.

[0009] Furthermore, the multifunctional retractable robotic arm and the trash can are both designed with aluminum alloy materials, and the drone connector is designed with titanium alloy materials. The displacement constraint is less than 0.1 mm. After topological optimization, symmetrical cup-shaped openings are dug out at the upper and lower ends away from the center point of the upper hole and the lower hole to achieve lightweight and improve endurance. At the same time, this structure facilitates the control of the movement accuracy and range of the multifunctional retractable robotic arm to put garbage into the trash can, thereby improving sensitivity.

[0010] Furthermore, the drone is equipped with a cloud platform control system, which is connected to the central controller. The communication method between the central controller and the flight controller and the robotic arm controller is I2C communication. The attitude and track control system, barometer, GPS, IMU, and lidar provide data for the flight controller. The flight controller controls the power system, and the robotic arm controller controls the four-degree-of-freedom multifunctional retractable robotic arm, pressure sensor, depth camera, PWM digital switch, etc. This device is powered by an AC power supply, and the voltage conversion and stabilization system is used to power the lithium battery, drone, multifunctional retractable robotic arm and central controller, and a battery for battery life is also provided.

[0011] Beneficial effects

[0012] The present invention provides a lightweight, adaptive drone-based industrial hazardous waste recycling and sorting device, which has the following beneficial effects: Precise Control and Efficient Operation: The device utilizes a gear train within the trash can and a multifunctional, retractable arm to achieve the complete action of picking up and placing trash. This simple and compact structure precisely controls the arm's movement accuracy and range when placing trash, enhancing its agility.

[0013] Lightweight and Long-Endurance: The multifunctional retractable robotic arm and trash can are constructed from aluminum alloy, reducing overall weight, lowering energy consumption, and extending flight time. The drone's connectors are made from titanium alloy, undergoing topological optimization to further reduce weight and enhance ease of operation.

[0014] Durable materials adapt to extreme environments: UAV connectors are made of titanium alloy, which is resistant to high temperatures and corrosion, and is suitable for extreme environments such as nuclear contaminated areas.

[0015] Energy Management and Eco-Friendly Materials: The drone utilizes a low-power design and an efficient energy management system to extend flight time and reduce energy consumption. The entire device is constructed from recyclable, biodegradable, and eco-friendly materials to minimize environmental impact.

[0016] Intelligence and Efficiency Improvement: The device combines pre-set path planning with an intelligent control system to efficiently complete waste collection tasks, reducing labor and time costs. Through intelligent management, it reduces carbon emissions and improves the overall effectiveness of the waste treatment system. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The following are auxiliary diagrams for explaining some specific embodiments of the present invention. The drawings described are mainly the principles of the specific operation execution structure or method of some embodiments of the present invention, but this does not mean that the physical structure or operation steps of the present invention can only be as shown in the drawings.

[0018] Figure 1 It is a three-dimensional structural diagram of the present invention; Figure 2 It is a flowchart of calling module of the present invention; Figure 3 This is a schematic diagram of the end face of the connection between the trash can and the multifunctional retractable robotic arm; Figure 4 This is the structural diagram of the connection between the trash can and the lower base of the drone; Figure 5 A structural diagram showing the connection between the trash can and the multifunctional retractable robotic arm; Figure 6 Layout diagram designed for the modules of the present invention; Figure 7 It is a structural diagram of the connecting member 4 of the present invention.

[0019] In the figure: laser radar 1, drone upper plate 2, drone lower plate 3, connector 4, fan blade 5, motor 6, drone upper base plate 7, small laser radar 8, hanging plate 9, trash can 10, multi-functional retractable robotic arm 11, depth camera 12, lower gear with hole 13, driven gear 14, magnetic suction cup 15, connecting column 16, spacer ring 17, magnet cylinder 18, upper gear with hole 19, drone lower base plate 20, transmission gear 21, eccentric gear 22, connecting rod 23, rack 24, fixing block 25, transmission pinion 26, transmission gear column 27, gear assembly 28, fixing column assembly 29, cap assembly 30, trash can cover 31, connecting plate 51, connecting sleeve 52, connecting column 53, retractable rod 54, retractable rod bracket 55, large sleeve 56, upper hole 57, lower hole 58, cup-shaped mouth 59. DETAILED DESCRIPTION

[0020] This invention relates to a lightweight, adaptive drone-based industrial hazardous waste collection and sorting device, suitable for waste collection and sorting tasks in complex environments. The device is designed to improve the efficiency and automation of waste collection while ensuring a lightweight and durable structure.

[0021] The structure of this device is as follows Figure 1As shown in the figure, its main components include the drone body, a retractable boom support, a multifunctional retractable robotic arm, a trash can, and a control system. The drone body adopts a quadrotor design and consists of a lidar 1, a drone upper board 2, a drone lower board 3, fan blades 5, and a motor 6. The lidar 1 is mounted on the drone upper board 2 and is used for environmental perception and obstacle detection.

[0022] The telescopic rod bracket consists of a large sleeve 56 and a telescopic rod 54. A motor is housed within the large sleeve 56, controlling the position of the telescopic rod 54. During operation, the rod can be adjusted to the ideal position parallel to the drone's lower deck 3, ensuring unobstructed access to the workspace below. The large sleeve 56, telescopic rod 54, and telescopic rod bracket 55 together form the telescopic rod, whose length can be freely adjusted via a sophisticated internal drive mechanism to accommodate diverse operational scenarios.

[0023] A multifunctional, retractable robotic arm 11 is mounted on the drone, equipped with a depth camera 12 for image recognition and transmission. A pressure sensor 39 is installed in the gripper to detect the force applied when grasping objects. A trash can 10 is fixed to the bottom of the drone and contains a gravity sensor to monitor the accumulated weight of garbage. The trash can 10 consists of four parallel bin units designed to facilitate waste sorting.

[0024] The control system includes a depth camera-based image recognition system that enables the multifunctional retractable robotic arm 11 to perform grasping tasks, and an eccentric gear-driven dumping mechanism that is used to place items into the trash can 10.

[0025] In specific implementation, Figure 2 As shown, the drone is equipped with a cloud platform control system 32, which is connected to a central controller 33. Central controller 33 communicates with flight controller 34 and robotic arm controller 35 via I2C. An attitude and trajectory control system 46, barometer 47, GPS 48, IMU 49, and lidar 1 provide data support to flight controller 34, which controls the power system 45 based on this data. The robotic arm controller 35 controls components such as the four-degree-of-freedom multifunctional retractable robotic arm 11, pressure sensor 39, depth camera 12, and PWM digital switch 43.

[0026] The device is powered by an AC power supply 36, which supplies power to a lithium battery 38, a drone, a multifunctional retractable robotic arm 11, and a central controller 33 through a voltage conversion and stabilization system 37. A battery life battery 44 is also provided to cope with abnormal situations.

[0027] like Figure 3 and Figure 4As shown, the structure of the trash can 10 includes a lower perforated gear 13, a driven gear 14, a magnetic suction cup 15, a connecting column 16, a spacer ring 17, an upper perforated gear 19, a transmission gear 21, an eccentric gear 22, a connecting rod 23, a rack 24, a fixing block 25, a transmission pinion 26, a transmission gear column 27, a gear assembly 28, a fixing column assembly 29, a cap assembly 30, and a trash can lid 31. The driven gear 14 is inserted between the lower perforated gear 13, and the intermeshing between the gears reduces friction caused by slippage and asynchrony. The magnetic suction cup 15 is welded to the connecting column 16, which is connected to the middle shaft hole of the upper perforated gear 19. The magnetic cylinder 18 is connected to the other shaft hole of the upper perforated gear 19. The spacer ring 17 is fixedly connected to the lower base plate 20 of the drone. The upper perforated gear 19, transmission gear 21, and eccentric gear 22 mesh with each other. The eccentric gear 22 and connecting rod 23 form a planar connecting rod structure, and the connecting rod 23 is tightly fitted with the rack 24. The lower base plate 20 of the drone is fixedly connected to the fixed block 25, which is used to control the movement direction of the rack 24. The sliding assembly includes a transmission pinion 26 and a rack 24 slidably mounted on the fixed block 25. The rack 24 meshes with the transmission pinion 26 in the lower base plate 20 of the drone, and the transmission pinion 26 is in transmission connection with the transmission gear column 27. The cap assembly 30, the fixed column assembly 29, the transmission gear column 27 and the trash can 10 are interference fit, and the trash can lid 31 is also interference fit with the hole in the trash can 10.

[0028] During operation, the multifunctional telescopic robotic arm 11 detects the gripping status via a pressure sensor 39. Once an object is grasped, the magnetic force of the magnetic chuck 15 dissipates, and the cylindrical magnet 18 falls into the other axial hole of the lower perforated gear 13 due to gravity. As the multifunctional telescopic robotic arm 11 rotates toward the trash can 10, the upper perforated gear 19 drives the transmission gear 21, causing the eccentric gear 22 to rotate. The connecting rod 23, connected to the eccentric gear 22, moves in a circular motion, driving the rack 24 to reciprocate. The fixed block 25 fixes the direction of the rack 24's movement, converting the circular motion of the eccentric gear 22 into reciprocating linear motion of the rack 24. The rack 24 rotates the transmission gear column 27, which in turn rotates the gear assembly 28, causing the trash can lid 31 to be positioned at 0 degrees, indicating an open state. After the trash is deposited, the multifunctional telescopic robotic arm 11 resets, the pressure sensor 39 deactivates, and the magnetic chuck 15 regains its magnetic force, securing the cylindrical magnet 18 to the magnetic chuck 15. At this time, the upper perforated gear 19 no longer drives the lower perforated gear 13 to rotate, and the trash can cover 31 is at a 90-degree position and dumps the garbage. When the garbage in the trash can 10 reaches a certain weight, the gravity sensor triggers the drone to return to the garbage collection point.

[0029] The multifunctional, retractable robotic arm 11 and trash can 10 of this device are designed from aluminum alloy, while the drone connector 4 is made from titanium alloy. The connector has undergone topological optimization, with symmetrical cup-shaped openings 59 cut out at the upper and lower ends of the center, away from the upper and lower holes 57 and 58, to achieve lightweighting and improve flight endurance. This design not only reduces overall weight but also ensures durability and reliability in extreme environments.

[0030] Through the above-mentioned structural and functional design, the present invention provides an efficient and adaptive drone garbage collection and classification solution, which is particularly suitable for garbage disposal needs in complex environments and special scenarios.

[0031] In all of the above embodiments, mechanically controlled components are used, which can effectively control the accuracy of motion position. In actual use, they also have lower requirements for the use environment and are more stable and reliable. Their structure is relatively simple and clear, which makes it easy for general technicians or maintenance personnel to get started and perform daily maintenance and repair work. This design concept not only reduces the operating cost of the system, but also improves its overall availability and lifespan. In addition, the solution has practical application scenarios, such as garbage collection in complex environments, which can improve efficiency and reduce labor costs, meeting practical requirements.

[0032] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A lightweight, adaptive drone-based industrial hazardous waste recycling and sorting device, characterized by: include: A drone body, the drone body comprising a laser radar (1), a drone upper plate (2), a drone lower plate (3), fan blades (5), and a motor (6), wherein the laser radar (1) is mounted on the drone upper plate (2); A retractable rod bracket (55), the retractable rod bracket (55) comprising a large sleeve (56) and a retractable rod (54), a motor being provided in the large sleeve (56), the motor being used to control the position of the retractable rod (54) so ​​that the connecting rod can be adjusted to a position parallel to the lower plate (3) of the drone during operation; A multifunctional retractable mechanical arm (11) is provided with a depth camera (12) on its upper portion and a pressure sensor (39) at the gripping portion, wherein the depth camera (12) is used for recognizing and transmitting images, and the pressure sensor (39) is used for detecting the force state when grasping an object; A trash can (10) is provided with a gravity sensor therein for monitoring the accumulated weight of trash, wherein the trash can (10) is fixed to the bottom of the drone via a detachable connector, and the trash can (10) is composed of four parallel trash can units; A control system comprising an image recognition system based on a depth camera and a dumping mechanism driven by an eccentric gear, wherein the image recognition system enables a multifunctional retractable mechanical arm (11) to perform a grasping task, and the dumping mechanism can place objects into a trash can (10).

2. The lightweight adaptive drone-based industrial hazardous waste recycling and sorting device according to claim 1 is characterized in that: The large sleeve (56) of the retractable rod bracket (55), the retractable rod (54) and the retractable rod bracket (55) constitute a telescopic rod.

3. The lightweight adaptive drone-based industrial hazardous waste recycling and sorting device according to claim 1 is characterized in that: The trash can (10) comprises a lower perforated gear (13), a driven gear (14), a magnetic suction cup (15), a connecting column (16), a spacer ring (17), an upper perforated gear (19), a transmission gear (21), an eccentric gear (22), a connecting rod (23), a rack (24), a fixing block (25), a transmission pinion (26), a transmission gear column (27), a gear assembly (28), a fixing column assembly (29), a cap assembly (30), and a trash can cover (31), wherein: The driven gear (14) is inserted in the middle of the lower hole gear (13), and the impact friction caused by sliding and asynchronism is reduced by the mutual engagement between the gears; The magnetic suction cup (15) is connected to the connecting column (16) by welding, the connecting column (16) is connected to the middle shaft hole of the upper gear with a hole (19), and the magnet cylinder (18) is connected to the other shaft hole of the upper gear with a hole (19); The spacer ring (17) is fixedly connected to the lower base plate (20) of the drone; The upper hole gear (19), the transmission gear (21), and the eccentric gear (22) are meshed with each other, the eccentric gear (22) and the connecting rod (23) form a planar connecting rod structure, and the connecting rod (23) and the rack (24) are closely matched; The lower base plate (20) of the drone is fixedly connected to a fixed block (25), and the fixed block (25) is used to control the movement direction of the rack (24); The sliding assembly includes a transmission pinion (26) and a rack (24) slidably mounted on a fixed block (25), the rack (24) meshing with the transmission pinion (26) in the floor (20) under the drone, and the transmission pinion (26) is transmission-connected to the transmission gear column (27); The cap assembly (30), the fixed column assembly (29), the transmission gear column (27) and the trash can (10) are in interference fit, and the trash can cover (31) and the hole of the trash can (10) are in interference fit.

4. The lightweight adaptive drone-based industrial hazardous waste recycling and sorting device according to claim 1 is characterized in that: The multifunctional retractable robotic arm (11) and the trash can (10) are both designed with aluminum alloy materials, and the drone connector (4) is designed with titanium alloy materials. Its displacement constraint is less than 0.1 mm. After topological optimization, symmetrical cup-shaped openings (59) are dug out at the upper and lower ends of the center point away from the upper hole (57) and the lower hole (58).

5. The lightweight adaptive drone-based industrial hazardous waste recycling and sorting device according to claim 1 is characterized in that: The UAV is provided with a cloud platform control system (32), which is connected to a central controller (33). The central controller (33) communicates with a flight controller (34) and a robotic arm controller (35) in an I2C communication mode. The attitude and track control system (46), a barometer (47), a GPS (48), an IMU (49), and a laser radar (1) provide data for the flight controller (34). The flight controller (34) controls the power system (45). The robotic arm controller (35) controls a four-degree-of-freedom multifunctional retractable robotic arm (11), a pressure sensor (39), a depth camera (12), a PWM digital switch (43), etc. The device is powered by an AC power supply (36), which is powered by a voltage conversion and stabilization system (37) to supply power to a lithium battery (38), the UAV, the multifunctional retractable robotic arm (11), and the central controller (33). A battery for endurance (44) is also provided.

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