Land vehicle for separating material harvested from the ground, preferably from a beach and a sandy seashore

Abstract

A self-propelled terrestrial vehicle for collecting materials from the ground, preferably for beaches, comprises a collection device releasably mounted on the vehicle and movable between a working position, where it is at least partially in contact with the ground to collect material, and a resting position, where it is lifted off the ground. Preferably, the collection device includes a perforated movable support surface with openings of a maximum first dimension. A first transport device is included, comprising a first end positioned at a first vertical level and a second end, longitudinally opposite the first end, at a second vertical level higher than the first end. The first end receives materials collected by the collection device. A sieve is positioned at least partially beneath the second end of the first transport device to receive collected material falling by gravity from the transport device. The sieve comprises a movable support surface on which the material falls by gravity during operation and features openings of a maximum second dimension. This movable support surface is further equipped with movable elements that are actuated to have a movement component aligned with a first direction of movement, thereby directing collected material with dimensions larger than the second maximum dimension toward a first longitudinal end of the sieve. The vehicle includes first and second optical separators, positioned respectively downstream and beneath the sieve, to receive the material originating from the first longitudinal end and the openings of the sieve. These optical separators are equipped with respective first and second optical sensors connected via data exchange to an electronic control unit onboard the terrestrial vehicle. The electronic control unit is programmed to generate a classification of the collected materials and to separate these materials based on the given classification.

Description

[0001] LAND VEHICLE FOR SEPARATING MATERIAL HARVESTED FROM THE GROUND , PREFERABLT FROM A BEACH AND A SANDY SEASHORE

[0002] DESCRIPTION

[0003] TECHNICAL FIELD

[0004] The present invention relates to the field of self-propelled land vehicles for collecting materials from the ground, particularly a vehicle comprising a collection line and an automatic separation line for the materials collected on board the vehicle .

[0005] STATE OF THE ART

[0006] In the field of land vehicles for collecting materials from the ground, e . g . , waste , particularly those used for collecting waste on beaches , commercially available solutions typically rely on mechanical devices such as vibrating screens to collect materials from the ground into containers . However, current commercial solutions generally deposit the collected waste in containers without separating it by material type , e . g . , metallic waste , plastic waste , and other materials are mixed together in the same container onboard the machinery .

[0007] As a result , once waste collection in an area of interest is complete , the collected materials must be separated by material type . This typically involves transporting the machinery to discharge areas where the container contents are either disposed of as undifferentiated waste in landfills or sent to industrial processing and separation facilities . These existing solutions present several disadvantages .

[0008] For instance , the process of collecting and sorting waste by material type involves multiple phases . Using currently available machinery, waste is collected from the ground without separation and placed into a container onboard the vehicle . It is then transported and unloaded in designated areas , incurring significant costs , or taken to industrial facilities where additional machinery separates the materials by type .

[0009] Consequently, the collection process is slow and expensive , requiring not only the collection vehicle but also additional separation devices and the facilities to house them . Furthermore , due to the design of current collection machinery, debris or non-waste materials , such as organic matter or soil and sand from the operating area , are often discharged into the same container . This can harm the local ecosystem. For example , in the case of beach waste collection, existing solutions are configured to separate sand from the collected waste but cannot effectively separate organic materials , such as dry branches or algae , from inorganic materials like stones , metals , or plastics . As a result , non-waste materials cannot be returned to the operating area .

[0010] There is thus a strong demand for compact solutions capable of optimizing the phases of waste collection and separation . Such solutions should minimize the number of devices used to speed up the separation process for different types of collected materials while reducing the cost of equipment and the space needed for sorting operations . Moreover, they should avoid damaging the ecosystem in which the collection machinery operates , specifically by leaving behind non-waste materials that have been separated .

[0011] OBJECTIVE AND SUMMARY OF THE INVENTION

[0012] The present invention aims to address at least some of the aforementioned needs . This goal is achieved through a self-propelled land vehicle for collecting materials from the ground as defined in claim 1 . According to a preferred embodiment of the present invention, a self-propelled land vehicle for collecting materials from the ground is described, preferably but not limited to beaches intended for bathing and sandy shores where bathing is not expected . This vehicle is configured not only to collect materials from the ground but also to automatically separate the collected materials by type , e . g . , metals , plastics , etc . Advantageously, this vehicle is further configured to discharge onto the ground, where necessary, materials that are not waste , such as sand, wood, and other materials that are part of the ecosystem in which the vehicle operates . In this way, it is possible to avoid ecosystem damage and even improve the ecosystem (both marine and terrestrial ) by removing non-biological materials , especially plastics . Furthermore , this solution allows the separation of various types of collected materials to be performed automatically and directly onboard the vehicle , depositing each type of material into dedicated and removable containers .

[0013] Thus , at the end of the cleaning operation in the area where the vehicle has operated, the materials classified as waste are already separated by type , allowing them to be directed toward recovery and recycling processes . Advantageously, this solution avoids the need to accumulate collected materials in a single container during collection and eliminates the requirement for disposal in landfills or expensive industrial facilities to separate mixed materials after collection, leading to faster operations and lower equipment costs .

[0014] To achieve this result , the self-propelled land vehicle for waste collection includes a collection device mounted releasably on the vehicle and movable between a working position, where it is at least partially in contact with the ground to collect material , and a resting position, where it is raised from the ground . For example , this device may be a mesh conveyor belt hinged at one end to the vehicle frame , allowing it to be lowered to and raised from the ground . Specifically, when brought into contact with the ground, the collection device is used to gather waste , preferably featuring a perforated mobile support surface onto which waste is loaded and transported toward the vehicle . This surface includes openings with a maximum first dimension, allowing sand, soil , or other materials smaller than this dimension to fall through the openings back onto the ground by gravity .

[0015] Advantageously, the collection device can be removed from the vehicle , e . g . , to install another collection device depending on the application . For instance , for collecting materials and waste from roadsides , e . g . , ditches , rest areas , and other accumulation zones , the collection device can be replaced with a device featuring motorized brushes rotating around corresponding vertical axes , along with suction systems to help direct removed materials and waste . This adaptability allows the same vehicle to be used on different types of terrain . According to another aspect of the present invention, the vehicle includes an automatic line for separating materials collected by the collection device . This automatic line is constructed with an optimized configuration, enabling the realization of a compact self-propelled land vehicle by utilizing available vertical space to position the components of the automatic separation line . Preferably, the vehicle includes a cutting unit located downstream of the perforated mobile support surface . This unit is configured to reduce the size of the collected materials from the collection device during use and to direct the cut materials toward the processing direction, facilitating subsequent material separation operations and preventing larger materials from obstructing or blocking the material flow along the separation line .

[0016] Additionally, the self-propelled land vehicle includes a first transport device , e . g . , a conveyor belt , with a first end positioned at a lower vertical level and a second end, longitudinally opposite to the first end, positioned at a higher vertical level . This configuration allows materials from the collection device to fall by gravity onto the first transport device , which then transports them upward . Preferably, to separate the cut materials , the vehicle may include a first magnetic separator positioned above the conveyor belt . This separator generates a magnetic field oriented toward the conveyor belt to attract ferrous metallic materials among the cut materials . A second magnetic separator, preferably located downstream of the first , is configured to separate non-ferrous metallic materials , e . g . , using electromagnetic induction .

[0017] According to another aspect of the present invention, to separate the fraction of small-sized materials from larger ones transported by the first transport device , and to increase the efficiency of subsequent separation phases , the vehicle includes a screen positioned at least partially below the second end of the first transport device to receive the collected materials , preferably non-metallic , that fall by gravity from the first transport device . Specifically, this ballistic screen comprises a mobile support surface onto which the collected materials fall by gravity during operation . This surface features apertures with a maximum second dimension, and it also includes movable elements actuated to create a coordinated movement component , defining a first direction for transporting materials larger than the second maximum dimension toward one longitudinal end of the screen . For example , the screen may be a ballistic or disc screen . In such configurations , materials smaller than the second maximum dimension fall by gravity through the apertures into the underscreen, while larger materials are transported toward the screen ' s longitudinal end, such as via rotating discs driven by rotating shafts or by movable paddles actuated by eccentrically moving elements attached to rotating shafts . Based on this configuration, larger collected materials , such as branches and algae , are transported to the overscreen, while smaller items like bottle caps , shell fragments , and microplastics fall by gravity into the underscreen through the apertures .

[0018] The self-propelled land vehicle also includes a first and a second optical separator, positioned respectively downstream and below the screen to receive materials from the longitudinal end of the screen and the apertures . These optical separators feature first and second optical sensors connected to an onboard electronic control unit . This control unit is programmed to :

[0019] • Receive infrared signals emitted by the collected materials under appropriate illumination .

[0020] • Estimate material classification and position for each illuminated item using first and second spectroscopic analysis algorithms that process the infrared signals . The algorithms are trained to classify materials based on whether they are larger than or up to the second characteristic dimension .

[0021] • Activate multiple actuators of the separators based on the classification phase to direct collected materials of different dimensions into corresponding containers onboard the vehicle . Each actuator ensures that items with the same estimated classification are directed into the same container, one classification per container .

[0022] In more detail , the above can be implemented to classify collected materials as flora or non-flora as follows :

[0023] • Receive a signal containing data about a first characteristic band in the emission spectrum of a first material .

[0024] • Receive a signal containing data about a second characteristic band in the emission spectrum of a second material . • Receive signals from the first optical sensors representing a third spectral band of light emitted by the collected materials irradiated by a first light beam in the first optical separator .

[0025] • Receive signals from the second optical sensors representing a fourth spectral band of light emitted by falling materials irradiated by a second light beam in the second optical separator .

[0026] • Process the signals representing the third band, classifying the collected material as desired when the third band overlaps with the first band, and as undesirable when it does not .

[0027] • Process the signals representing the fourth band, classifying the material as flora when the fourth band overlaps with the second band, and as non-flora when it does not .

[0028] Actuate the first and second optical separators to segregate the collected material based on the respective processing phase .

[0029] Through this spectroscopic method, it is possible to classify and separate materials , such as flora from non-flora , depending on the type of location where the vehicle operates .

[0030] For instance , in the case of cleaning a beach, materials classified as flora, such as algae and / or shells , can either be deposited in a dedicated onboard container while the vehicle is in operation or released back onto the ground, for example , via an onboard openable gate . To achieve material separation, the first and second optical separators may include selectively actuable compressed air inj ectors , which emit compressed air flows to intercept classified materials , such as flora , and separate them from the rest of the collected materials . These classified materials are then deposited in a designated container , onto a conveyor belt , or into dedicated screw conveyors .

[0031] Furthermore , to store the materials separated by the first and second optical separators , the self-propelled land vehicle includes removable containers placed in widened sections of the vehicle ' s sides . This design utilizes the available width and height of the vehicle , making it structurally compact and enhancing maneuverability within the operational area . An additional advantage of having removable containers is that at the end of the waste collection process in the target area, these containers— each containing a specific type of pre-separated material— can be easily removed. This allows the materials to be sent directly for recycling or recovery operations without requiring further off-vehicle waste separation processes .

[0032] DESCRIPTION OF THE DRAWINGS

[0033] The functional characteristics of the self-propelled land vehicle for collecting materials from the ground will be better understood in the following detailed description, which refers to the attached figures illustrating a preferred but non-limiting embodiment of the present invention, wherein:

[0034] • Fig. 1 shows a longitudinal section of the self-propelled land vehicle for collecting materials from the ground according to a preferred embodiment of the present invention;

[0035] • Fig. 2 shows a top view (horizontal section) of the land vehicle depicted in Fig. 1.

[0036] DETAILED DESCRIPTION OF THE INVENTION

[0037] According to a preferred embodiment of the present invention, Fig. 1 illustrates a self-propelled land vehicle V for collecting materials from the ground, preferably but not exclusively for beaches and coastal areas, designed to automatically collect materials from the ground and separate them based on material type, e.g., separating metal from plastic, glass, etc. Specifically, this land vehicle includes a driver's cab (1) positioned at the front relative to the vehicle's direction of movement, and a collection device (2) , e.g. , a mesh conveyor belt, which is releasably attached to the vehicle' s frame and extends longitudinally outward from the vehicle in front of the driver's cab. Advantageously, the collection device (2) can feature fastening elements (not shown in the figure) , e.g. , hooks, pins, or similar mechanisms, allowing the device to be mounted on the vehicle and, when necessary, dismounted to install an alternative collection device depending on the application type. For instance, for roadside collection or other accumulation zones, the collection device (2) can be replaced with a device featuring motorized brushes rotating around vertical axes, combined with suction systems that help direct collected material and debris. This adaptability allows the same vehicle to serve various purposes, such as collecting materials on beaches, roads, or mountainous terrains. For movement, the land vehicle features rear rubber wheels (20) and front rubber tracks (21) , enabling traversal over sandy grounds while minimizing sinking. Preferably, depending on the terrain type the vehicle needs to navigate, e.g., mountainous terrain, asphalt, etc. , construction variations can substitute the tracks and / or rubber wheels. The collection device (2) includes a first section (2a) hinged to the frame of the self-propelled vehicle V, preferably in a manner allowing rotational movement, and a second section (2b) hinged to the first section (2a) at an end longitudinally opposite to where it is attached to the frame. Specifically, the second section is configured to rotate relative to the first section of the collection device (2) into a working position, where it partially contacts the ground to collect materials, and a resting position, where it rotates toward the first section to cease ground contact. Preferably, the second section (2b) can be rotated to approach the first section (2a) , thereby reducing the vehicle's longitudinal footprint and facilitating road navigation. In this way, when the second section (2b) is rotated into a working position, the self-propelled land vehicle collects ground materials through partial contact with the ground as it advances, loading the materials onto the collection device (2) . Specifically, to achieve this, the land vehicle V for collecting ground materials features a motorized collection rotor (3) , e.g. , a rotating rake, mounted on the end of the second section (2b) of the collection device (2) , which, in use, is positioned near the ground. This rotor engages the materials to be collected and transports them onto the collection device (2) while the vehicle is in operation. Additionally, since non-waste materials, e.g. , sand or soil, may also be brought aboard the collection device (2) , it is preferably configured so that non-waste materials, e.g., sand or soil, can fall back to the ground by gravity through a perforated mobile support surface (2c) integrated into the collection device. To achieve this, the perforated mobile support surface is designed with a maximum dimension that allows sand, soil, or other materials with at least one dimension smaller than this maximum to fall by gravity back to the ground. For instance, the collection device (2) can be a conveyor belt with mesh openings sized to allow sand, soil, or other collected materials such as grass clippings to fall by gravity to the ground when loaded onto the collection device, i.e., through the mesh openings of the conveyor belt, while other materials larger than the maximum dimension of the perforations, such as metal or plastic, remain on the belt. Furthermore, preferably, the land vehicle V is configured so that any non-waste materials, e.g., sand or soil, not removed through the perforated surface (2c) and otherwise remaining mixed with other collected materials are separated through an additional mechanical separation step using a first mechanical separator (7) , e.g. , a vibrating screen, located at least partially below the end of the first section (2a) to receive the materials collected by the collection device (2) as they fall by gravity from it.

[0038] Advantageously, through such mechanical separation, residues of non-waste material that did not fall to the ground while on the collection device, e.g. , sand or soil, are released back to the ground, thereby further reducing the risk of wear on the rotating components of subsequent separation stages within the vehicle. According to the invention, the materials collected from the ground are automatically separated within the self-propelled land vehicle based on their material type. To achieve this automatic separation, the materials collected from the ground are transported onboard the collection device (2) into the vehicle. As shown in Fig. 2, to execute the automatic separation, the self-propelled land vehicle (V) features a separation line (5) where the collected materials are directed via the collection device (2) .

[0039] Specifically, when the collected materials are transported to the top of the collection device (2) , they fall by gravity onto the first mechanical separator (7) through an opening (6) and are introduced into the separation line (5) . Preferably, the separation line (5) can include a cutting unit (8) positioned under the driver's cab (1) , e.g., between the cab and the front axle of the vehicle, where materials transported by the collection device (2) are introduced for cutting, e.g., by a shredder, to emerge from the cutting unit with reduced dimensions. In particular, this cutting unit (8) consists of motorized cutting blades that rotate in a direction such that their movement aligns with the flow of collected materials, e.g., the blades rotate around an axis that is skewed and preferably perpendicular to the material flow.

[0040] This configuration ensures that while the collected material is processed, it is also moved toward the processing direction of the automatic separation line, i.e., toward downstream stations of the cutting unit. Advantageously, the use of the cutting unit (8) is particularly useful in facilitating the separation operations at subsequent stations along the separation line (5) , minimizing the risk of larger materials obstructing the flow of materials being processed. For instance, a shredder can reduce the size of wood, e.g. , dry branches, or vegetation to a predefined maximum size .

[0041] Once the shredded materials exit the cutting unit (8) , the separation line (5) includes a first transportation device (24) , e.g. , a conveyor belt, with a first end located at a lower vertical level and a second end, longitudinally opposite to the first, positioned behind the driver's cab (1) at a higher vertical level. In this arrangement, the conveyor belt extends longitudinally upward from the first end. Thus, shredded materials, upon exiting the cutting unit, fall by gravity onto the first transportation device (24) to be transported from its first to its second end .

[0042] Preferably, to separate ferrous metallic materials from the shredded materials on the transportation device (24) , the self-propelled vehicle includes a first magnetic separator (10) positioned above this device. This separator generates a magnetic field directed toward the transportation device to attract ferrous metallic materials among the shredded materials, lifting them toward the first magnetic separator (10) . For instance, the first magnetic separator (10) may include a metal plate onboard to generate an attractive magnetic force and a conveyor belt with metallic surfaces to which ferrous metallic materials adhere when exposed to the magnetic force.

[0043] The conveyor belt carrying the ferrous metallic materials can then transport these materials to a first removable container (4) located below the belt, designed to receive ferrous metallic waste. As the ferrous metallic materials fixed to the conveyor belt move toward the first removable container (4) and away from the metal plate, they detach from the belt and deposit into the container due to a gradual reduction in the magnetic field's intensity.

[0044] Additionally, to separate non-ferrous metals from the materials still on the transportation device (24) , e.g. , aluminum, copper, brass, etc., as these are not affected by the attractive magnetic force of the first magnetic separator (10) , the separation line (5) can include a second magnetic separator (11) . This second separator, preferably downstream of the first magnetic separator (10) , is configured to separate non-ferrous metallic materials from the remaining shredded material, preferably through electromagnetic induction. For instance, this second magnetic separator (11) could be a rotor equipped with magnets arranged in a radial pattern.

[0045] Preferably, such magnets may be mounted on a rotor (28) at the second end of the transport device (24) . In this way, the shredded materials, now devoid of ferrous metallic materials, are transported by the transport device until they reach the end where the rotor (28) with magnets is located. As the shredded materials approach the rotating magnets, they enter the magnetic field generated by these magnets and are subjected to a magnetic flux that rapidly fluctuates over time due to the rotation of the magnets. Consequently, eddy currents are induced within the non-ferrous metallic materials, creating their own magnetic field opposite to that generated by the rotating magnets on the rotor (28) .

[0046] Thus, to separate non-ferrous metallic materials from the remaining shredded materials, the interaction between the magnetic field generated by the eddy currents and that of the magnets on the rotor (28) can be utilized to create a repulsive force. This repulsive force pushes the nonferrous metallic materials away from the rotor (28) , separating them from the rest of the shredded materials. For materials such as plastic, glass, etc. , the induced currents are weaker compared to those in non-ferrous metallic materials, so a repulsive force sufficient to separate them is not generated. This difference in magnetic interactions allows for the separation of non-ferrous metallic materials from the rest of the shredded materials, such as plastic, glass, vegetation, etc.

[0047] For example, a removable container (30) can be placed at a distance from the transport device (24) to collect the metallic materials repelled by the magnetic force described above. Preferably, to reduce energy consumption, the activation of the first and second magnetic separators (10, 11) can be regulated, especially only when metallic materials are detected among the collected materials. This allows these devices to remain off when no metallic materials are detected, thus conserving energy, e.g., for powering the first and second magnetic separators.

[0048] To achieve this, a sensor (12) , preferably an inductive type, can be installed downstream of the cutting unit (8) . When this sensor detects a signal containing information about the presence of metallic material within the collected materials, it sends the signal to an electronic control unit onboard the collection vehicle (V) . Specifically, this electronic control unit receives data input from the sensor (12) and outputs control signals to the first and second magnetic separators (10, 11) , activating them when the processed signal indicates the presence of metallic material among the collected and shredded materials.

[0049] Additionally, downstream of the first and second magnetic separators (10, 11) , the separation line (5) includes a sieve (13) positioned at least partially below the second end of the conveyor belt (24) to receive non- metallic materials falling by gravity from this first transport device (24) . This sieve is configured to separate materials coming from the transport device (24) into those having a maximum second dimension and those exceeding this dimension. Preferably, when a cutting unit (8) is onboard the vehicle, the size of the collected items exceeding the second maximum dimension can be reduced to a third maximum dimension when exiting the cutting unit.

[0050] Thus, the sieve is used to enhance the efficiency of subsequent automatic separation stages for materials still requiring separation, such as plastic, glass, and vegetation. For example, this sieve may be a ballistic sieve with a variably inclined frame equipped with closely spaced, parallel mobile blades, preferably oriented along the processing direction, e.g. , toward the rear of the transport vehicle.

[0051] Based on this construction, the blades define a mobile supporting surface upon which the material falls by gravity from the transport device (24) and is subsequently separated by size and, preferably, by weight. The blades of the sieve include windows (15) with the second maximum dimension, e.g. , each blade has a surface with multiple openings, so that larger material remains on the blades while smaller material passes through the windows, falling by gravity into the undersieve. This enables separation of smaller materials into the undersieve, i.e., those up to the second maximum dimension, from larger materials in the oversieve, i.e., those exceeding the second maximum dimension.

[0052] Furthermore, the movement of the blades is utilized to transport material exceeding the second maximum dimension toward a first longitudinal end (16) of the ballistic sieve, e.g., toward the rear of the vehicle, thereby defining a first direction of material transport. For instance, to achieve this, the blades are connected to mobile elements, preferably eccentrics, which are in turn linked to rotating shafts positioned under the undersieve and transverse to the material flow direction. As the shafts rotate, the mobile elements cause vertical displacement, lifting and lowering the blades, thereby pushing collected materials upward and off the blade surface as they rise. Moreover, these mobile elements exhibit a horizontal movement component that propels the blades in the same direction as the first movement direction of the collected material, generating a pushing force transmitted to the collected items exceeding the second maximum dimension, directing them toward the first longitudinal end (16) of the sieve. Additionally, based on the construction of the described ballistic sieve, it is possible to further separate materials exceeding the second maximum dimension based on their weight. Specifically, by adjusting the inclination angle of the mobile support surface defined by the blades, materials up to a first maximum weight can be moved in the direction defined by the mobile elements, while heavier items, i.e., those exceeding the first maximum weight, are moved by gravity toward a second longitudinal end of the ballistic sieve opposite to the first end (16) , utilizing the inclined mobile surface.

[0053] The first longitudinal end (16) of the sieve, reached by collected items up to the first maximum weight, is positioned at a higher vertical level than the second longitudinal end, reached by items exceeding the first maximum weight. Thus, when items exceeding the second maximum dimension have a mass that prevents them from advancing along the first movement direction defined by the blade motion, they roll by gravity along the blade surface to the second longitudinal end of the sieve. There, they exit and deposit onto a conveyor belt that transfers them to a dedicated collection container (not shown) , such as for glass bottle fragments or stones. In another example, the sieve (13) may be a disc sieve comprising multiple rotating shafts with a rotation direction aligned toward the first longitudinal end (16) of the sieve, each equipped with multiple perimetershaped discs, preferably circular, rigidly fixed to the shafts. The discs on each shaft are spaced apart, e.g., equally spaced, with their lateral faces partially overlapping those of adjacent shafts, creating interlocking windows (15) with the second maximum dimension. This configuration allows the upper rotating surface of the discs to serve as a mobile support surface .

[0054] Materials with the second maximum dimension, falling from the transport device (24) onto the sieve (13) , pass through the disc-defined windows into the undersieve by gravity, while larger items are carried by the rotating discs toward the first longitudinal end (16) of the sieve, thanks to the aligned rotation direction of the discs. Thus, at this longitudinal end (16) , collected items exceeding the second maximum dimension exit, e.g. , plant materials, glass, and plastic.

[0055] However, materials in both the undersieve and oversieve require further processing to separate the remaining material types, e.g. , plastic, glass, wood, and vegetation. To achieve this, the separation line (5) includes a first optical separator (19) positioned downstream of the sieve (13) to receive collected items exceeding the second maximum dimension. This optical separator is fed by a second transport device (18) , e.g. , a conveyor belt, partially positioned under the longitudinal end (16) of the sieve and inclined upward to transport materials falling by gravity from this sieve end.

[0056] The collected materials can be classified using spectroscopy techniques. For instance, the first optical separator may include a primary light source, preferably positioned above the second transport device (18) and configured to emit a light beam, e.g., visible or invisible, onto the collected materials in transit on the transport device. Additionally, the first optical separator includes primary optical sensors configured to detect infrared signals emitted by the collected items when illuminated appropriately.

[0057] It is noteworthy that the larger items on the sieve (13) reach the longitudinal end in a spatially separated manner due to their arrangement on the sieve. As a result, when they fall by gravity onto the second transport device , they are received sequentially by the first optical separator .

[0058] In this way, when a light beam is emitted onto a passing collected item, the molecules of the material are excited and begin to vibrate , then relax by emitting light radiation that is detected by the first optical sensors in the form of infrared signals . These infrared signals are then received by an electronic control unit that exchanges data with the first optical sensors , preferably located on board the vehicle . This control unit is programmed to estimate the classification of the material of each illuminated item through a first spectroscopic analysis algorithm, which receives the infrared signals as input . Specifically, this first algorithm is trained to classify materials that exceed the second maximum dimension . For example , the infrared signals contain data from a spectral band of the material under examination, e . g . , frequency, wavelength, etc . , which are known to be characteristic of the material . To classify the material moving on the second transport device , the control unit is programmed to process the infrared signals containing the spectral data and predefined data stored in the control unit representing a spectral band of a known material , e . g . , plastic, glass , plant material , etc . , which may be found in literature or detected through experimental tests on material samples . For example , the data for various spectral bands , each representing a material to be classified, are stored in a ' look-up' table . In this way, the control unit is programmed to generate a material classification based on the detected spectral data and the data in the look-up table . Furthermore , since the positions of the first optical sensors and the speed of the second transport device ( 18 ) are known, it is possible to estimate the movement of the classified item once the infrared signals emitted by the illuminated item are detected . Specifically, knowing the movement of the classified item, the control unit is also programmed to operate a plurality of actuators based on the estimated phase , to direct items with the same classification into corresponding containers on the vehicle . For this purpose , actuators such as compressed air inj ectors , preferably two , and servo valves ( not shown in the figure ) are positioned on the vehicle downstream of the first optical separator ( 19 ) , longitudinally opposite to the second transport device ( 18 ) , and oriented toward it to direct a flow of compressed air over a predefined section of the second transport device , which intercepts the classified material downstream of the first optical sensors and preferably in the direction of the material's movement. The control unit is specifically programmed to selectively activate each actuator to generate a flow of compressed air that intercepts a classified item as it passes along the predefined section of the second transport device (18) . Based on the classification of the item, an actuator is activated so that the flow of compressed air removes the item from the second transport device (18) , directing it transversely toward the sides of the vehicle where the corresponding container is located. In particular, through chutes (29a, 29b) positioned on the sides of the vehicle, items with the same classification are deposited into respective removable containers (25, 26) , e.g., plastic in container (25) and glass and other materials different from plastic in container (26) . In this way, items classified differently remain on the second transport device (18) compared to those deposited in containers (25, 26) on the vehicle's sides. For example, the material remaining on the second transport device (18) could be flora such as algae, branches, etc., which can then be deposited in a tank (27) positioned at a lower level than the first optical separator, preferably behind the vehicle's rear axle toward its rear. This tank is configured to store items from the first optical separator (19) when they need to be removed from the beaches. Preferably, to further reduce the size of the collected material before it is stored in tank (27) for easier storage, a second shredding unit (23) is interposed vertically between the tank and the first optical separator (19) . Once shredded, the material exits the second shredding unit (23) and falls by gravity into the tank (27) , e.g. , via a sluice (not shown in the figure) .

[0059] According to another aspect of the present invention, the self-propelled terrestrial vehicle (V) for collecting materials from the ground includes a second optical separator (17) positioned at a lower vertical level than the sieve (13) to receive the collected material with at least the first dimension up to the second maximum dimension by gravity. Specifically, this second optical separator (17) is used to separate smaller materials than those provided to the first optical separator (19) , with these materials also being classified based on spectroscopic techniques. Preferably, the collected items that fall by gravity into the undersieve are deposited into a shaped container (not shown in the figure) , extending vertically with converging sidewalls from top to bottom, and having an open bottom with an opening matching the second maximum dimension to allow the collected items to exit the shaped container downward . This shaped container is used to collect the items from the sieve ( 13 ) and guide them toward the open bottom so that when they exit the container , they all follow a common downward path . To achieve this result , as with the first optical separator, the second optical separator ( 17 ) includes a second light source configured to emit light radiation, e . g . , visible or invisible , onto the falling material .

[0060] Furthermore , this second optical separator includes second optical sensors configured to detect infrared signals emitted by the appropriately illuminated bodies of the collected material . As in the previous case , the infrared signals are received by an electronic control unit that exchanges data with the second optical sensors . This control unit is programmed to process these signals to estimate a classification of the material of each illuminated body through a second spectroscopic analysis algorithm, which receives the infrared signals as input , as in the case of the first optical separator ( 19 ) . Specifically, this second algorithm is trained to classify materials having at least the first maximum dimension up to the second maximum dimension . For example , as with the first optical separator ( 19 ) , the detected infrared signals contain data from a spectral band of the material under examination, e . g . , frequency, wavelength, etc . , which are characteristic of the material . The electronic control unit is programmed to process infrared signals containing the data from the detected spectral band and predefined data from a spectral band representing a known material . In this case , for example , the second optical sensors send signals to the electronic control unit containing the spectral band detected for each falling body . The data from the various spectral bands , each representing a material to be classified, are stored in a ' look-up' table , which is pre-stored in the electronic control unit . In this way, the electronic control unit is programmed to generate a classification of the material based on the detected spectral data and the data from the look-up table . Furthermore , given the small size of the falling collected material , which may lead to potential classification errors or nonclassification through the sole detection of infrared signals from the illuminated bodies , a third optical sensor , e . g . , an RGB sensor , is preferably provided . This third sensor is connected to the electronic control unit and is configured to detect signals containing data on the color of the examined body . Additionally, the vehicle includes a darkroom ( not shown) configured to receive the bodies of the collected material falling by gravity from the shaped container , i . e . , exiting the open bottom . This darkroom is used in conj unction with the RGB sensor to enhance the accuracy of the material classification of the falling bodies , i . e . , by providing the electronic control unit with additional data that is processed together with the data from the second optical sensors . However, for the RGB sensor to operate within the darkroom, an additional light source is provided, configured to emit visible light radiation onto the falling collected bodies , particularly transversely and preferably perpendicular to the falling direction of the bodies from the shaped container . Furthermore , since the vertical position of the opening of the shaped container is known and since the collected bodies falling are small in size , the difference in fall time between one body and another can be considered negligible , it is possible to estimate the variation in position of each falling body once it has exited the opening of the shaped container . This allows the estimation of the vertical position of a falling body after it has been classified, and it can be separated based on a classification defined by a user . To do this , the second optical separator ( 19 ) includes compressed air inj ectors and servo valves ( not shown in the figure ) arranged on board the vehicle , for example , in a position opposite to the second light source , and oriented towards the direction of fall of the bodies of collected material from the shaped container to provide a flow of compressed air at a predefined vertical position along the fall direction to intercept the bodies at a lower vertical position than that at which the second optical sensors and the RGB sensor detect signals from a falling body . Preferably, the RGB sensor can be positioned at a higher or lower vertical position than the vertical position of the second sensors . In any case , knowing the variation in vertical position of a falling body, the electronic control unit is also programmed to receive and synchronize the RGB signal and the signal from the second optical sensors based on the fall time between the RGB sensor and the second optical sensors in order to associate the data in those signals with the same falling body . In this way, the electronic control unit is programmed to generate a classification of the falling material based on the data contained in the signals received from the RGB sensor , the second sensors , and the predefined data from the look-up table . In particular, the electronic control unit is programmed to selectively actuate each actuator to generate a flow of compressed air that intercepts a classified falling body, i . e . , when it reaches the predefined vertical position . In this way, based on the classification of the body, an inj ector is activated so that the flow of compressed air directs the classified body towards a corresponding container or a dedicated conveyor belt or screw conveyor . Preferably, no flow of compressed air is delivered to the unclassified bodies , so that they fall by gravity into a container located under the common fall direction of the bodies . For example , a compressed air inj ector is activated to direct and deposit plastic bodies such as bottle caps and microplastics into a first screw conveyor, a second compressed air inj ector can be activated to direct and deposit bodies made of plant material such as egagropiles , wood fragments , etc . , into a second screw conveyor , while a third screw conveyor receives the unclassified bodies during the fall , e . g . , shell fragments , possible microplastic residues , etc .

[0061] According to an alternative preferred embodiment of the present invention, the construction configuration of the vehicle V, and in particular that of the first and second optical separators 19 , 17 , is used to classify the bodies of the collected material as plant or non-plant material , so that plant material is released back to the ground, while non-plant material is retained on board the vehicle . For example , in the case of cleaning shorelines where there is no need to remove plant material due to its important role in the ecosystem, plant material can be released back to the ground by the terrestrial vehicle through an openable flap 22 located downstream of the first optical separator 19 and at a lower height than the end of the second transport device 18 at the rear of the vehicle , so as not to harm the ecosystem in which the vehicle operates by collecting material that is not actually waste . In a further preferred embodiment variant , the plant bodies classified by the second optical separator 17 can be transported to the openable flap 22 , e . g . , by a transport device such as a screw conveyor , from which they exit to be released back to the ground together with larger-sized bodies classified by the first optical separator 19 . In particular, to release the plant material back to the ground, such as in the case of cleaning beaches with algae and / or wood and / or shells , the flap 22 is connected in data exchange with the electronic control unit and is configured to be movable between an open position, in which the plant material coming from the first and second optical separators 19 , 17 can be released to the ground by falling through the second transport device 18 , and a closed position, in which the plant material is not released and accumulates inside the tank 27 . Specifically, the flap 22 is connected in data exchange with the electronic control unit so that it is opened in a timed manner when the plant material classified as plant by the first optical separator 19 reaches the end of the second transport device 18 to fall from it . When plant material needs to be deposited in the tank 27 , the flap 22 remains closed, defining a chute to guide the material into the tank . Therefore , based on the operation of the first and second optical separators described above , to classify the plant and non-plant material , the electronic control unit is programmed to :

[0062] Receive a signal containing data on a first characteristic band of an emission spectrum of a first material , e . g . , a plant material of interest such as algae .

[0063] Receive a signal containing data on a second characteristic band of an emission spectrum of a second material , e . g . , a plant material of interest such as wood . For example , these details can be selected from a library of emission spectra , each representative of a known material , and pre-stored in a memory device connected in data exchange with the electronic control unit .

[0064] Receive signals from the first optical sensors representing a third spectral band of the light radiation emitted by the bodies of collected material illuminated by a first light beam in the first optical separator .

[0065] Receive signals from the second optical sensors representing a fourth spectral band of the light radiation emitted by the falling bodies of collected material illuminated by a second light beam in the second optical separator .

[0066] Process the signals representing the third band, classifying the material as plant when the third band overlaps the first band, and as non-plant when the third band does not overlap this first band .

[0067] Process the signals representing the fourth band, classifying the material as plant when the fourth band overlaps the second band, and as non-plant material when the fourth band does not overlap the second band; and actuate the first and second optical separators to separate the collected material based on their respective processing phases . In this way, only the bodies classified as plant material remain on the second transport device 18 , while those classified as non-plant are removed through activation of the compressed air inj ectors and directed to their corresponding containers . Similarly, plant materials classified in the darkroom of the second optical separator are separated from the other bodies of collected material so that they are deposited into a corresponding container . Therefore , once the bodies classified as plant material are separated from those classified as non-plant material , the electronic control unit is also programmed to release the bodies of plant material to the ground and retain on board the vehicle those classified as non-plant material . As described above , for example , the electronic control unit is programmed to open the openable flap 22 so that the bodies classified as plant material remaining on the second motorized transporter 18 fall by gravity to the ground through the flap 22 . Furthermore , due to the presence of possible microplastics in the screw conveyor or container where the material not classified by the second optical separator is deposited, such material can preferably be further transported and processed within a flotation system ( not shown in the figure ) , e . g . , a tank filled with water, configured to separate microplastics from other materials and any residual sand based on density differences . Specifically, due to the difference in density, materials other than microplastics settle at the bottom of the tank, separating from the microplastics that remain suspended in water . Preferably, such a flotation system has an openable bottom so that the material deposited at the bottom of the tank can be recovered and potentially released from the vehicle in case there are residues of sand or plant material inside .

[0068] According to another aspect of the present invention, to optimize space within the self-propelled terrestrial vehicle V, making it more compact while simultaneously storing the various types of separated material , the extractable containers 4 , 25 , 26 , and 30 can be positioned within the widened side panels of the self-propelled terrestrial vehicle . In this way, the available width and height spaces of the terrestrial vehicle are further utilized, making the vehicle compact from a structural perspective , benefiting its maneuverability within the operating area . Advantageously, as these containers are extractable , once material collection in the area of interest is complete , the containers holding a single type of material already separated from others can be removed, directing the materials to recycling or recovery operations without needing further separation outside the self-propelled terrestrial vehicle . Preferably, the extractable containers 4 , 25 , 26 , and 30 are positioned between the cutting unit 8 and the second optical separator 17 and at a lower height than the first transport device 24 .

[0069] According to another preferred embodiment of the present invention not shown in the figure , the self-propelled terrestrial vehicle V can be designed without the driver' s cabin 1 , particularly in the case of unmanned or driverless solutions , i . e . , without an operator on board and with remote vehicle control .

Claims

CLAIMS1 . Self-Propelled Terrestrial Vehicle for Collecting Ground Materials (V) , Preferably for Beaches , Comprising :• A collection device ( 2 ) mounted releasably on the vehicle and movable between a working position, where it is at least partially in contact with the ground to collect material , and a resting position, where it is lifted off the ground, preferably said collection device having a perforated mobile support surface ( 2c ) with openings of a first maximum dimension;• A first transport device ( 24 ) comprising a first end located at a first vertical height and a second end, longitudinally opposite to the first end, at a second height greater than the first , said first end receiving materials collected by the collection device ( 2 ) during use ;• A sieve ( 13 ) positioned at least partially below the second end of the first transport device ( 24 ) to receive material falling by gravity from it , said sieve comprises a mobile support surface onto which the collected material falls by gravity and is equipped with openings ( 15 ) of a second maximum dimension; said mobile support surface further having actuated moving elements with a coordinated movement component , defining a first movement direction for the collected material with dimensions larger than the second maximum dimension toward a first longitudinal end ( 16 ) of the sieve ;• A first and second optical separator ( 19 , 17 ) positioned downstream and below the sieve ( 13 ) to receive material from the sieve ' s first longitudinal end and openings ( 16 , 15 ) , respectively, such first and second optical separators include first and second optical sensors , respectively, which are connected in data exchange with an electronic control unit on board the terrestrial vehicle (V) , wherein such electronic control unit is programmed to : o Receive infrared signals emitted by properly illuminated material bodies ;o Estimate material classification and position of each illuminated body using first and second spectroscopic analysis algorithms that process the received infrared signals , being first and second algorithms trained to classify materials with dimensions larger than the second characteristic dimension and materials with dimensions up to the second characteristic dimension, respectively; o Operate multiple actuators of the separators based on the classification phase to direct collected bodies with dimensions up to the second characteristic dimension and bodies with dimensions larger than the second characteristic dimension into corresponding containers located on board the vehicle , the action of each actuator being such as to direct bodies previously illuminated, whose estimated classification matches , into their respective containers , one classification per container .2 . Terrestrial Vehicle (V) According to Claim 1 , in Which the Electronic Control Unit is Further Programmed to :- Receive a signal containing data on a first characteristic band of an emission spectrum of a first material ;- Receive a signal containing data on a second characteristic band of an emission spectrum of a second material ;- Receive signals from the first optical sensors representing a third spectral band of light radiation emitted by the collected material illuminated by a first light beam in the first optical separator ( 19 ) ;- Receive signals from the second optical sensors representing a fourth spectral band of light radiation emitted by the collected material in free fall illuminated by a second light beam in the second optical separator ( 17 ) ;- Process the signals representing the third band by comparing the first and third bands to classify the material as flora when the third band overlaps the first band, or when the second band overlaps the fourth band, and as non-flora when the third band does not overlap the first band, or when the second band does not overlap the fourth band; and- Operate the first and second optical separators (19, 17) to separate the collected material based on the processing phase;- Activate an openable gate (22) connected in data exchange with the electronic control unit to release to the ground the material classified as flora.

3. Terrestrial Vehicle (V) According to Claim 1 or 2 comprising a cutting unit (8) interposed longitudinally between the movable support surface (2c) and the first transport device (24) , such cutting unit (8) comprising motorized cutting elements rotating in a direction with a movement component concordant with the flow of the collected material, the cutting elements rotate around a transverse axis relative to the flow and are spaced to define a third characteristic dimension greater than the second characteristic dimension.

4. Terrestrial Vehicle (V) According to Any of the Previous Claims wherein the movable elements comprise rotating shafts with a rotation direction concordant with the first longitudinal end (16) of the sieve, and a plurality of disks perimetrically shaped and rigidly fixed for rotation to said shafts, the disks being spaced to have their lateral faces partially facing those of disks on another shaft, partially interpenetrated to define the windows (15) .

5. Terrestrial Vehicle (V) According to Any of the Previous Claims wherein the movable support surface of the sieve (13) includes a head portion where the windows (15) are made, being such head portion inclined such that the first end (16) is at a higher vertical elevation than a second end of the sieve, longitudinally opposite the first end, further comprising a rotating peripheral portion with a movement component concordant with the first direction of movement, ensuring that material with a size greater than the second maximum dimension and a first maximum weight moves in the first direction, while material exceeding the first maximum weight moves by gravity in a second direction, opposite the first, toward the second end of the sieve.

6. Terrestrial Vehicle (V) According to Any of the Previous Claims comprising a second transport device (18) partially positioned under the first longitudinal end (16) of the sieve and such second device extending longitudinally toward the rear of the vehicle, with a portion located under the first optical separator (19) .7 . Terrestrial Vehicle (V) According to Claim 6 wherein the actuators comprise first compressed air inj ectors longitudinally opposed to the material flow direction, said inj ectors direct compressed air onto a predefined section of the second transport device ( 18 ) downstream of the first optical sensors to intercept classified material .8 . Terrestrial Vehicle (V) According to Any of the Previous Claim comprising a shaped container positioned at a vertical elevation lower than the sieve ( 13 ) to collect material falling by gravity through the windows ( 15 ) , said shaped container has converging walls guiding the collected material toward an open bottom with the second maximum dimension such that when the material exits the container, it follows a common falling direction .9 . Terrestrial Vehicle (V) According to Claim 8 wherein the actuators comprise second compressed air inj ectors oriented toward the common falling direction of the collected material such as to deliver compressed air to intercept classified material at a predefined vertical elevation, directing it toward a corresponding container , conveyor belt , or screw conveyor .10 . Terrestrial Vehicle (V) According to Any of the Previous Claims comprising a visible light source , an RGB color sensor, and a dark chamber where collected material falls by gravity from the shaped container , and the second optical sensors , the RGB color sensor, and the visible light source are located within the dark chamber, generating RGB signals that the control unit associates with signals from the second optical sensors to classify collected material .11 . Terrestrial Vehicle (V) According to Any of the Previous Claims comprising a flotation unit configured to receive unclassified material from the second optical separator ( 17 ) , said flotation unit separates material based on density and includes an openable bottom to release material deposited at the bottom.12 . Terrestrial Vehicle (V) According to Any of the Previous Claims comprising a tank ( 27 ) positioned lower than the first optical separator ( 19 ) and further toward the rear of the vehicle relative to the second optical separator ( 17 ) , and said tank being configured to receive material from the first optical separator when the gate ( 22 ) is closed .

13. Terrestrial Vehicle (V) According to Claim 12 comprising a second cutting unit (23) vertically interposed between the tank (27) and the first optical separator (19) .

14. Terrestrial Vehicle (V) According to Any of the Previous Claims comprising a second sieve (7) interposed between the collection device (2) and the first transport device (24) , and presenting said second sieve a support surface where collected materials are placed, having such a support surface opening with the said first maximum dimension.

15. Terrestrial Vehicle (V) According to Any of the Previous Claims comprising a first magnetic separator (10) for ferrous materials positioned above the first transport device (24) between its first and second ends, and a second magnetic separator (11) for non-ferrous materials located downstream of the first magnetic separator (10) at the end of the first transport device (24) from the sieve (13) side.

16. Terrestrial Vehicle (V) According to Any of the Previous Claims comprising a plurality of removable containers (4, 25, 26, 30) positioned under the first transport device (24) .

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