Sorting and collection apparatus and collection boat

Abstract

A sorting and collection apparatus (1) is provided with: an acceptance apparatus (3) configured to move an accepted object (A) toward a direction-of-movement first side (Y1); a first collection container (51) and a second collection container (52) arranged at positions adjacent to the direction-of-movement first side (Y1) relative to the acceptance apparatus (3); and a sorting apparatus (4) provided with a first door (41) and a second door (42) that open and close respective side wall sections (31) on the direction-of-movement first side (Y1) of the acceptance apparatus (3). The first door (41) is configured to form an inclined surface which is continuous from a side wall section (32) on an orthogonal-direction first side (X1) of the acceptance apparatus (3), and which is arranged so as to, in a closed state, incline further toward an orthogonal-direction second side (X2) the more the inclined surface approaches the direction-of-movement first side (Y1), and the second door (42) is configured to form an inclined surface which is continuous from a side wall section (33) on the orthogonal-direction second side (X2) of the acceptance apparatus (3), and which is arranged so as to, in a closed state, incline further toward the orthogonal-direction first side (X1) the more the inclined surface approaches the direction-of-movement first side (Y1).

Description

Sorting and collection apparatus and collection boat 【0001】 This invention relates to a sorting and collection device and a collection vessel for separating and collecting objects. 【0002】 In recent years, with the promotion of waste reduction and recycling, there has been a greater need than before to separate and collect unwanted items. Japanese Patent Publication No. 2002-128204 discloses a garbage truck (1) that separates and collects garbage bags (70) containing different types of unwanted items (garbage, recyclable materials), for example, combustible garbage bags (70a) and non-combustible garbage bags (70b) placed at a garbage collection point (80) (in the background art, the symbols in parentheses refer to the referenced literature). This garbage truck (1) includes a garbage storage tank (20) formed with multiple storage spaces (for example, a storage space (29a) for storing combustible waste and a storage space (29b) for storing non-combustible waste), an image processing device (60) that performs image recognition processing based on images captured by a camera (61), and a valve (24) that switches the destination (one of the multiple storage spaces (29a, 29b)) for depositing garbage bags (70) in the garbage storage tank (20) based on the image recognition results. 【0003】The garbage collection vehicle (1) photographs the entire garbage accumulation location (80) with the camera (61), and the image processing device (60) identifies each garbage bag (70) from the contour of the garbage bag based on the photographed image. An identifier indicating the type of the content is attached to each garbage bag (70), and the image processing device (60) identifies whether the garbage bag (70) is a combustible garbage bag (70a) or a non-combustible garbage bag (70b) based on the identifier (label), and associates the position data of each garbage bag (70) at the garbage accumulation location (80) with the identifier data (combustible / non-combustible). The garbage bag (70) is put into the garbage collection tank (20) through the transport pipe (41) and the valve (24) that move the garbage bag (70) by the negative pressure generated by the suction device (30). The transport pipe (41) moves to the position of each garbage bag (70) based on the position data of each garbage bag (70), sucks each garbage bag (70) in order, and moves it to the garbage collection tank (21). At this time, the valve (24) is switched based on the identifier data of each garbage bag (70), and the garbage bag (70) is put into the storage space (29a, 29b) corresponding to the attribute (combustible / non-combustible). 【0004】 Japanese Patent Application Laid-Open No. 2002-128204 【0005】 The above-described garbage collection vehicle is excellent in that it can identify the types of garbage bags and separately collect them. However, in order to suck and move relatively heavy garbage bags, a relatively large-scale device such as using the negative pressure of a suction device is required. Today, for example, cleaning work by an automatic robot equipped with a battery is also increasing on roads, event venues, rivers, ponds, etc. And in such cleaning work, it is also preferable that garbage and resources can be separated and collected. However, in such an automatic robot, it is difficult to mount a large-scale mechanism considering size, cost, operating time, etc. Also, not limited to automatic robots, simplifying the mechanism for separate collection is also required to reduce cost and weight. 【0006】 In view of the above background, it is desired to realize a separation and collection device with a relatively simple structure that can separate and collect objects. 【0007】A sorting and collection device in view of the above is a sorting and collection device for sorting and collecting objects, comprising: a receiving device for receiving the objects; a first collection container and a second collection container, each for collecting the objects; and a sorting device for sorting and collecting the objects received by the receiving device into the first collection container and the second collection container, wherein the receiving device comprises a bottom surface and a side wall portion provided along the periphery of the bottom surface and erected upward, a specific direction along the bottom surface of the receiving device is defined as the direction of movement, one side of the direction of movement is defined as the first direction of movement, the other side of the direction of movement is defined as the second direction of movement, the direction perpendicular to the direction of movement when viewed in the vertical direction is defined as the orthogonal direction, one side of the orthogonal direction is defined as the first orthogonal direction, and the other side of the orthogonal direction is defined as the second orthogonal direction, the receiving device is configured to move the received objects toward the first direction of movement, and the first collection container is positioned in front of the receiving device The sorting device is positioned adjacent to the first side in the direction of movement, and the second collection container is positioned adjacent to the first side in the direction of movement relative to the receiving device and positioned on the second side in the orthogonal direction relative to the first collection container. The sorting device comprises a first door and a second door that open and close the side wall portion on the first side in the direction of movement of the receiving device, and an opening and closing mechanism that opens and closes the first door and the second door. The second door is positioned on the second side in the orthogonal direction relative to the first door. The first door is positioned inclined in the closed state so as it moves toward the first side in the direction of movement, toward the second side in the orthogonal direction, and is configured to form an inclined surface continuous with the side wall portion on the first side in the orthogonal direction of the receiving device. 【0008】With this configuration, by opening one of the first and second doors and closing the other, objects received in the receiving device can be separated and collected into the first or second collection container. The closed first door is configured to form an inclined surface continuous with the side wall on the first side in the orthogonal direction of the receiving device, guiding objects moving in the first direction of movement along the first door to the second side in the orthogonal direction, and enabling smooth movement of objects from the open second door to the second collection container. Similarly, the closed second door is configured to form an inclined surface continuous with the side wall on the second side in the orthogonal direction of the receiving device, guiding objects moving in the first direction of movement along the second door to the first side in the orthogonal direction, and enabling smooth movement of objects from the open first door to the first collection container. In other words, objects received in the receiving device are less likely to remain inside the receiving device, and the separated collection into the first or second collection container can be carried out smoothly. Thus, this configuration makes it possible to realize a sorting and collection device that can separate and collect objects with a relatively simple structure. 【0009】 Further features and advantages of the sorting and collection device will become clear from the following description of exemplary and non-limiting embodiments, which will be explained with reference to the drawings. 【0010】 Perspective view of the floating debris recovery vessel Perspective view showing the configuration of the receiving device Perspective view showing the configuration and interrelationship of the scooping device, receiving device, and sorting recovery device Top view of the floating debris recovery vessel Side view showing the configuration and interrelationship of the scooping device and receiving device Top view showing the configuration and interrelationship of the receiving device and sorting recovery device Side view showing the configuration and interrelationship of the scooping device, receiving device, and sorting recovery device Schematic perspective view showing other configuration examples and interrelationships of the receiving device and sorting recovery device Top view showing other configuration examples and interrelationships of the receiving device and sorting recovery device Schematic side view showing other configuration examples and interrelationships of the receiving device and sorting recovery device Control block diagram of the floating debris recovery vessel 【0011】 Hereinafter, an embodiment of a floating object recovery vessel, a sorting and recovery device for separating and recovering the target object, and a recovery vessel equipped with the sorting and recovery device will be described with reference to the drawings, using a floating object recovery vessel that recovers floating objects floating on or in the water as the target object as an example. 【0012】 As shown in Figure 1, the floating debris recovery vessel 10 (recovery vessel) comprises at least a hull 9 that moves on the water, and a scooping device 2 mounted on the hull 9 that scoops up floating debris A (see Figure 5, etc.) that is present on the water surface WS or in the water. In this embodiment, the floating debris recovery vessel 10 is further equipped with a sorting and recovery device 1 that sorts and recovers the floating debris A as target objects. As shown in Figures 2 and 3, the sorting and recovery device 1 comprises a receiving device 3 that receives the target objects, a first recovery container 51 and a second recovery container 52, which recover the target objects respectively, and a sorting device 4 that sorts and recovers the target objects received by the receiving device 3 into the first recovery container 51 and the second recovery container 52. In other words, in this embodiment, the floating debris recovery vessel 10 (recovery vessel) comprises a hull 9 that moves on the water, a scooping device 2 mounted on the hull 9 that scoops up objects present on the water surface or in the water and hands them over to a receiving device 3, and a sorting and recovery device 1 that separates and recovers the objects, thereby separating and recovering objects B (see Figures 2, 3, etc.) from the floating debris A, which is the target object. The target object (floating debris A) moves along the direction of movement Y, which will be described later, to the scooping device 2, the receiving device 3, the sorting device 4, and the recovery containers (first recovery container 51, second recovery container 52). 【0013】 Here, we define the directions used in this specification. With respect to the hull 9 floating parallel to the water surface WS, the direction along the vertical is defined as the up-down direction V. The direction along the direction of travel of the hull 9 in the up-down direction V is defined as the fore-and-aft direction L, with the direction in which the hull 9 moves forward being the front side L1 and the opposite side being the rear side L2. The direction perpendicular to the fore-and-aft direction L in the up-and-down direction V is defined as the width direction W. A detailed definition will be given when describing the receiving device 3, but in the embodiment exemplified below as one preferred embodiment of the floating debris recovery vessel 10, the above-mentioned direction of movement Y coincides with the fore-and-aft direction L. In this case, the first side of the direction of movement Y, Y1, coincides with the rear side L2, and the second side of the direction of movement Y, Y2, coincides with the front side L1. Furthermore, the direction perpendicular to the direction of movement Y in the up-and-down direction V is defined as the orthogonal direction X, and when the fore-and-aft direction L and the direction of movement Y coincide, the orthogonal direction X coincides with the width direction W. 【0014】Furthermore, if it is difficult to determine the longitudinal direction L from the structure (shape) of the hull 9, it is preferable to define the front side L1 in the longitudinal direction L as the side of the hull 9 where the scooping device 2 that contacts the floating object A at the upstream end of the floating object A recovery path is located, and the rear side L2 in the longitudinal direction L as the side where the receiving device 3 is located relative to the scooping device 2. In this case as well, in one preferred embodiment of the floating object recovery vessel 10, the direction of movement Y and the longitudinal direction L may coincide. 【0015】 The hull 9 comprises a pair of floating bodies 90 spaced apart from each other in the width direction W. The scooping device 2 and the sorting and recovery device 1 (receiving device 3, sorting device 4, recovery containers (first recovery container 51, second recovery container 52)) are supported by the pair of floating bodies 90 via a hull frame (not indicated) supported by the pair of floating bodies 90. The sorting and recovery device 1 is housed inside a hull cover 95 that covers the hull frame. The ceiling of the hull cover 95 is equipped with a receiver for receiving position information, such as a GPS receiver 86 for receiving GPS (Global Positioning System) signals. 【0016】 Furthermore, a control unit 80 is mounted at the rear of the hull 9. The control unit 80 includes electrical circuit components such as a control device 8 (see Figure 11) and a battery (not shown). As shown in Figure 11, the control device 8 drives various actuators to navigate the floating debris recovery vessel 10, scoop up floating debris A, and recover it by sorting. The control device 8 can also autonomously navigate the floating debris recovery vessel 10 based on position information acquired by the GPS receiver 86. Preferably, the floating debris recovery vessel 10 is configured to communicate with a remote control center or operator via a communication device 87 and the control device 8, and can be navigated by remote operation. In a preferred embodiment, the floating debris recovery vessel 10 is also equipped with a surrounding camera (not shown) that takes pictures of the area around the vessel, and the control device 8 detects floating debris A around the vessel based on the images taken by the surrounding camera, and navigates the vessel toward the floating debris A to recover it. The floating object recovery vessel 10 basically scoops up and recovers the detected objects (floating objects A) one by one in this manner. 【0017】Preferably, the floating debris collection vessel 10 scoops up artificial objects from the water surface WS and floating in the water, excluding aquatic plants, leaves, branches, etc., and separates the scooped-up objects into recyclable materials and general waste for collection. Recyclable materials include, for example, PET bottles, cans, and glass bottles, while general waste includes polystyrene foam, plastics, paper cartons, etc. 【0018】 In this embodiment, the thrust of the hull 9 is provided by a propeller 71 positioned on the water. As shown in Figure 1, each of the pair of floating bodies 90 is equipped with a propulsion device 7. The propulsion device 7 comprises a propeller 71, a propeller base 72 supporting the propeller 71, a propeller actuator 81 (see Figure 11), and a steering actuator 82 (see Figure 11). The propeller base 72 is configured to be rotatable by the steering actuator 82 with an axis along the vertical direction V as the axis of rotation. For example, the propeller base 72 can rotate the propeller 71 45 to 60 degrees inward in the width direction W, and 180 degrees outward in the width direction W. The control device 8 can steer the hull 9 by independently rotating each propeller base 72 to change the wind direction of each propeller 71. Furthermore, when moving the hull 9 forward, the hull 9 can be moved backward by rotating both the pair of propeller bases 72 together by 180 degrees. 【0019】 Furthermore, if the propeller stand 72 is not designed to rotate, the hull 9 can be steered by making the rotation amounts of the pair of propellers 71 different. In addition, the control device 8 can move the hull 9 in reverse by reversing the rotation direction of the propellers 71. 【0020】 Furthermore, the hull 9 is not limited to a structure having such a pair of floating bodies 90, but may also be a single tank-shaped or container-shaped structure. Also, the propulsion system 7 is not limited to a form that utilizes the thrust of a propeller 71 placed on the water, but may also be in other forms, such as a form that utilizes the thrust of a screw placed underwater. 【0021】As shown in Figure 1, the scooping device 2 comprises a receiving body 20 positioned at the front of the hull 9 to receive floating objects A, and a drive mechanism 25 that causes the receiving body 20 to perform a scooping operation. As shown in Figure 11, the drive mechanism 25 includes a fork actuator 83 that drives the receiving body 20. The drive mechanism 25 is configured to perform a scooping operation by changing its posture between a receiving posture P1 shown by a solid line in Figure 5 and a scooping posture P2 shown by a dashed line. The receiving posture P1 is the posture in which floating objects A floating on the water surface WS or in the water are received on the water surface WS or in the water. In the receiving posture P1, in order to receive floating objects A floating on the water surface WS or in the water, at least a part of the receiving body 20 is located below the water surface WS V2, that is, in the water. The scooping posture P2 is a posture in which floating object A is scooped up and held above the water surface WS at V1. In scooping posture P2, the entire receiving body 20 is located above the water surface WS at V1, and the receiving body 20 is not submerged in water. 【0022】 As shown in Figures 1 and 4, the receiving body 20 comprises a plurality of receiving members 23 arranged in the width direction W. Also, as shown in Figures 1 and 5, each of the plurality of receiving members 23 is formed in an L shape when viewed from the side (viewed in the width direction W). Specifically, each of the plurality of receiving members 23 comprises a vertically extending portion 21 which is arranged to extend along the vertical direction V in the receiving posture P1 and a portion of which is submerged in water, and a protruding portion 22 which is arranged to extend along the front-rear direction L in the receiving posture P1 and a portion of which is submerged in water. The portion of the vertically extending portion 21 that is submerged in water is called the submerged portion. The protruding portion 22 is arranged to protrude from the submerged portion of the vertically extending portion 21 toward the front side L1. In this embodiment, the example shows the protruding portion 22 protruding from the lowest V2 (i.e., the lower end) in the vertical direction V of the vertically extending portion 21. However, the protruding portion 22 may protrude from a V1 above the lower end, as long as it protrudes from the underwater placement area of ​​the vertically extending portion 21. 【0023】In this embodiment, the receiving member 23 is composed of a plate-like member with a rectangular cross-section (cross-section in a direction perpendicular to the extending direction) that is bent at approximately a right angle. That is, in each of the multiple receiving members 23, the vertically extending portion 21 is formed as a plate-like member that extends along the vertical direction V with a constant width L in the front-rear direction and a constant thickness W in the width direction, and the protruding portion 22 is formed as a plate-like member that extends along the front-rear direction L with a constant width V in the vertical direction and a constant thickness W in the width direction. As shown in Figure 1, in the vertically extending portion 21, the dimension in the width direction W (first dimension d1) is smaller than the dimension in the front-rear direction L (second dimension d2), and in the protruding portion 22, the dimension in the width direction W (third dimension d3) is smaller than the dimension in the vertical direction V (fourth dimension d4). In this embodiment, the first dimension d1 and the third dimension d3 are equal, and the second dimension d2 and the fourth dimension d4 are equal. 【0024】 Because the first dimension d1 is smaller than the second dimension d2, the water pressure hitting the underwater area of ​​the vertically extending portion 21 in the receiving posture P1 from the front L1 is reduced, thereby reducing resistance during navigation. In addition, aquatic plants and other things other than the floating object A to be recovered are less likely to get caught on the vertically extending portion 21. Furthermore, because the second dimension d2 is larger than the first dimension d1, and the fourth dimension d4 is larger than the third dimension d3, strong strength is maintained in the direction in which the floating object A rests on the receiving body 20 throughout the entire process of changing posture from the receiving posture P1 to the scooping posture P2, while also allowing the receiving body 20 to be made lighter. Furthermore, because the first dimension d1 is smaller than the second dimension d2, and the third dimension d3 is smaller than the fourth dimension d4, water resistance can also be reduced when changing posture from the receiving posture P1 to the scooping posture P2 by oscillation, as illustrated in Figure 5. Furthermore, aquatic plants and other materials other than the floating matter A that is to be recovered are less likely to get caught on the vertically extending portion 21 and the protruding portion 22. 【0025】In a different configuration from the example shown in Figure 5, the entire receiving body 20 can also change its posture from the receiving posture P1 to the scooping posture P2 by rising along the vertical direction V and moving to the upper V1. In this case as well, the third dimension d3 being smaller than the fourth dimension d4 reduces water resistance when changing posture from the receiving posture P1 to the scooping posture P2. Similarly, aquatic plants and the like are less likely to get caught on the protruding part 22. 【0026】 Furthermore, the shape of the receiving member 23 is not limited to the form exemplified above. For example, the vertically extending portion 21 may have an elliptical cross-sectional shape or a triangular shape with its vertex pointing towards the front side L1. Similarly, the protruding portion 22 may also have an elliptical cross-sectional shape or a triangular shape with its vertex pointing towards the upper side V1. In addition, the above example illustrates a form in which the vertically extending portion 21 is formed as a plate extending along the vertical direction V with a constant width in the front-rear direction L and a constant thickness in the width direction W, and the protruding portion 22 is formed as a plate extending along the front-rear direction L with a constant width in the vertical direction V and a constant thickness in the width direction W. That is, the example illustrates a form in which d1, d2, d3, and d4 are constant in the direction in which the receiving member 23 extends, but they may not be constant and may have partially different values. 【0027】 Furthermore, as shown in Figure 1, the receiving body 20 is equipped with a brace 26 positioned between the vertically extending portion 21 and the protruding portion 22 so that the L-shaped receiving member 23 can easily maintain its shape. The brace 26 is provided on the receiving members 23 positioned on both sides of the width direction W because the receiving members 23 positioned at both ends of the width direction W are most susceptible to external forces and therefore more likely to deform. In addition, the brace 26 can prevent the floating object A from flowing in the width direction W when it is caught by the receiving body 20, and can prevent the floating object A that has been scooped up by the receiving body 20 from falling from the width direction W. 【0028】Furthermore, the receiving body 20 includes connecting members 24 that connect a plurality of receiving members 23 arranged in the width direction W in the width direction W. The connecting members 24 are positioned above the water surface WS V1 in order to reduce resistance when the floating object recovery vessel 10 is sailing and to prevent entanglement with the water surface WS or aquatic plants present in the water. In this embodiment, connecting members 24 are arranged at two locations in the vertical direction V in order to suppress displacement of the plurality of receiving members 23 and to ensure the strength of the receiving body 20. 【0029】 As described above, the hull 9 is equipped with a pair of floating bodies 90 that are spaced apart from each other in the width direction W. The receiving body 20 is positioned in the gap between the pair of floating bodies 90 in the width direction W. Also, as shown in Figures 1 and 4, the inner side surface (inner side surface 90a) in the width direction W at the tip of the pair of floating bodies 90 (floating body tip 90t) is positioned parallel to the front-rear direction L. In this embodiment, the protruding portion 22 is also positioned parallel to the inner side surface 90a of the floating body. Furthermore, among the receiving members 23 arranged in the width direction W, it is preferable that the distance between the receiving member 23 positioned at the end in the width direction W and the inner side surface 90a of the floating body is less than or equal to the distance between adjacent receiving members 23 in the width direction W. With this configuration, if a floating object A is capable of being received by the receiving body 20, it is easier to properly receive the floating object A by the receiving body 20 without allowing it to escape to the side of the inner side surface 90a of the floating body. 【0030】 In this embodiment, the receiving members 23 are shown as being arranged parallel to each other at equal intervals in the width direction W, but they may be arranged at different intervals. In this case, it is preferable that the distance between the receiving members 23 located at the ends in the width direction W and the inner surface 90a of the floating body is less than or equal to the distance in the width direction W between the closest adjacent receiving members 23. 【0031】Furthermore, as shown in Figures 1, 4, and 5, the projection 22 is positioned such that, in the receiving position P1, its tip 22t is located in front of the front end (floating body tip 90t) of the pair of floating bodies 90, at a distance L1. Therefore, when the floating object recovery vessel 10 is moving forward, the receiving body 20 is more likely to contact floating objects A located in front of the floating object recovery vessel 10 before the floating bodies 90. This prevents floating objects A that have hit the floating bodies 90 from escaping outwards in the width direction W of the floating object recovery vessel 10, making it easier to recover the floating objects A. It is also possible to recover floating objects A by contacting the tip 22t of the receiving body 20 with a wall or other structure at the boundary with land, making it easier to recover floating objects A located in corners. 【0032】 As shown in Figure 5, in this embodiment, the drive mechanism 25 is equipped with a pivot point X20 that acts as a pivot point for swinging the receiving body 20, and swings the receiving body 20 from a receiving position P1 to a scooping position P2. Specifically, the other end (rear end L2) of a swinging arm 27, one end in the front-rear direction L (the front end L1) of which is connected and fixed to the vertically extending portion 21, is swingably connected to the pivot point X20. When the swinging arm 27 swings, the receiving body 20 to which the swinging arm 27 is connected also swings in conjunction. The pivot point X20 is located in a region V1 above the underwater positioning region of the vertically extending portion 21. Therefore, the receiving body 20 can be swung so that the entire receiving body 20 is located above V1 above the water surface WS by the swing. In this embodiment, the pivot point X20 is positioned at the rear L2 relative to the vertically extending portion 21 of the receiving posture P1 when viewed in the width direction W. However, the pivot point X20 may also be positioned at a location that overlaps with the vertically extending portion 21 when viewed in the width direction W. In the scooping posture P2, the angle between the vertically extending portion 21 and the horizontal plane is approximately 20 to 30 degrees. 【0033】As described above, the floating debris recovery vessel 10 is equipped with a receiving device 3 for receiving floating debris A scooped up by the scooping device 2. As shown in Figure 5, the receiving device 3 is equipped with an opening 39 with an upper side V1 open. The receiving body 20 is swung until the vertically extending portion 21 is positioned in a posture in which, in the scooping posture P2, it is inclined toward the lower side V2 as it moves toward the rear side L2 in the front-rear direction L. At this time, the portion (target end 21t) that becomes the upper end (upper end) of the vertically extending portion 21 when the receiving posture P1 is positioned on the upper side V1 of the opening 39 of the receiving device 3. As a result, the floating debris A scooped up by the receiving body 20 (especially the protruding portion 22) moves toward the lower side V2 by rolling or sliding along the slope formed by the vertically extending portion 21 which is inclined in the vertical direction V. The floating object A detaches from the vertically extending portion 21 (receiving body 20) at the target end 21t and falls to the lower side V2, where it is fed into the receiving device 3 located at the lower side V2 of the target end 21t. 【0034】 Furthermore, the scooping device 2 may not be configured to swing in this manner, but rather, for example, the entire receiving body 20 may rise along the vertical direction V and move to the upper side V1, thereby changing its posture from the receiving posture P1 to the scooping posture P2. In this case, it is preferable that in the scooping posture P2, the entire receiving body 20 rotates so that the protruding direction of the protruding portion 22 faces the opposite direction (rear side L2), and then the receiving body 20 swings until it reaches a position where the protruding portion 22 is tilted toward the lower side V2 as it moves toward the rear side L2, thereby transferring the floating object A to the receiving device 3. 【0035】As shown in Figures 2 and 3, the receiving device 3 comprises a rectangular bottom surface 30 and a plurality of side wall portions 35 that are provided along the periphery of the bottom surface 30 and erected toward the upper side V1. As will be described later, openings may be formed in the side wall portions 35, but even if there is no fixed wall surface or only a very small area, a virtual side wall portion 35 is provided. Here, a specific direction along the bottom surface 30 is defined as the direction of movement Y, one side of the direction of movement is defined as the first side of the direction of movement Y1, and the other side of the direction of movement Y is defined as the second side of the direction of movement Y2. The direction perpendicular to the direction of movement Y when viewed in the vertical direction V is defined as the orthogonal direction X, one side of the orthogonal direction X is defined as the first side of the direction of orthogonal direction X1, and the other side of the direction of orthogonal direction X is defined as the second side of the direction of orthogonal direction X2. The direction of movement Y may be along the horizontal plane or inclined with respect to the horizontal plane. In this embodiment, the movement direction Y is defined in the basic orientation of the receiving device 3 (as described later, the orientation in which the bottom surface 30 is parallel to the water surface WS), and an example is given in which the movement direction Y is along the horizontal plane. Furthermore, in this embodiment, an example is given in which the movement direction Y and the front-rear direction L coincide. 【0036】 The bottom portion 30 and the side wall portion 35 are formed from plate-like members. For example, the bottom portion 30 is preferably made of a corrugated sheet having irregularities in the orthogonal direction X and continuous grooves in the direction of movement Y. This allows the object and liquids such as water to move easily along the direction of movement Y. However, the side wall portion 35 and at least a part of the side wall portion 35 may be formed from, for example, a mesh-like member. When the object to be received is floating matter A floating on the water surface WS or in the water, it is easy to discharge unwanted water through the gaps in the mesh-like member. Also, even if the object is not floating matter A, if the object contains liquid, it is easy to discharge the liquid from the receiving device 3. 【0037】Furthermore, the receiving device 3 is configured to move the received object (floating object A) toward the first side Y1 in the direction of movement. As shown in Figures 2 and 3, the first collection container 51 and the second collection container 52 are both positioned adjacent to the receiving device 3 in the first side Y1 in the direction of movement. In this embodiment, the first collection container 51 and the second collection container 52 are both positioned adjacent to the rear side L2 of the receiving device 3. The first collection container 51 and the second collection container 52 are arranged side by side in the orthogonal direction X (width direction W in this embodiment). Specifically, the second collection container 52 is positioned in the second side X2 in the orthogonal direction to the first collection container 51. The object (floating object A) received by the receiving device 3 is separated and collected into the first collection container 51 and the second collection container 52 by the separation device 4. The first collection container 51 and the second collection container 52 may be configured as a single container formed integrally and partitioned internally, or they may be separate containers. Furthermore, the first collection container 51 and the second collection container 52 may be, for example, basket-shaped containers with their bottoms and sides made of mesh, and a part of the container may be positioned below the water surface WS V2. 【0038】 The sorting device 4 is configured in part with the receiving device 3. As shown in Figure 6, the sorting device 4 includes a first door 41 and a second door 42 that open and close the side wall portion 35 (first side wall portion 31) on the first side Y1 in the direction of movement of the receiving device 3, and an opening and closing mechanism 45 (a mechanism including a pivot axis described later and a door actuator 85 shown in Figure 11) that opens and closes the first door 41 and the second door 42. It can also be said that the first door 41 and the second door 42 constitute at least a part of the first side wall portion 31. In the closed state, the first door 41 functions as part of the first side wall portion 31 to block communication between the receiving device 3 and the outside, and in the open state, it connects the receiving device 3 and the first collection container 51. In the closed state, the second door 42 functions as part of the first side wall portion 31 to block communication between the receiving device 3 and the outside, and in the open state, it connects the receiving device 3 and the second collection container 52. Similar to the relationship between the first collection container 51 and the second collection container 52, the second door 42 is positioned on the second side X2 in a direction perpendicular to the first door 41. 【0039】As shown in Figures 2 and 6, the first door 41 is positioned inclined in the closed state so as it moves toward the first side Y1 in the direction of movement, it moves toward the second side X2 in the orthogonal direction. As a result, the first door 41 forms at least a portion of the inclined surface that is continuous with the side wall portion 35 (second side wall portion 32) on the first side X1 in the orthogonal direction of the receiving device 3. The second door 42 is positioned inclined in the closed state so as it moves toward the first side Y1 in the direction of movement, it moves toward the first side X1 in the orthogonal direction. As a result, the second door 42 forms at least a portion of the inclined surface that is continuous with the side wall portion 35 (third side wall portion 33) on the second side X2 in the orthogonal direction of the receiving device 3. 【0040】 As shown in Figure 6, the first door 41 swings around a first pivot axis X41 along the vertical direction V, and the second door 42 swings around a second pivot axis X42 along the vertical direction V. Furthermore, as shown in Figure 11, the first door 41 and the second door 42 are opened and closed by a door actuator 85 controlled by a control device 8. When the first door 41 and the second door 42 are controlled to be in the closed state, their swing is restricted by contacting a regulating member (guide member), thereby closing the opening that connects the first side wall 31 and the collection container. This regulating member also functions as a guide member that forms a guide surface that is integrated with the inclined surface formed by the closed first door 41 and the second door 42. 【0041】 If the door's movement trajectory is ensured, a gap is created between the front end of the closed door and the side wall portion 35 (second side wall portion 32, third side wall portion 33) perpendicular to the X direction. Therefore, even when the door is closed, the opening connecting the first side wall portion 31 and the collection container is not properly sealed, and floating matter A may move towards the collection container through the gap. The guide member can seal such a gap. In addition, the formation of an inclined surface allows for proper guidance of floating matter A towards the open door. The following will explain with reference to specific configuration examples. 【0042】As shown in FIG. 6, the receiving device 3 includes a first guide member 46 disposed so as to project from the side wall portion 35 (second side wall portion 32) on the first side X1 in the orthogonal direction toward the second side X2 in the orthogonal direction, and a second guide member 47 disposed so as to project from the side wall portion 35 (third side wall portion 33) on the second side X2 in the orthogonal direction toward the first side X1 in the orthogonal direction. 【0043】 The first guide member 46 is swingably attached to the second side wall portion 32 using a hinge or the like so that its posture can be deformed between a non-guided state in which it is in a posture along the second side wall portion 32 (a posture along the moving direction Y) and a guided state in which it is in a posture along the inclined surface formed by the first door 41 in the closed state. Specifically, the first guide member 46 is attached to the second side wall portion 32 such that the angle formed by the second side wall portion 32 and the first guide member 46 in the guided state is within a specified angle, that is, in a state where the swing of the first guide member 46 toward the second side Y2 in the moving direction is restricted. Incidentally, the first guide member 46 is biased by a very small biasing force toward the side in the guided state (the side where the first guide member 46 projects) and is attached to the second side wall portion 32. The biasing force in this case is of such a magnitude that the first guide member 46 can change to the non-guided state due to the weight of the object (floating object A) when the object tries to move in the first side Y1 in the moving direction. 【0044】 The first door 41 that swings from the first side Y1 in the moving direction toward the second side Y2 so as to be in the closed state is restricted from swinging by contacting the first guide member 46 from the first side Y1 in the moving direction, and the first door 41 is in the closed state. Also, the first guide member 46 is restricted from swinging toward the second side wall portion 32 (changing to the non-guided state) by the first door 41. That is, in the closed state of the first door 41, the tip portion of the first door 41 (first door tip portion 41t) is disposed at a position close to the first guide surface 46a which is the surface of the first guide member 46 facing the second side Y2 in the moving direction. And an inclined surface continuous with the first door 41 and the first guide surface 46a is formed. Incidentally, the "close position" includes the "contact position". 【0045】When the first door 41 is open, at least an opening is formed in the first side wall 31 by the first door 41, and communication is established between the receiving device 3 and the first collection container 51. Furthermore, when the first door 41 is open, the first guide member 46 is allowed to swing toward the second side wall 32 (swinging toward a non-guided state). For example, if there is an object (floating object A) that is to be moved from the receiving device 3 to the first collection container 51, the movement of the object causes the first guide member 46 to swing toward the second side wall 32, becoming a non-guided state, and communication is established between the receiving device 3 and the first collection container 51 through an even wider opening. This allows the object to be moved smoothly from the receiving device 3 to the first collection container 51. 【0046】 The second guide member 47 is attached to the third side wall 33 so as to be pivotable using a hinge or the like, allowing its posture to change between a non-guiding state in which it is aligned with the third side wall 33 (aligned with the direction of movement Y) and a guiding state in which it is aligned with the inclined surface formed by the closed second door 42. Specifically, the second guide member 47 is attached to the third side wall 33 such that the angle between the third side wall 33 and the second guide member 47 in the guiding state is within a specified angle, that is, the pivoting of the second guide member 47 in the direction of movement Y2 is restricted. Similar to the first guide member 46, the second guide member 47 is also attached to the third side wall 33 by being biased toward the side in the guiding state (the side toward which the second guide member 47 protrudes) by a very small biasing force. 【0047】 The second door 42, which swings from the first side Y1 in the direction of movement toward the second side Y2 in the direction of movement toward the closed state, has its swing restricted by contacting the second guide member 47 from the first side Y1 in the direction of movement toward the second guide member 47, and the second door 42 becomes closed. The swing of the second guide member 47 toward the third side wall 33 (swinging toward the non-guided state) is restricted by the second door 42. That is, in the closed state of the second door 42, the tip of the second door 42 (second door tip 42t) is positioned close to the second guide surface 47a, which is the surface of the second guide member 47 facing the second side Y2 in the direction of movement. A continuous inclined surface is then formed between the second door 42 and the second guide surface 47a. Note that "close position" also includes "position of contact". 【0048】When the second door 42 is in the open state, at least an opening formed by the second door 42 is formed in the first side wall portion 31, and a communication is established between the receiving device 3 and the second collection container 52. Further, when the second door 42 is in the open state, the second guide member 47 is allowed to swing toward the third side wall portion 33 (a swing that changes to a non-guiding state). For example, when there is an object (floating object A) moving from the receiving device 3 to the second collection container 52, the second guide member 47 swings toward the third side wall portion 33 due to the movement of the object and enters a non-guiding state, and a communication is established between the receiving device 3 and the second collection container 52 through a wider opening. Thereby, the object can be smoothly moved from the receiving device 3 to the second collection container 52. 【0049】 Here, a form in which the tip of the door abuts on the guide member from the first side Y1 in the moving direction, that is, a form in which the tip 41t of the first door abuts on the first guide member 46 from the first side Y1 in the moving direction and the tip 42t of the second door abuts on the second guide member 47 from the first side Y1 in the moving direction has been exemplified and described. However, if the guide member is biased toward the side in the guiding state and attached to the side wall portion 35, and the control device 8 can control the opening angle of the door via the door actuator 85, the tip of the door may not abut on the guide member, and there may be a gap between the tip of the door and the guide member. That is, as long as the door can form an inclined surface continuous from the guide surface in a state where the tip of the door is disposed at a position close to each guide surface. Although a larger step occurs on the inclined surface compared to the case where the tip of the door abuts on the guide member, it is small for the object (floating object A) guided by the inclined surface, so the object does not fall out from the gap or step. Further, when the object abuts on the guide member, the guide member swings in a direction to close the gap and abuts on the tip of the door, so the gap disappears and the step also shrinks. 【0050】 The separation device 4 can selectively collect the object input to the receiving device 3 into the first collection container 51 and the second collection container 52 by the control device 8 controlling the first door 41 and the second door 42 to be in the open state complementarily. Here, a form in which the first guide member 46 and the second guide member 47 are plate-like members has been exemplified, but as long as they have the first guide surface 46a and the second guide surface 47a, they do not have to be plate-like members. 【0051】 As described above, the first guide surface 46a of the first guide member 46 is inclined so as to move toward the second side X2 in the orthogonal direction as it moves toward the first side Y1 in the direction of movement. The first door 41 is supported by a support column 92 connected to the receiving device 3 so as to be able to swing around a first pivot axis X41 which is located toward the first side Y1 in the direction of movement from the first guide member 46 and toward the second side X2 in the orthogonal direction from the side wall portion 35 (second side wall portion 32) toward the first side X1 in the orthogonal direction. The support column 92 is erected along a direction perpendicular to the bottom surface portion 30, and the first pivot axis X41 passes through the center of the support column 92. That is, the first pivot axis X41 is perpendicular to the bottom surface portion 30. 【0052】 The second guide surface 47a of the second guide member 47 is inclined so as to move toward the first side X1 in the direction of orthogonal direction as it moves toward the first side Y1 in the direction of movement. The second door 42 is supported by a support column 92 connected to the receiving device 3 so as to be able to swing around a second pivot axis X42 which is located toward the first side Y1 in the direction of movement from the second guide member 47 and toward the first side X1 in the direction of orthogonal direction from the side wall portion 35 (third side wall portion 33) toward the second side X2 in the direction of orthogonal direction. The support column 92 is erected along a direction perpendicular to the bottom surface portion 30, and the second pivot axis X42 passes through the center of the support column 92. That is, the second pivot axis X42 is perpendicular to the bottom surface portion 30. 【0053】 As described above, when the first door 41 is closed, the tip of the first door 41 (first door tip 41t) is positioned close to the first guide surface 46a, and the first door 41 forms an inclined surface continuous with the first guide surface 46a. Together with the first guide member 46, the first door 41 forms an inclined surface continuous with the second side wall 32. When the second door 42 is closed, the tip of the second door 42 (second door tip 42t) is positioned close to the second guide surface 47a, and the second door 42 forms an inclined surface continuous with the second guide surface 47a. Together with the second guide member 47, the second door 42 forms an inclined surface continuous with the third side wall 33. 【0054】As shown in Figure 3, when the first door 41 is open, the closed second door 42 and the second guide member 47 form a continuous guide surface on the receiving device 3 from the third side wall 33 located on the second side X2 in the orthogonal direction to the opening formed by the open first door 41. This allows the sorting and collection device 1 to appropriately guide the object (floating object A) introduced into the receiving device 3 to the first collection container 51. When the second door 42 is open, the closed first door 41 and the first guide member 46 form a continuous guide surface on the receiving device 3 from the second side wall 32 located on the first side X1 in the orthogonal direction to the opening formed by the open second door 42. This allows the sorting and collection device 1 to appropriately guide the object (floating object A) introduced into the receiving device 3 to the second collection container 52. 【0055】 As shown in Figure 7, in this embodiment, the receiving device 3 is configured to change its posture between a first moving posture S1, in which the bottom surface 30 is inclined downward V2 as it moves toward the first side Y1 in the direction of movement, and a receiving posture S0, in which the inclination of the bottom surface 30 with respect to the horizontal plane is smaller than that of the first moving posture S1. The inclination angle of the bottom surface 30 with respect to the horizontal plane in the first moving posture S1 is, for example, about 20 to 30 degrees. When moving an object (floating object A) from the receiving device 3 to a recovery container (first recovery container 51, second recovery container 52), the receiving device 3 assumes the first moving posture S1, allowing the object to roll or slide along the bottom surface 30 which is inclined toward the recovery container ( toward the first side Y1 in the direction of movement), thereby allowing the object to be properly deposited into the recovery container. The posture change of the receiving device 3 is performed via the receiving actuator 84 under the control of the control device 8, as shown in Figure 11. 【0056】 In this embodiment, the receiving posture S0 is the basic posture in which the bottom surface 30 is parallel to the horizontal plane. Naturally, the receiving posture S0 does not need to have the bottom surface 30 parallel to the horizontal plane, as long as the inclination is smaller than that of the first moving posture S1. 【0057】Furthermore, in this embodiment, an example is given in which the receiving device 3 is configured to change between a first moving posture S1 and a receiving posture S0. However, the receiving device 3 may also be configured so that the first moving posture S1 and the receiving posture S0 are the same and the posture is not changed. For example, even if an object is received at the same inclination angle as the first moving posture S1, if the first door 41 and the second door 42 are closed, the object will not move to the collection container and will remain in the receiving device 3. In this state, if the first door 41 or the second door 42 is opened, the object can be put into the collection container corresponding to the open door. Also, if a conveyor or the like is provided on the bottom surface 30, even if the bottom surface 30 is in a position parallel to the horizontal plane, if the first door 41 or the second door 42 is opened, the object can be put into the collection container corresponding to the open door. 【0058】 As described above, the sorting and collection device 1 separates and collects the sorting target object B from the target object (floating matter A). In this embodiment, the first collection container 51 is a collection container that contains the sorting target object B, and the second collection container 52 is a collection container that contains the target object other than the sorting target object B. In this embodiment, the sorting target object B consists of empty cans and PET bottles, which are separated from other waste and collected as recyclable materials. The type of sorting is not limited to this example, and may be, for example, the sorting of non-combustible waste and combustible waste. 【0059】 Therefore, as shown in Figures 2 and 11, the sorting and collection device 1 includes a camera 6 that photographs objects received into the receiving device 3, and a determination unit that determines whether or not an object is a sorting target object B based on the image captured by the camera 6. In this embodiment, the determination unit is configured as one of the functional units of the control device 8. As shown in Figure 2, the camera 6, positioned on a frame 91 provided on the receiving device 3, photographs the entire receiving device 3 (the entire area of ​​the bottom surface 30) from the upper side V1 of the receiving device 3. The control device 8 (determination unit) recognizes the object from the image captured by the camera 6. When the control device 8 recognizes that the object is a sorting target object B, it controls the door actuator 85 and the storage actuator 84 to move the sorting target object B from the receiving device 3 to the first collection container 51. 【0060】Specifically, the opening and closing mechanism 45 of the sorting device 4 operates the first door 41 and the second door 42 based on the determination result by the determination unit. If the object received by the receiving device 3 is sorting object B, the opening and closing mechanism 45 opens the first door 41 and closes the second door 42. When an object is received by the receiving device 3, both the first door 41 and the second door 42 are closed. The control device 8 drives and controls the door actuator 85 to open the first door 41 and keep the second door 42 closed. If the received object is not sorting object B, the opening and closing mechanism 45 keeps the first door 41 closed and opens the second door 42. Next, or simultaneously, the control device 8 drives and controls the storage actuator 84 to move the object from the receiving device 3 to one of the collection containers. 【0061】 As described above, the floating debris recovery vessel 10 scoops up and recovers the target objects (floating debris A) one by one. Therefore, the control device 8 (determination unit) determines whether each object is a sorting target object B or not. If the scooping device 2 scoops up multiple objects and hands them over to the receiving device 3, there is a possibility that sorting target objects B and objects that are not sorting target objects B may be mixed together. In this case, there is a possibility that the wrong objects will be mixed into the recovery container, but multiple objects will be placed into the same recovery container. 【0062】 Incidentally, in another embodiment, as shown in Figure 8, the sorting and collection device 1 may further include, in addition to the first collection container 51 and the second collection container 52, a third collection container 53 and a fourth collection container 54, each for collecting target objects. In this case, the sorting device 4 can sort and collect the objects received by the receiving device 3 into the first collection container 51, the second collection container 52, the third collection container 53, and the fourth collection container 54. Using the four collection containers, the sorting and collection of target objects B and other objects may be duplicated, or two or more types of target objects B may be sorted and collected from objects other than target objects B. 【0063】As shown in Figure 10, the receiving device 3 is configured to change state between a state in which the received object is moved toward the first side Y1 in the direction of movement (first movement posture S1) and a state in which the object is moved toward the second side Y2 in the direction of movement (second movement posture S2). The first movement posture S1 is a posture in which the bottom surface 30 is inclined toward the downward side V2 as it moves toward the first side Y1 in the direction of movement. In the first movement posture S1, the object can be placed into either the first collection container 51 or the second collection container 52. The second movement posture S2 is a posture in which the bottom surface 30 is inclined toward the downward side V2 as it moves toward the second side Y2 in the direction of movement. In the second movement posture S2, the object can be placed into either the third collection container 53 or the fourth collection container 54. Preferably, the first movement posture S1 and the second movement posture S2 have different directions of inclination but the same angle of inclination with respect to the horizontal plane. 【0064】 It is preferable that the receiving device 3 is configured to be able to change its orientation to a receiving orientation S0 in which the inclination of the bottom surface 30 with respect to the horizontal plane is smaller than that of the first moving orientation S1 and the second moving orientation S2. That is, it is preferable that the receiving device 3 is configured to be able to change its orientation to a first moving orientation S1, a second moving orientation S2, and a receiving orientation S0 in which the inclination angle of the bottom surface 30 with respect to the horizontal plane is smaller than that of the first moving orientation S1 and the second moving orientation S2. 【0065】 The inclination angle of the bottom surface 30 in the receiving posture S0 is, for example, zero degrees with respect to the horizontal plane. The receiving posture S0 may also be the central posture when changing posture between the first moving posture S1 and the second moving posture S2. If the directions of inclination are opposite to each other, and the inclination angles of the first moving posture S1 and the second moving posture S2 with respect to the horizontal plane are the same, the inclination angle of the bottom surface 30 in the central posture when changing posture between the first moving posture S1 and the second moving posture S2 will be zero degrees. Naturally, the receiving posture S0 does not have to be the central posture when changing posture between the first moving posture S1 and the second moving posture S2, and the bottom surface 30 does not have to be parallel to the horizontal plane as long as the inclination is smaller than that of the first moving posture S1. 【0066】As shown in Figures 8 and 9, the third collection container 53 is positioned adjacent to the receiving device 3 on the second side Y2 in the direction of movement, and the fourth collection container 54 is positioned adjacent to the receiving device 3 on the second side Y2 in the direction of movement and positioned on the second side X2 in the direction orthogonal to the third collection container 53. The sorting device 4 also includes a third door 43 and a fourth door 44 that open and close the side wall portion 35 (fourth side wall portion 34) on the second side Y2 in the direction of movement of the receiving device 3, and an opening and closing mechanism 45 that opens and closes the third door 43 and the fourth door 44. As shown in Figure 11, similar to the first door 41 and the second door 42, the third door 43 and the fourth door 44 are also driven and controlled by the control device 8 via a door actuator 85. 【0067】 The fourth door 44 is positioned on the second side X2 in the direction perpendicular to the third door 43. When the third door 43 is closed, it is positioned at an angle so that as it moves toward the second side Y2 in the direction of movement, it moves toward the second side X2 in the direction perpendicular to the third door 43, and is configured to form at least a part of the inclined surface that is continuous with the side wall portion 35 (second side wall portion 32) on the first side X1 in the direction perpendicular to the third door 43. When the fourth door 44 is closed, it is positioned at an angle so that as it moves toward the second side Y2 in the direction of movement, it moves toward the first side X1 in the direction perpendicular to the third door 43, and is configured to form at least a part of the inclined surface that is continuous with the side wall portion 35 (third side wall portion 33) on the second side X2 in the direction perpendicular to the third door 43. 【0068】 Furthermore, as shown in Figure 9, in addition to the first guide member 46 and the second guide member 47, the receiving device 3 includes a third guide member 48 positioned to protrude from the side wall portion 35 (second side wall portion 32) on the first side X1 in the orthogonal direction toward the second side X2, and a fourth guide member 49 positioned to protrude from the side wall portion 35 (third side wall portion 33) on the second side X2 in the orthogonal direction toward the first side X1. The third guide surface 48a of the third guide member 48 is inclined so as it moves toward the second side Y2 in the direction of movement toward the second side X2. The fourth guide surface 49a of the fourth guide member 49 is inclined so as it moves toward the second side Y2 in the direction of movement toward the first side X1. 【0069】The third door 43 is supported to swing freely around a third pivot axis X43, which is located on the second side Y2 of the direction of movement from the third guide member 48 and on the second side X2 of the direction of orthogonal to the side wall portion 35 (second side wall portion 32) on the first side X1 of the direction of orthogonal. The fourth door 44 is supported to swing freely around a fourth pivot axis X44, which is located on the second side Y2 of the direction of movement from the fourth guide member 49 and on the first side X1 of the direction of orthogonal to the side wall portion 35 (third side wall portion 33) on the second side X2 of the direction of orthogonal. Similar to the first pivot axis X41 and the second pivot axis X42, the third pivot axis X43 and the fourth pivot axis X44 are also perpendicular to the bottom surface portion 30. 【0070】 When the third door 43 is closed, the tip of the third door 43 (third door tip 43t) is positioned close to the third guide surface 48a, and the third door 43 forms an inclined surface continuous with the third guide surface 48a. Together with the third guide member 48, the third door 43 forms an inclined surface continuous with the second side wall 32. When the fourth door 44 is closed, the tip of the fourth door 44 (fourth door tip 44t) is positioned close to the fourth guide surface 49a, and the fourth door 44 forms an inclined surface continuous with the fourth guide surface 49a. Together with the fourth guide member 49, the fourth door 44 forms an inclined surface continuous with the third side wall 33. As shown in Figure 11, similar to the first door 41 and the second door 42, the third door 43 and the fourth door 44 are also driven and controlled by the control device 8 via the door actuator 85. 【0071】 Other embodiments will be described below. Note that the configurations of each embodiment described below are not limited to being applied independently, but can also be applied in combination with the configurations of other embodiments, as long as no inconsistencies arise. 【0072】(1) In the above description, the separation and collection device 1 was explained as being mounted on a floating debris collection ship 10 as an example. However, the separation and collection device 1 is not limited to such ships and may be mounted on vehicles such as trucks or on AGVs (Automatic Guided Vehicles) that travel on land to collect objects other than floating debris A. It may also be fixedly installed on the ground or floor, for example, via a stand. In the above description, the scooping device 2 was shown as loading objects into the receiving device 3 of the separation and collection device 1. However, it may also be loaded using a robotic arm or a belt conveyor, or by a person. For example, the separation and collection device 1 may be installed in a waste bin used for sorting recyclable materials when people dispose of them as waste. 【0073】 (2) In the above description, the bottom surface 30 of the receiving device 3 was described as being rectangular in shape. However, the shape of the bottom surface 30 is not limited to a rectangle, but may be a polygon such as a hexagon or octagon, or a circle or an ellipse. In the above example where the bottom surface 30 is rectangular, the side wall portion 35 is shown to have a first side wall portion 31 facing the direction of movement Y, a fourth side wall portion 34, a second side wall portion 32 facing the orthogonal direction X, and a third side wall portion 33. When the bottom surface 30 is a polygon with hexagons or more sides, one side wall portion 35 may be formed spanning two or more sides. Also, when the bottom surface 30 is circular or elliptical, the boundary with an adjacent side wall portion 35 may not be definable. In this case, the side wall portion 35 facing generally in the direction of movement Y may correspond to the first side wall portion 31 and the fourth side wall portion 34, and the side wall portion 35 facing in the orthogonal direction X may correspond to the second side wall portion 32 and the third side wall portion 33. In this case, a portion of the area of ​​the side wall portion 35 may be shared with other adjacent side wall portions 35. 【0074】(3) In the above description, a configuration was explained as an example in which guide members (first guide member 46, second guide member 47, third guide member 48, fourth guide member 49) are provided on the side wall portions 35 (second side wall portion 32, third side wall portion 33) facing each other in the orthogonal direction X, and a continuous inclined surface is formed by the respective guide surfaces (first guide surface 46a, second guide surface 47a, third guide surface 48a, fourth guide surface 49a) and the corresponding closed doors (first door 41, second door 42, third door 43, fourth door 44). However, even without such guide members, the inclined surface may be formed solely by the doors, with the leading edges of each door (first door leading edge 41t, second door leading edge 42t, third door leading edge 43t, fourth door leading edge 44t) in contact with or close to the inner surfaces of the side walls 35 (second side wall 32, third side wall 33) facing each other in the orthogonal direction X. 【0075】 For example, as shown in Figures 2 and 6, if the first door 41 is inclined in the closed state so as it moves toward the first side Y1 in the direction of movement toward the second side X2 in the orthogonal direction, the first door 41 can form an inclined surface that is continuous with the side wall portion 35 (second side wall portion 32) on the first side X1 in the orthogonal direction of the receiving device 3. The first door 41 can be said to form the entire inclined surface that is continuous with the second side wall portion 32. Also, if the second door 42 is inclined in the closed state so as it moves toward the first side Y1 in the direction of movement toward the first side X1 in the direction of movement, the second door 42 can form an inclined surface that is continuous with the side wall portion 35 (third side wall portion 33) on the second side X2 in the orthogonal direction of the receiving device 3. The second door 42 can form the entire inclined surface that is continuous with the third side wall portion 33. 【0076】(4) In addition, the above examples illustrate a configuration in which the pivot axes (first pivot axis X41, second pivot axis X42, third pivot axis X43, fourth pivot axis X44) of each door (first door 41, second door 42, third door 43, fourth door 44) are located in the center in the orthogonal direction X. However, these pivot axes may also be located in the side wall portion 35 on the side where each door is located in the orthogonal direction X. That is, in the case of the first door 41 and the third door 43, their respective pivot axes may be located in the second side wall portion 32, which is the side wall portion 35 on the first side X1 in the orthogonal direction, and in the case of the second door 42 and the fourth door 44, their respective pivot axes may be located in the third side wall portion 33, which is the side wall portion 35 on the second side X2 in the orthogonal direction. 【0077】 The following is a brief summary of the sorting and collection equipment and collection vessel described above. 【0078】In one embodiment, the sorting and collection device is a sorting and collection device for sorting and collecting objects, comprising: a receiving device for receiving the objects; a first collection container and a second collection container, each for collecting the objects; and a sorting device for sorting and collecting the objects received by the receiving device into the first collection container and the second collection container, wherein the receiving device comprises a bottom surface and a side wall portion provided along the periphery of the bottom surface and erected upward, wherein a specific direction along the bottom surface of the receiving device is designated as the direction of movement, one side of the direction of movement is designated as the first direction of movement, the other side of the direction of movement is designated as the second direction of movement, the direction perpendicular to the direction of movement when viewed in the vertical direction is designated as the orthogonal direction, one side of the orthogonal direction is designated as the first orthogonal direction, and the other side of the orthogonal direction is designated as the second orthogonal direction, and the receiving device is configured to move the received objects toward the first direction of movement, and the first collection container is located relative to the receiving device. The receiving device is positioned adjacent to the first side in the direction of movement, and the second collection container is positioned adjacent to the receiving device on the first side in the direction of movement and positioned on the second side in the orthogonal direction relative to the first collection container. The sorting device comprises a first door and a second door that open and close the side wall portion on the first side in the direction of movement of the receiving device, and an opening and closing mechanism that opens and closes the first door and the second door. The second door is positioned on the second side in the orthogonal direction relative to the first door. The first door is positioned inclined in the closed state so as it moves toward the first side in the direction of movement, toward the second side in the orthogonal direction, and is configured to form an inclined surface continuous with the side wall portion on the first side in the orthogonal direction of the receiving device. 【0079】With this configuration, by opening one of the first and second doors and closing the other, objects received in the receiving device can be separated and collected into the first or second collection container. The closed first door is configured to form an inclined surface continuous with the side wall on the first side in the orthogonal direction of the receiving device, guiding objects moving in the first direction of movement along the first door to the second side in the orthogonal direction, and enabling smooth movement of objects from the open second door to the second collection container. Similarly, the closed second door is configured to form an inclined surface continuous with the side wall on the second side in the orthogonal direction of the receiving device, guiding objects moving in the first direction of movement along the second door to the first side in the orthogonal direction, and enabling smooth movement of objects from the open first door to the first collection container. In other words, objects received in the receiving device are less likely to remain inside the receiving device, and the separated collection into the first or second collection container can be carried out smoothly. Thus, this configuration makes it possible to realize a sorting and collection device that can separate and collect objects with a relatively simple structure. 【0080】Furthermore, the sorting and collection device includes a first guide member positioned to protrude from the side wall portion on the first side in the orthogonal direction toward the second side in the orthogonal direction, and a second guide member positioned to protrude from the side wall portion on the second side in the orthogonal direction toward the first side in the orthogonal direction, wherein the first guide surface, which is the guide surface of the first guide member, is positioned to be inclined toward the second side in the orthogonal direction as the movement direction toward the first side, and the second guide surface, which is the guide surface of the second guide member, is positioned to be inclined toward the first side in the orthogonal direction as the movement direction toward the first side, and the first door is positioned toward the first side in the movement direction than the first guide member. Preferably, the first door is supported so as to be able to swing around a first pivot axis located on the second side in the orthogonal direction more than the side wall on the first side in the orthogonal direction, the second door is supported so as to be able to swing around a second pivot axis located on the first side in the direction of movement more than the second guide member and on the first side in the orthogonal direction more than the side wall on the second side in the orthogonal direction, and in the closed state of the first door, the tip of the first door is positioned close to the first guide surface and the first door forms an inclined surface continuous with the first guide surface, and in the closed state of the second door, the tip of the second door is positioned close to the second guide surface and the second door forms an inclined surface continuous with the second guide surface. 【0081】 With this configuration, the first door can be easily opened and closed by swinging it around the first pivot axis, and the second door can be easily opened and closed by swinging it around the second pivot axis. Furthermore, when the first door is closed, the tip of the first door is positioned close to the first guide surface, and the first door forms an inclined surface that is continuous with the first guide surface. As a result, objects near the side wall on the first side in the orthogonal direction can be easily guided along the first guide member and the first door to the second side in the orthogonal direction, and objects can be smoothly moved from the open second door to the second collection container. Similarly, when the second door is closed, the tip of the second door is positioned close to the second guide surface, and the second door forms an inclined surface that is continuous with the second guide surface. As a result, objects near the side wall on the second side in the orthogonal direction can be easily guided along the second guide member and the second door to the first side in the orthogonal direction, and objects can be smoothly moved from the open first door to the first collection container. 【0082】 Furthermore, it is preferable that the sorting and collection device is configured such that the receiving device can change its orientation between a first moving orientation in which the bottom surface is inclined downward as it moves toward the first side in the direction of movement, and a receiving orientation in which the inclination of the bottom surface with respect to the horizontal plane is smaller than that of the first moving orientation. 【0083】 With this configuration, the inclination of the bottom surface of the receiving device can be used to move the received object toward the first direction of movement. Therefore, it is easier to simplify the configuration of the receiving device. 【0084】 Furthermore, the sorting and collection device further comprises a third collection container and a fourth collection container, each for collecting the aforementioned objects, the sorting device sorts and collects the objects received by the receiving device into the first collection container, the second collection container, the third collection container, and the fourth collection container, the receiving device is configured to change state between a state in which the received objects are moved toward the first direction of movement and a state in which they are moved toward the second direction of movement, the third collection container is positioned adjacent to the receiving device toward the second direction of movement, the fourth collection container is positioned adjacent to the receiving device toward the second direction of movement and is positioned toward the third collection container toward the second direction orthogonal, and the sorting device is, Preferably, the receiving device comprises a third door and a fourth door that open and close the side wall portion on the second side in the direction of movement of the receiving device, and an opening and closing mechanism for opening and closing the third door and the fourth door, wherein the fourth door is positioned on the second side in the orthogonal direction relative to the third door, the third door is positioned inclined in the closed state so as it moves toward the second side in the direction of movement of the receiving device, and is configured to form an inclined surface continuous with the side wall portion on the first side in the orthogonal direction of the receiving device, and the fourth door is positioned inclined in the closed state so as it moves toward the second side in the direction of movement of the receiving device, and is configured to form an inclined surface continuous with the side wall portion on the second side in the orthogonal direction of the receiving device. 【0085】With this configuration, when the object is moved in the first direction of movement, it can be separated into two collection containers, and when it is moved in the second direction of movement, it can also be separated into two collection containers. In other words, a sorting and collection device capable of separating up to four types of objects can be realized. 【0086】 Furthermore, the sorting and collection device preferably includes a camera that photographs the object received into the receiving device, and a determination unit that determines whether or not the object is a sorting object based on the image captured by the camera, and the opening and closing mechanism preferably operates the first door and the second door so as to open the first door and close the second door if the received object is a sorting object based on the determination result by the determination unit, and closes the first door and opens the second door if the received object is not a sorting object. 【0087】 This configuration allows the receiving device to automatically identify the type of object received and separate and collect it in either the first or second collection container. 【0088】 Furthermore, a recovery vessel equipped with any of the sorting and recovery devices described above preferably comprises a hull that moves on the water and is equipped with any of the sorting and recovery devices described above, and a scooping device mounted on the hull that scoops up the object present on the water surface or in the water and hands it over to the receiving device. 【0089】 This configuration allows for the creation of a recovery vessel capable of appropriately separating and recovering objects present on or in the water. 【0090】1: Separation and recovery device 2: Scooping device 3: Receiving device 4: Separation device 6: Camera 9: Hull 10: Floating debris recovery vessel (recovery vessel) 30: Bottom section 31: First side wall section (side wall section on the first side in the direction of movement of the receiving device) 32: Second side wall section (side wall section on the first side in the orthogonal direction of the receiving device) 33: Third side wall section (side wall section on the second side in the orthogonal direction of the receiving device) 34: Fourth side wall section (side wall section on the second side in the direction of movement of the receiving device) 35: Side wall section 41: First door 41t: First door tip (tip of the first door) 42: Second door 42t: Second door tip (tip of the second door) 43: Third door 44: Fourth door 45: Opening and closing mechanism 46: First guide member 46a: First guide surface 47: Second guide member 47a: Second guide surface 51: First collection container 52: Second collection container 53: Third collection container 54: Fourth collection container A: Floating objects (target objects) B: Objects to be separated S0: Acceptance posture S1: First movement posture V: Up and down direction V1: Upper side V2: Lower side WS: Water surface X: Orthogonal direction X1: First side in the orthogonal direction X2: Second side in the orthogonal direction X41: First pivot axis X42: Second pivot axis Y: Movement direction Y1: First side in the movement direction Y2: Second side in the movement direction

Claims

1. A sorting and collection device for sorting and collecting objects, comprising: a receiving device for receiving the objects; a first collection container and a second collection container, each for collecting the objects; and a sorting device for sorting and collecting the objects received by the receiving device into the first collection container and the second collection container, wherein the receiving device comprises a bottom surface and a side wall portion provided along the periphery of the bottom surface and erected upward, wherein a specific direction along the bottom surface of the receiving device is defined as the direction of movement, one side of the direction of movement is defined as the first direction of movement, the other side of the direction of movement is defined as the second direction of movement, the direction perpendicular to the direction of movement when viewed in the vertical direction is defined as the orthogonal direction, one side of the orthogonal direction is defined as the first orthogonal direction, and the other side of the orthogonal direction is defined as the second orthogonal direction, wherein the receiving device is configured to move the received objects toward the first direction of movement, and the first collection container is positioned adjacent to the first direction of movement relative to the receiving device. The second collection container is positioned adjacent to the receiving device on the first side in the direction of movement and is located on the second side in the orthogonal direction relative to the first collection container. The sorting device comprises a first door and a second door that open and close the side wall portion of the receiving device on the first side in the direction of movement, and an opening and closing mechanism for opening and closing the first door and the second door. The second door is located on the second side in the orthogonal direction relative to the first door. The first door, when closed, is inclined to move toward the second side in the orthogonal direction as it moves toward the first side in the direction of movement, and is configured to form an inclined surface continuous with the side wall portion of the receiving device on the first side in the orthogonal direction. The second door, when closed, is inclined to move toward the first side in the direction of movement, and is configured to form an inclined surface continuous with the side wall portion of the receiving device on the second side in the orthogonal direction.

2. The receiving device comprises a first guide member arranged to protrude from the side wall portion on the first side in the orthogonal direction toward the second side in the orthogonal direction, and a second guide member arranged to protrude from the side wall portion on the second side in the orthogonal direction toward the first side in the orthogonal direction, wherein the first guide surface, which is the guide surface of the first guide member, is inclined toward the second side in the orthogonal direction as it moves toward the first side in the direction of movement, and the second guide surface, which is the guide surface of the second guide member, is inclined toward the first side in the orthogonal direction as it moves toward the first side in the direction of movement, and the first door is supported so as to be able to swing around a first pivot axis which is located toward the first side in the direction of movement than the first guide member and toward the second side in the orthogonal direction than the side wall portion on the first side in the orthogonal direction. The sorting and collection device according to claim 1, wherein the second door is supported so as to be able to swing about a second pivot axis which is located on the first side in the direction of movement of the second guide member and on the first side in the orthogonal direction of the side wall portion which is located on the second side in the orthogonal direction, and when the first door is closed, the tip of the first door is positioned close to the first guide surface and the first door forms an inclined surface continuous with the first guide surface, and when the second door is closed, the tip of the second door is positioned close to the second guide surface and the second door forms an inclined surface continuous with the second guide surface.

3. The sorting and collection device according to claim 1, wherein the receiving device is configured to be able to change its posture between a first moving posture in which the bottom surface is inclined downward as it moves toward the first side in the direction of movement, and a receiving posture in which the inclination of the bottom surface with respect to the horizontal plane is smaller than that of the first moving posture.

4. The sorting device further comprises a third collection container and a fourth collection container, each for collecting the aforementioned objects, wherein the sorting device sorts and collects the objects received by the receiving device into the first collection container, the second collection container, the third collection container, and the fourth collection container, wherein the receiving device is configured to change state between a state in which the received objects are moved toward the first direction of movement and a state in which they are moved toward the second direction of movement, wherein the third collection container is positioned adjacent to the receiving device toward the second direction of movement, wherein the fourth collection container is positioned adjacent to the receiving device toward the second direction of movement and is positioned toward the third collection container toward the second direction, wherein the sorting device comprises a third door and a fourth door that open and close the side wall portion of the receiving device toward the second direction of movement, and an opening and closing mechanism that opens and closes the third door and the fourth door, wherein the fourth door is positioned toward the third door toward the second direction, The sorting and collection device according to claim 1, wherein the third door, when closed, is positioned at an angle toward the second orthogonal direction as it moves toward the second direction of movement, and is configured to form an inclined surface continuous with the side wall portion on the first orthogonal direction side of the receiving device, and the fourth door, when closed, is positioned at an angle toward the first orthogonal direction as it moves toward the second direction of movement, and is configured to form an inclined surface continuous with the side wall portion on the second orthogonal direction side of the receiving device.

5. The sorting device comprises a camera for photographing the object received into the receiving device, and a determination unit for determining whether or not the object is a sorting object based on the image captured by the camera, and the opening and closing mechanism operates the first door and the second door to open the first door and close the second door if the received object is a sorting object, based on the determination result by the determination unit, and to close the first door and open the second door if the received object is not a sorting object, as described in claim 1.

6. A recovery vessel comprising: a hull that moves on the water and is equipped with a sorting and recovery device according to any one of claims 1 to 5; and a scooping device mounted on the hull that scoops up the object present on the water surface or in the water and delivers it to the receiving device.

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