CN108104089A - A kind of removing type garbage recovering apparatus waterborne and its method of work - Google Patents
A kind of removing type garbage recovering apparatus waterborne and its method of work Download PDFInfo
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- CN108104089A CN108104089A CN201810049309.8A CN201810049309A CN108104089A CN 108104089 A CN108104089 A CN 108104089A CN 201810049309 A CN201810049309 A CN 201810049309A CN 108104089 A CN108104089 A CN 108104089A
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- driving device
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02B—HYDRAULIC ENGINEERING
- E02B15/00—Cleaning or keeping clear the surface of open water; Apparatus therefor
- E02B15/04—Devices for cleaning or keeping clear the surface of open water from oil or like floating materials by separating or removing these materials
- E02B15/10—Devices for removing the material from the surface
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Environmental & Geological Engineering (AREA)
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- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Refuse Collection And Transfer (AREA)
- Processing Of Solid Wastes (AREA)
Abstract
The invention discloses a kind of removing type garbage recovering apparatus waterborne and its method of works,Including housing,Control mechanism and screw propulsion mechanism,Control mechanism includes processor,Driving device and guider,Driving device is used to drive screw propulsion mechanism,Guider is used to generate the navigation route of reclaimer,Housing includes photographic device,Fishing device,Transmission device,Sorting equipment,Packing apparatus and storing portion,Photographic device is used to shoot the picture of reclaimer surrounding enviroment and salvage objects,Fishing device includes being arranged at the mechanical arm at left and right sides of housing,Transmission device is connected with storing portion,Rubbish is sent to storing portion,Sorting equipment is arranged on transmission device,Packing apparatus includes storage pocket and asepwirator pump,Asepwirator pump is connected with driving device,For extracting the gas in storage pocket,Storing portion is used to store rubbish,Screw propulsion mechanism is arranged at housing afterbody,Screw propulsion mechanism is connected with driving device,It is moved for drive shell.
Description
Technical field
The present invention relates to rubbish waterborne to clear up field, more particularly to a kind of removing type garbage recovering apparatus waterborne and its work
Method.
Background technology
At present, since the shortcoming of people's environmental consciousness and the illegal behavior dumped rubbish remain incessant after repeated prohibition, cause to gather in waters
Various substantial amounts of solids floating refuses are collected and serious pollution are caused to water quality, this is to the deterioration of natural environment and people
Life all causes very big influence.For example, the littoral zone that people's activity at present is intensive, especially gathers on the mouth of the river and other places
Various substantial amounts of solids floating refuses are collected, have seriously affected, destroy the marine eco-environment.At present, for floating on water surface rubbish
Mode that the manner of cleaning up generally use of rubbish is manually salvaged is cleared up；I.e. by manually then transporting to bank in string bag salvaging to ship
On；This mode manually salvaged is not only time-consuming, laborious at present, but also containing a large amount of in the rubbish object just salvaged from water
Moisture, the carrying capacity of the ship decline, and cleaning efficiency is low, and high labor cost, and also there are some potential safety problemss.
The content of the invention
Goal of the invention：The shortcomings that in order to overcome in background technology, an embodiment of the present invention provides a kind of removing type rubbish waterborne
Rubbish reclaimer and its method of work, the problem of can effectively solve the problem that involved in above-mentioned background technology.
Technical solution：A kind of removing type garbage recovering apparatus waterborne, including housing, control mechanism and screw propeller
Structure, the control mechanism include processor, driving device, guider and positioner, the processor respectively with it is described
Driving device, the guider and positioner connection, the driving device are used to drive the screw propeller
Structure, the guider are used to generate the navigation route of the reclaimer and the navigation route are sent to the processing
Device, the positioner are used to obtain the location information of the reclaimer and the location information are sent to the processing
Device, the housing includes photographic device, fishing device, transmission device, sorting equipment, packing apparatus and storing portion, described to take the photograph
As device is connected to the processor, for the picture that shoots the reclaimer surrounding enviroment and salvage objects and by the picture
Face is sent to the processor, and the fishing device includes being arranged at the mechanical arm at left and right sides of the housing, the mechanical arm
It is connected with the driving device, the driving device is connected respectively with the transmission device and the sorting equipment, the biography
Device is sent to be connected with the storing portion, rubbish is sent to the storing portion, the sorting equipment is arranged at the transmission device
On, the packing apparatus includes storage pocket and asepwirator pump, and the asepwirator pump is connected with the driving device, described for extracting
Gas in storage pocket, for storing rubbish, the screw propulsion mechanism is arranged at the housing afterbody, described in the storing portion
Screw propulsion mechanism is connected with the driving device, for the housing to be driven to move.
As a kind of preferred embodiment of the present invention, the housing further includes drying unit, and the drying unit is arranged at institute
It states in storing portion, the drying unit is connected with the driving device, for drying rubbish.
As a kind of preferred embodiment of the present invention, the storage pocket includes several osculums, and the osculum is arranged at institute
The bottom of storage pocket is stated, for discharging moisture.
As a kind of preferred embodiment of the present invention, the osculum includes electric control valve, the electric control valve and the drive
Dynamic device connection, for the logical of the osculum to be controlled to close.
As the present invention a kind of preferred embodiment, the sorting equipment include metal detector, the metal detector with
Processor connection, for detect on the transmission device by rubbish object and detection signal is sent to the processing
Device.
As a kind of preferred embodiment of the present invention, including following work step：
A) processor sets predeterminable area in the guider；
B) guider automatically generates navigation route and the preset areas of the reclaimer to the predeterminable area
The navigation route is simultaneously sent to the processor by navigation route in domain；
C) processor exports navigational signals according to the navigation route to the driving device, and the driving device drives institute
Screw propulsion mechanism is stated to navigate by water according to the navigation route；
D) photographic device shoots the picture of the reclaimer surrounding enviroment and the picture is sent to the processor；
E) processor judges to whether there is rubbish in the picture；
F) if so, the processor is exported to the driving device salvages signal, the driving device drives the fishing device
The rubbish is salvaged to the transmission device；
G) processor exports transmission signal to the driving device, and the driving device drives the transmission device to start；
H) processor exports inspiration signal to the driving device, and the driving device drives the air-breathing pump startup, institute
Stating driving device drives the packing apparatus to encapsulate the storage pocket.
As a kind of preferred embodiment of the present invention, step f is further included：
The metal detector detect on the transmission device by rubbish object；
The metal detector judges whether there is metallics in the rubbish object；
If so, the metal detector sends detection signal to the processor, the detection signal includes the metallics
Location information；
For the processor to the driving device output sort signal, the driving device drives the sorting equipment by the gold
Belong to substance to sort out.
As a kind of preferred embodiment of the present invention, further included before step h：
The processor exports open signal to the driving device, and the driving device drives the electric control valve to open.
As a kind of preferred embodiment of the present invention, in step h, the driving device is driven after the air-breathing pump startup also
Including：
The processor drives drying unit to the driving device, and the driving device drives the drying unit to start.
As a kind of preferred embodiment of the present invention, the driving device drives the drying unit to be further included after starting：
The processor exports shutdown signal to the driving device, and the driving device drives the electric control valve to close.
The present invention realizes following advantageous effect：
Garbage recovering apparatus waterborne provided by the invention can remove the moisture in rubbish object, and the reclaimer is in predeterminable area
Patrol, rubbish object present in automatic searching navigation route, the navigation route cover the predeterminable area, and fishing device is by rubbish
Rubbish object is salvaged to transmission device, and the rubbish object is sent to packing apparatus by the transmission device automatically, in the rubbish object
Before reaching the transmission device, the sorting equipment sorts out the metallics in the rubbish object, the metal object
The recyclable recycling of matter, the rubbish object enter storage pocket, the packing apparatus removes water the storage pocket, encapsulate and
Drying, asepwirator pump extract the gas in the storage pocket, compress the volume of the storage pocket, moisture after the storage pocket is compressed
Osculum discharge from below, treated storage pocket are saved to the storing portion.
Description of the drawings
Attached drawing herein is merged in specification and forms the part of this specification, shows the implementation for meeting the disclosure
Example, and in specification together for explaining the principle of the disclosure.Fig. 1 is a kind of removing type garbage reclamation waterborne provided by the invention
Device structure schematic diagram；
Fig. 2 is the structure diagram of storage pocket bottom provided by the invention；
Fig. 3 is a kind of removing type garbage recovering apparatus flow chart of work methods waterborne provided by the invention；
Fig. 4 is predeterminable area setting method flow chart provided by the invention；
Fig. 5 changes method flow diagram for navigation route provided by the invention；
Fig. 6 is rubbish substance treating method flow chart provided by the invention；
Fig. 7 is sorting equipment flow chart of work methods provided by the invention.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.
Embodiment one
As shown in Figure 1, 2, a kind of removing type garbage recovering apparatus waterborne, including housing 1, control mechanism 2 and screw propeller
Structure 3, control mechanism 2 include processor 4, driving device 5, guider 6 and positioner 7, and processor 4 fills respectively with driving
It puts 5, guider 6 and positioner 7 connects, for driving screw propulsion mechanism 3, guider 6 is used to give birth to driving device 5
Into reclaimer navigation route and navigation route is sent to processor 4, positioner 7 is used to obtain the position of reclaimer
Location information is simultaneously sent to processor 4 by information, and housing 1 includes photographic device 8, fishing device 9, transmission device 10, sorting dress
Put 11, packing apparatus 12 and storing portion 13, photographic device 8 is connected with processor 4, for shoot reclaimer surrounding enviroment with
And salvage objects picture and picture is sent to processor 4, fishing device 9 includes the mechanical arm for being arranged at 1 left and right sides of housing
14, mechanical arm 14 is connected with driving device 5, and driving device 5 is connected respectively with transmission device 10 and sorting equipment 11, transmission dress
It puts 10 to connect with storing portion 13, rubbish is sent to storing portion 13, sorting equipment 11 is arranged on transmission device 10, packing apparatus
12 include storage pocket 15 and asepwirator pump 16, and asepwirator pump 16 is connected with driving device 5, for extracting the gas in storage pocket 15,
Storing portion 13 is for storing rubbish, and screw propulsion mechanism 3 is arranged at 1 afterbody of housing, and screw propulsion mechanism 3 connects with driving device 5
It connects, is moved for drive shell 1.
Housing 1 further includes drying unit 17, and drying unit 17 is arranged in storing portion 13, drying unit 17 and driving device
5 connections, for drying rubbish.
Storage pocket 15 includes several osculums 18, and osculum 18 is arranged at the bottom of storage pocket 15, for discharging moisture.
Osculum 18 includes electric control valve 19, and electric control valve 19 is connected with driving device 5, for controlling the logical of osculum 18
It closes.
Sorting equipment 11 includes metal detector 20, and metal detector 20 is connected with processor 4, for detecting transmission device
On 10 by rubbish object and by detection signal be sent to processor 4.
Specifically, removing type provided by the invention garbage recovering apparatus waterborne includes housing 1, control mechanism 2 and spiral
Propulsive mechanism 3, control mechanism 2 include processor 4, driving device 5, guider 6 and positioner 7, and housing 1 includes camera shooting
Device 8, fishing device 9, transmission device 10, sorting equipment 11, packing apparatus 12, storing portion 13 and drying unit 17 are salvaged
Device 9 includes mechanical arm 14, and sorting equipment 11 includes metal detector 20, and packing apparatus 12 includes storage pocket 15 and asepwirator pump
16, storage pocket 15 includes osculum 18, and osculum 18 includes electric control valve 19.
Wherein, housing 1 is arranged to hull, and housing 1 is followed successively by photographic device 8, fishing device 9, transmission device from front to back
10th, sorting equipment 11, packing apparatus 12 and storing portion 13, drying unit 17 are built in storing portion 13, and transmission device 10 is set
For conveyer belt, 10 front end of transmission device is connected with 1 forepart of housing, and 10 tail end of transmission device leads to storing portion 13, and fishing device 9 will
Rubbish object is salvaged to transmission device 10, and rubbish object is sent to packing apparatus 12 by transmission device 10, and packing apparatus 12 is again by rubbish
Object is packed into storage pocket 15, and storage pocket 15 is sent to storing portion 13 by transmission device 10 again, and sorting equipment 11 is arranged at conveyer belt
Between packing apparatus 12, sorting equipment 11 includes mechanical arm 14 and metal detection close to photographic device 8, sorting equipment 11
Device 20, metal detector 20 are arranged at 14 front of mechanical arm, and 4 control machinery arm 14 of processor grips the metal object in rubbish object
Matter, for metallics to be separated from rubbish object, metallics may be recovered utilization, pass through from sorting equipment 11
Rubbish object will then be sent to packing apparatus 12, positioned at the tail end of transmission device 10, rubbish object reaches transmission for the opening of storage pocket 15
The end of device 10 is fallen into storage pocket 15, and packing apparatus 12 removes water storage pocket 15, encapsulates, and moisture is from storage pocket 15
It is discharged in osculum 18, the moisture of discharge is discharged by water inlet conduit drainage in river water or seawater again, and packing apparatus 12 will be received
Receive the opening sealing of bag 15, drying unit 17 again dries storage pocket 15, and storage pocket 15 is finally stored to storing portion 13,
Rubbish waterborne is compressed, removed water and dried by the present invention, the rubbish object of script weight in wet base is converted into dry compression body, just
In storage and transport.
Embodiment two
As shown in figure 3, a kind of method of work of removing type garbage recovering apparatus waterborne, including following work step：
A) processor 4 sets predeterminable area in guider 6；
B) guider 6 automatically generates navigation route in reclaimer to the navigation route and predeterminable area of predeterminable area simultaneously
Navigation route is sent to processor 4；
C) processor 4 exports navigational signals according to navigation route to driving device 5, and driving device 5 drives screw propulsion mechanism 3 to press
It is navigated by water according to navigation route；
D) photographic device 8 shoots the picture of reclaimer surrounding enviroment and picture is sent to processor 4；
E) processor 4 judges to whether there is rubbish in picture；
F) if so, processor 4 to driving device 5 export salvage signal, driving device 5 drive fishing device 9 by rubbish salvage to
On transmission device 10；
G) processor 4 exports transmission signal to driving device 5, and 5 drive transmission unit 10 of driving device starts；
H) processor 4 exports inspiration signal to driving device 5, and driving device 5 drives asepwirator pump 16 to start, and driving device 5 drives
Packing apparatus 12 encapsulates storage pocket 15.
It is further included before step h：
Processor 4 exports open signal to driving device 5, and driving device 5 drives electric control valve 19 to open.
In step h, driving device 5 drives asepwirator pump 16 to be further included after starting：
Processor 4 drives drying unit 17 to driving device 5, and driving device 5 drives drying unit 17 to start.
Driving device 5 drives drying unit 17 to be further included after starting：
Processor 4 exports shutdown signal to driving device 5, and driving device 5 drives electric control valve 19 to close.
Specifically, the present invention realizes automation recycling function, as shown in figure 4, before the present invention is used, by processor
4 establish connection with remote terminal, and remote terminal is one-to-many relation with processor 4, and user is preset using remote terminal editor
Predeterminable area is simultaneously sent to processor 4 by region, and predeterminable area is imported guider 6 by processor 4, and guider 6 is automatically raw
Into reclaimer navigation route and navigation route is sent to processor 4, guider 6 is according to the location information of reclaimer
Real-time update navigation route, the location information of reclaimer are sent to processor 4 by positioner 7, and processor 4 will receive again
Location information be transmitted to guider 6, navigation route includes recycling and sets to the route and predeterminable area of predeterminable area
Route, navigation route completely covers predeterminable area.As shown in figure 5, processor 4 obtains the Weather information on the same day from internet,
And wind direction information is obtained from Weather information, processor 4 judge guider 6 generate navigation route direction whether with wind direction
Information is consistent, i.e. whether the direction of navigation route and the past direction of wind be consistent, such as the navigation route of southeastern direction and northwest
The wind direction information in direction is consistent, if so, navigation route need not be changed, if it is not, processor 4 is navigated by water in reclaimer to default
The navigation route that guider 6 is sent is changed to another navigation route that direction is opposite, route is identical, processor 4 during region
Control reclaimer is navigated by water according to the navigation route that newly receives, reclaimer with the wind operation when, can more clear up water
Upper rubbish object avoids that rubbish object is caused to float toward the rear of the navigation route of reclaimer due to contrary wind.
In navigation route, processor 4 judges to whether there is rubbish in navigation route according to the picture that photographic device 8 is sent
Object if so, fishing device 9 goes on board the salvaging of rubbish object, then is removed water, encapsulated and dried to rubbish object, osculum 18
The acquiescence of electric control valve 19 is in off state, a diameter of 0.5 centimetre of osculum 18, after rubbish object enters storage pocket 15, such as Fig. 6
Shown, first, processor 4 exports open signal to driving device 5, and driving device 5 drives electric control valve 19 to open, secondly, place
It manages device 4 and exports inspiration signal to driving device 5, driving device 5 drives asepwirator pump 16 to start, and asepwirator pump 16 is extracted in storage pocket 15
Gas, the volume of compression containing bag 15, the osculum 18 of moisture from below is discharged after storage pocket 15 is compressed, then, processing
Device 4 drives drying unit 17 to driving device 5, and driving device 5 drives drying unit 17 to start, and drying unit 17 is by storage pocket 15
Interior rubbish object drying process, subsequently, processor 4 export shutdown signal to driving device 5, and driving device 5 drives electrically-controlled valve
Door 19 is closed, and finally, storage pocket 15 is encapsulated and closed asepwirator pump 16 by packing apparatus 12.
Embodiment three
As shown in fig. 7, step f is further included：
Metal detector 20 detect transmission device 10 on by rubbish object；
Metal detector 20 judges whether there is metallics in rubbish object；
If so, metal detector 20 sends detection signal to processor 4, detection signal includes the location information of metallics；
Processor 4 drives sorting equipment 11 to sort out metallics to 5 output sort signal of driving device, driving device 5.
Specifically, metallics is often carried in rubbish waterborne, wherein, metallics includes the valuables lost, example
Such as ring, necklace, bracelet find the owner of lost property after can above-mentioned article be salvaged, and metallics further includes industrial wastes, discards gold
Category may be recovered recycling, therefore, it is quite necessary to which the metallics in rubbish object is sorted out.When the rubbish salvaged
During rubbish object is by transmission device 10, metal detector 20 detection lower section by rubbish object, if not deposited in rubbish object
In metallics, then metal detector 20 does not send any work order, if there are metallics, metal detections in rubbish object
Device 20 locks the location information of metallics, then sends a first song detection signal to processor 4, and detection signal includes metal object
The location information of matter, for processor 4 according to location information to 5 output sort signal of driving device, driving device 5 drives sorting equipment
11 sort out metal, and sorting equipment 11 includes at least two mechanical arms 14, and mechanical arm 14 includes gripper, one of machine
Tool arm 14 captures substance, and another mechanical arm 14 removes the rubbish of metallics surface attachment, and mechanical arm 14 is by metallics and rubbish
Rubbish object is stored respectively.
The above embodiments merely illustrate the technical concept and features of the present invention, and the purpose is to allow be familiar with the skill of the technical field
Art personnel can understand present disclosure and implement according to this, can not be limited the scope of the invention with this.All bases
Equivalent changes or modifications made by spirit of the invention, should be covered by the protection scope of the present invention.
Claims (10)
1. a kind of removing type garbage recovering apparatus waterborne, exists including housing, control mechanism and screw propulsion mechanism, feature
Include processor, driving device, guider and positioner in, the control mechanism, the processor respectively with it is described
Driving device, the guider and positioner connection, the driving device are used to drive the screw propeller
Structure, the guider are used to generate the navigation route of the reclaimer and the navigation route are sent to the processing
Device, the positioner are used to obtain the location information of the reclaimer and the location information are sent to the processing
Device, the housing includes photographic device, fishing device, transmission device, sorting equipment, packing apparatus and storing portion, described to take the photograph
As device is connected to the processor, for the picture that shoots the reclaimer surrounding enviroment and salvage objects and by the picture
Face is sent to the processor, and the fishing device includes being arranged at the mechanical arm at left and right sides of the housing, the mechanical arm
It is connected with the driving device, the driving device is connected respectively with the transmission device and the sorting equipment, the biography
Device is sent to be connected with the storing portion, rubbish is sent to the storing portion, the sorting equipment is arranged at the transmission device
On, the packing apparatus includes storage pocket and asepwirator pump, and the asepwirator pump is connected with the driving device, described for extracting
Gas in storage pocket, for storing rubbish, the screw propulsion mechanism is arranged at the housing afterbody, described in the storing portion
Screw propulsion mechanism is connected with the driving device, for the housing to be driven to move.
2. a kind of removing type garbage recovering apparatus waterborne according to claim 1, it is characterised in that：The housing further includes
Drying unit, the drying unit are arranged in the storing portion, and the drying unit is connected with the driving device, for drying
Dry rubbish.
3. a kind of removing type garbage recovering apparatus waterborne according to claim 1, it is characterised in that：The storage pocket includes
Several osculums, the osculum are arranged at the bottom of the storage pocket, for discharging moisture.
4. a kind of removing type garbage recovering apparatus waterborne according to claim 3, it is characterised in that：The osculum includes
Electric control valve, the electric control valve are connected with the driving device, for the logical of the osculum to be controlled to close.
5. a kind of removing type garbage recovering apparatus waterborne according to claim 1, it is characterised in that：The sorting equipment bag
Include metal detector, the metal detector is connected to the processor, for detect on the transmission device by rubbish
Detection signal is simultaneously sent to the processor by object.
6. according to a kind of method of work of removing type of claim 1-5 any one of them garbage recovering apparatus waterborne, feature
It is：Including following work step：
A) processor sets predeterminable area in the guider；
B) guider automatically generates navigation route and the preset areas of the reclaimer to the predeterminable area
The navigation route is simultaneously sent to the processor by navigation route in domain；
C) processor exports navigational signals according to the navigation route to the driving device, and the driving device drives institute
Screw propulsion mechanism is stated to navigate by water according to the navigation route；
D) photographic device shoots the picture of the reclaimer surrounding enviroment and the picture is sent to the processor；
E) processor judges to whether there is rubbish in the picture；
F) if so, the processor is exported to the driving device salvages signal, the driving device drives the fishing device
The rubbish is salvaged to the transmission device；
G) processor exports transmission signal to the driving device, and the driving device drives the transmission device to start；
H) processor exports inspiration signal to the driving device, and the driving device drives the air-breathing pump startup, institute
Stating driving device drives the packing apparatus to encapsulate the storage pocket.
7. a kind of method of work of removing type garbage recovering apparatus waterborne according to claim 6, it is characterised in that：Step
F is further included：
The metal detector detect on the transmission device by rubbish object；
The metal detector judges whether there is metallics in the rubbish object；
If so, the metal detector sends detection signal to the processor, the detection signal includes the metallics
Location information；
For the processor to the driving device output sort signal, the driving device drives the sorting equipment by the gold
Belong to substance to sort out.
8. a kind of method of work of removing type garbage recovering apparatus waterborne according to claim 6, it is characterised in that：Step
It is further included before h：
The processor exports open signal to the driving device, and the driving device drives the electric control valve to open.
9. a kind of method of work of removing type garbage recovering apparatus waterborne according to claim 6, it is characterised in that：Step
In h, the driving device further includes after driving the air-breathing pump startup：
The processor drives drying unit to the driving device, and the driving device drives the drying unit to start.
10. a kind of method of work of removing type garbage recovering apparatus waterborne according to claim 9, it is characterised in that：Institute
Stating driving device drives the drying unit to be further included after starting：
The processor exports shutdown signal to the driving device, and the driving device drives the electric control valve to close.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810049309.8A CN108104089A (en) | 2018-01-18 | 2018-01-18 | A kind of removing type garbage recovering apparatus waterborne and its method of work |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810049309.8A CN108104089A (en) | 2018-01-18 | 2018-01-18 | A kind of removing type garbage recovering apparatus waterborne and its method of work |
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| CN117456395A (en) * | 2023-12-26 | 2024-01-26 | 广州大学 | Sea and land two-domain garbage recycling planning method based on machine vision |
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| CN111781322B (en) * | 2020-07-13 | 2023-08-18 | 广东粤港供水有限公司 | Water quality monitoring method and related device |
| CN117456395A (en) * | 2023-12-26 | 2024-01-26 | 广州大学 | Sea and land two-domain garbage recycling planning method based on machine vision |
| CN117456395B (en) * | 2023-12-26 | 2024-03-29 | 广州大学 | Sea and land two-domain garbage recycling planning method based on machine vision |
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