CN103194991A - Road cleaning system and method through intelligent robot - Google Patents
Road cleaning system and method through intelligent robot Download PDFInfo
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- CN103194991A CN103194991A CN2013101159472A CN201310115947A CN103194991A CN 103194991 A CN103194991 A CN 103194991A CN 2013101159472 A CN2013101159472 A CN 2013101159472A CN 201310115947 A CN201310115947 A CN 201310115947A CN 103194991 A CN103194991 A CN 103194991A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 141
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- 230000007246 mechanism Effects 0.000 claims abstract description 89
- 239000010813 municipal solid waste Substances 0.000 claims abstract description 83
- 230000033001 locomotion Effects 0.000 claims description 8
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- 238000004891 communication Methods 0.000 claims description 5
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- 238000005096 rolling process Methods 0.000 description 7
- 230000001680 brushing effect Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 3
- 239000000428 dust Substances 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000010408 sweeping Methods 0.000 description 3
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Abstract
The invention discloses a road cleaning system and method through an intelligent robot for mainly solving the problem of frequent happening of accidents of environmental sanitation workers due to large effects of prior road environmental sanitation cleaning systems on traffic. The system comprises a controller (2), a binocular camera (7), a central processor (3), a supersonic distance measurement unit (6), a cleaning mechanism (4) and a moving mechanism (5). The controller (2) reads data of the supersonic distance measurement unit (6) and uploads the encoded data to the central processor (3); the central processor (3) reads images shot by the binocular camera (7), signal lamp states of a road section where the central processor (3) is in and the data of the supersonic distance measurement unit (6), performs recognition processing to determine the moving direction and cleaning actions of the system and transmits the moving direction and cleaning actions to the controller (2); and the controller (2) controls the moving mechanism (5) to drive the whole system to move towards the garbage direction and the cleaning mechanism (4) to clean cleaning mechanism (4). By means of the intelligent robot road cleaning system and cleaning method, roads can be cleaned automatically and actively, environmental sanitation workers can be replaced or assisted to check and study roads for cleaning in heavy-traffic or high-vehicle-sapped dangerous sections.
Description
Technical field
The invention belongs to the intelligent robot technology field, particularly a kind of intelligent robot road cleaning system and method for cleaning can be used for intelligent road garbage-cleaning.
Background technology
The cleaning in outdoor road street always is heavy, dangerous, a not only dirty but also tired job, consume lot of manpower and material resources.Appear on the highway if particularly in cleaning process, have rubbish, can produce close contact with the vehicle of running at high speed when the sanitationman cleans, take place by the accident of hitting easily, road cleanup crew's life security has been caused serious threat.Under the ever-increasing situation of vehicle per capita, how in the road cleaning, to guarantee that road cleanup crew's life security is a urgent problem.
Existing scheme mainly contains following three kinds:
First kind of scheme such as Chinese patent invention 200910111960.4.This scheme is a kind of bulky refuse cleaning car.This road garbage-cleaning car comprises cleaning agency, refuse transport system, dustbin and chassis.Be characterized in that the cleaning agency that is installed in tray bottom is made of a plurality of rolling and brushing and outer cover thereof, comprise main rolling and brushing, main rolling and brushing outer cover, secondary rolling and brushing and secondary rolling and brushing outer cover, utilize two rolling and brushing to roll and collect rubbish; Its refuse transport system is made up of conveyer belt, conveyer belt motor, drive sprocket, drive sprocket and the adjusting sprocket wheel of chain, band refuse hopper, can finish cleaning and pour rubbish into dustbin by conveyer belt under rough environment.The advantage of this scheme is: road cleaning efficiency height, cleaning speed is very fast, can store the rubbish that a large amount of cleanings come up, and is modal a kind of in the current programme.But the shortcoming that this scheme exists is: employed device needs manually-operated, and automaticity is low; The equipment therefor volume is big, is slow in action, and causes traffic jam easily, is not easy to enter the heavy traffic section cleaning, has limited its service time and use occasion, and is therefore less to same highway section clearing times, is difficult to tackle the road rubbish that occurs frequently.In order to keep the road surface clean and tidy, the sanitationman still needs to take a risk to step into highway frequently and carries out refuse sweeping.
Second kind of scheme such as Chinese utility model patent 201120517848.This scheme is a kind of miniature road sweeper, and this scheme can be regarded the miniaturization version of ordinary road road-sweeper as.It is made up of front frame, driving cabin and back vehicle frame.Front frame and back vehicle frame dwindle the car body turning radius to be hinged and connected.Preceding dustbin, clearing apparatus and dust exhaust apparatus are arranged on the front frame, rubbish can be swept in the preceding dustbin by clearing apparatus, and absorb the dust of having swept by dust exhaust apparatus.Back dustbin, water tank and discharging device are arranged on the back vehicle frame, can road pavement sprinkle water, and the rubbish that dustbin is collected before storing.The advantage of this scheme is: certain rubbish memory space is arranged, and cleaning efficiency is higher, and the equipment therefor volume is compared first kind of scheme and dwindled to some extent, turning radius is little, use occasion is expanded to some extent, can be used as the additional use of first kind of scheme, uses to some extent in the megapolis.But the shortcoming that this scheme exists is: be still based on manned vehicle, still existing influences road traffic, field of employment and The limited time, the problem that the cleaning frequency is difficult to ensure, and cost is higher, is not suitable for extensive use, still needs the sanitationman to take a risk to carry out the labor cleaning.
The third scheme such as Chinese patent utility model 201120320493.This scheme is a kind of device that utilizes wind-force to collect pavement garbage, and this technology is arranged alternately double-deck division board continuously in highway central authorities and both sides, leaves certain distance with ground under the division board, and the road below is provided with the refuse collection groove.When the division board sandwich portion was crossed in wind, the division board interlayer can form the passage of wind, caused the inside and outside both sides of division board to produce pressure difference, and rubbish is sucked in the rubbish groove.Though this scheme need not manual intervention in cleaning process, do not need energy resource supply yet, little to traffic impact, cost is lower, but needing that road itself is carried out integral body revises, be difficult to adapt to various road conditions, and engineering quantity of certain scale, there is the influence that is difficult to predict in the road surrounding enviroment of being changed.Particularly this scheme is really unclean with garbage-cleaning, but is temporarily stored in the refuse collection groove, needs regularly the refuse collection groove to be cleared up, and this scale removal process exists certain degree of difficulty with dangerous; Its collection process need can't initiatively be cleared up because of needs by climatic factor, and its cleaning frequency is decided according to weather, and stability is not enough.
Summary of the invention
The objective of the invention is to the deficiency at above-mentioned prior art, a kind of intelligent robot road cleaning system and method is provided, with under the situation of this body structure of road not being changed, road is implemented initiatively stable cleaning repeatedly, and do not need manually-operated.
To achieve these goals, intelligent robot road of the present invention is cleared up system, comprises
The supersonic sounding unit is used for the distance of pick-up transducers the place ahead obstacle or road rubbish, and with this data upload to controller;
Controller is used for receiving the supersonic sounding cell data and gathers road cleaning system bearing data of living in, and gives central processing unit with these data upload;
The binocular camera shooting head is fixed on the controller front end, is used for acquisition camera the place ahead image, and is uploaded to central processing unit;
Central processing unit, be fixed on the bottom of controller, its front end links to each other with the supersonic sounding unit, be used for according to the data that receive, identify the place ahead obstacle and road rubbish position and distance, determine movement and the cleanup action of system, and action command is conveyed to controller, carry out entire system by controller control travel mechanism and cleaning mechanism and move and clear up road rubbish;
Cleaning mechanism is fixed on the central processing unit bottom, under the control of controller, carries out refuse collection and temporary;
Travel mechanism is fixed on the bottom of cleaning mechanism, under the control of controller, realizes the oriented motion of whole system.
As preferably, described range cells is to be made of three sensors, and these three sensors are fixed on the front end of central processing unit side by side.
As preferably, two control panels, two motor-driven plates, camera support and camera fixed heads are fixedly arranged in the described controller, two control panels are fixed on the rear portion in the controller side by side, two motor-driven plates are fixed on the front portion in the controller side by side, the camera support is fixed on the front end in the controller, the camera fixed head is connected with the camera support, and the camera fixed head can be used for fixedly binocular camera shooting head.
As preferably, described central processing unit comprises:
Communication module is used for communicating with the system outside, obtains signal lamp state and these highway section vehicle flowrate data in road cleaning highway section, system place, and it is encoded to the control instruction data, is transferred to decision-making module;
Vision module, be used for receiving the view data of binocular camera shooting head gained, receive the supersonic sounding cell data that controller transmits simultaneously, judge area-of-interest according to the supersonic sounding cell data, generate the depth image data by this area-of-interest and view data, go out obstruction and rubbish position data by this depth image data identification, and be transferred to decision-making module respectively, drive module and garbage-cleaning module automatically;
Decision-making module is used for Move Mode and cleaning pattern according to control instruction data and obstruction and rubbish position data judgement system, and it is encoded to the decision instruction data, is transferred to automatic driving module and garbage-cleaning module simultaneously;
Automatically drive module, be used for to receive the data of the road cleaning system direction of living in that controller transmits, and according to obstruction and rubbish position data that these data, decision instruction data and vision module send, determine the moving direction data, and this bearing data is sent to the hardware controls module;
The garbage-cleaning module is used for according to the obstruction of decision instruction and vision module transmission and the action data that the rubbish position data is determined cleaning mechanism, and this action data is sent to the hardware controls module;
The hardware controls module is used for the action data of moving direction data and cleaning mechanism is encoded, and sends to controller.
As preferably, in the described cleaning mechanism battery, motor, screw mandrel, push pedal, slide plate and a pair of mechanical arm are arranged fixedly, battery is fixed on the cleaning mechanism rear portion, and motor is fixed on the shell of battery, and is connected with screw mandrel; Screw mandrel is connected with push pedal, and the front end of this push pedal is connected with slide plate; A pair of mechanical arm is separately fixed at the cleaning mechanism both sides external; The axle of this motor is provided with projection, and the rear end face of screw mandrel is provided with groove, by projection and groove phase interlock realization motor and screw mandrel being connected between the two.The face of cylinder of this screw mandrel is provided with screw thread, and push pedal is provided with corresponding screwed hole, and by screw thread and screwed hole engagement, the interior screw mandrel of realization is connected with push pedal.
As preferably, 4 omnidirectional's wheels are fixedly arranged, 4 motors and corresponding motor fixer in the described travel mechanism; Described 4 motors are fixed on the described motor fixer, and fixator is fixed on the base plate of travel mechanism; Each motor shaft is provided with projection, and each omnidirectional's wheel is provided with respective slot, realizes corresponding connection that motor and omnidirectional take turns by projection and the interlock of groove phase.
To achieve these goals, the present invention utilizes above-mentioned intelligent robot road cleaning system to carry out the method for road cleaning, comprises the steps:
1) central processing unit obtains the signal lamp indicating status in road cleaning highway section, system place by the signal lamp of crossroad, highway section, and determines the operative orientation of travel mechanism according to the signal lamp indicating status:
2) if signal lamp is red, then central processing unit is assigned instruction and is given controller, drives road cleaning entire system with control travel mechanism and turns to place road center direction;
If signal lamp is green, then central processor is assigned instruction and is given controller, drives road cleaning entire system with control travel mechanism and turns to place road avris direction;
3) turn to finish after, three sensors of supersonic sounding unit are forwards launched ultrasonic wave simultaneously, gather echo-signal separately, and the signal that will collect separately are uploaded to controller;
4) after controller receives three signals that three sensors in supersonic sounding unit transmit, measure the high level signal duration t of these three sensors respectively
1, t
2, t
3, according to formula d=t * v/2, wherein, v is the velocity of sound, value is 340m/s, calculates the range data d of the maximum distance of three sensor emission ultrasonic wave arrival
1, d
2, d
3, and it is uploaded to central processing unit;
5) central processing unit is set up a color earlier entirely for black view data, as area-of-interest, and the maximum distance d that 3 sensor emission ultrasonic wave are arrived again
1, d
2, d
3Judge successively, to fill this area-of-interest:
If d
120, then abscissa in the area-of-interest is filled to white less than the point of area-of-interest width 1/3;
If d
220, then abscissa in the area-of-interest is filled to white less than area-of-interest width 2/3 and greater than the point of area-of-interest width 1/3;
If d
320, then abscissa in the area-of-interest is filled to white greater than the point of area-of-interest width 2/3;
6) central processing unit reads its current view data of taking the photograph from the binocular camera shooting head, and according to this image and image that contains the actual object three-dimensional information of area-of-interest generation, as the depth map data, and this depth map scanned, detect each object, determine obstacle on the road and the position of rubbish:
7) as if jobbie in the depth map, its size then is judged to be rubbish less than 14 * 8cm, otherwise is judged to be obstacle, records its coordinate respectively;
8) after the full figure been scanned, if detected rubbish quantity is not 0, then carry out next step; If detected rubbish quantity is 0, then central processing unit is assigned instruction and is given controller, and control travel mechanism drives road cleaning entire system and turns to earlier and be parallel to place road avris direction, to overtake 2 seconds again; Return step (1);
9) central processing unit is determined best travel direction according to obstacle and rubbish position data, and should the best travel direction assign to controller; Drive road cleaning entire system to this direction running after 0.5 second by controller control travel mechanism, judge that according to depth image whether nearest rubbish is less than 15 centimetres again, if, then controller control earlier travel mechanism drive system integral body is shifted to over against this rubbish place, control the cleaning mechanism cleaning again and collect rubbish, carry out next step afterwards, otherwise return step (2);
10) central processing unit reads its current view data of taking the photograph from the binocular camera shooting head, the position that goes out to tip rubbish according to this image recognition, and assign instruction control travel mechanism to controller and drive road cleaning entire system and move to the dustbin position, control cleaning mechanism again and pour out rubbish, return step (1).
The present invention has following advantage:
1) the present invention can clear up bigger rubbish owing to be provided with cleaning mechanism under the less situation of body; Simultaneously because volume is little, so can sail into because the vehicle flowrate that conventional solution is difficult to clear up is big and road carries out work than the narrow road section.
The present invention is owing to be provided with central processing unit and the controller with higher handling property, can pass through the data of signal lamp state, binocular camera shooting head and supersonic sounding unit, for different road conditions are planned different routes, initiatively seek rubbish, and avoid various obstacles, do not need manual intervention therebetween, therefore can reduce human cost than conventional solution, clearing times can satisfy the road needs simultaneously.
2) the present invention have can omnidirectional running travel mechanism, make mobility of the present invention far above conventional solution, can avoid vehicle and pedestrian better, therefore to the influence of traffic order far below conventional solution.
Description of drawings
Fig. 1 is overall structure schematic diagram of the present invention;
Fig. 2 is the controller architecture schematic diagram among the present invention;
Fig. 3 is the cleaning mechanism structural representation among the present invention;
Fig. 4 is the travel mechanism's structural representation among the present invention;
Fig. 5 is the central processing unit structural representation among the present invention;
Fig. 6 is workflow diagram of the present invention.
The specific embodiment
With reference to Fig. 1, intelligent robot road-cleaning of the present invention system comprises top cover 1, controller 2, central processing unit 3, cleaning mechanism 4, travel mechanism 5, supersonic sounding unit 6 and binocular camera shooting head 7.
Wherein, cleaning mechanism 5 is positioned at the central authorities of road cleaning system, carries out garbage-cleaning under the control of controller 2.Travel mechanism 6 is fixed on the lower floor of cleaning mechanism 5, drives road cleaning entire system and move under the control of controller 2.Central processing unit 3 is fixed on the upper strata of cleaning mechanism 5, is used for position and the distance of identification the place ahead obstacle and road rubbish, determines movement and the cleanup action of system, assigns to controller 2.Supersonic sounding unit 6 is fixed on central processing unit 3 front ends, it is made up of three ultrasonic range finder sensors side by side, each ultrasonic range finder sensor all continues the emission ultrasonic wave, and receive its echo separately, this echo-signal is uploaded to controller 2, by being uploaded to central processing unit 3 behind controller 2 codings.Controller 2 is fixed on central processing unit 3 upper stratas, and the data of ultrasonic range finder sensor 6 are encoded, and is uploaded to central processing unit 3, and controls travel mechanism 4 and cleaning mechanism 5 according to the instruction of central processing unit 3.Binocular camera shooting head 7 is fixed on controller 2 front ends; Its finding image of continuous acquisition reads for central processing unit 3.Top cover 1 cover controller 2 above, fit mutually between each layer, this top cover 1 is the protective cover of road cleaning system top layer, can make things convenient for the body maintenance to adjust from controller 2 dismountings down.
As shown in Figure 2, described controller 2 comprises shell 22, two control panels 211 and 212, two motor-driven plates 231 and 232, camera support 24 and camera fixed head 25.Wherein:
It is the rear portion that first control panel 211 and second control panel 212 are fixed in the shell 22 side by side.First control panel 211 mainly is responsible for reading the data of supersonic sounding unit 6, and to being uploaded to central processing unit 3 behind this data coding, simultaneously, first control panel 211 also is integrated with the electronic compass sensor, clear up system's bearing data of living in order to gather road, and be uploaded to central processing unit 3.Second control panel 212 directly drives the low-power machine running of cleaning mechanism 4, and by the control first motor-driven plate 231 and the second motor-driven plate 232, drives 4 heavy-duty motor runnings of travel mechanism 5.
The first motor-driven plate 231 and the second motor-driven plate 232 are fixed on the front portion in the controller 2 side by side.Second control panel 212 provides control signal to the first motor-driven plate 231 and the second motor-driven plate 232, the first motor-driven plate 231 and the second motor-driven plate 232 are under the control of second control panel 212, drive 2 motors of travel mechanism 5 respectively according to the instruction of central processing unit 3, finish shift action.
Camera support 24 is fixed on the front end of shell 22, and camera fixed head 25 is housed, in order to binocular camera shooting head 7 to be installed.
As shown in Figure 5, described central processing unit 3 adopts but is not limited to a mainboard that is integrated with 64 bit processors, and it comprises communication module 31, vision module 32, decision-making module 33, drives module 34, refuse sweeping module 35 and hardware controls module 36 automatically.Wherein:
Communication module 31 is responsible for communicating with the system outside, obtains the signal lamp state in road cleaning highway section, system place, and it is encoded to the control instruction data, is transferred to decision-making module 33;
Vision module 32 is responsible for reading its current view data of taking the photograph from binocular camera shooting head 7, receives the supersonic sounding cell data that controller 2 transmits simultaneously, generates a black and white binary image according to the supersonic sounding cell data, as area-of-interest.Generate the depth image data by this area-of-interest and view data, go out obstruction and rubbish position data by this depth image data identification, and be transferred to decision-making module 33 respectively, drive module 34 and garbage-cleaning module 35 automatically, this obstruction refers to size greater than the object of 14 * 8cm, and this rubbish refers to that size is less than the object of 14 * 8cm;
Decision-making module 33, according to control instruction data and obstruction and rubbish position data, the Move Mode of decision systems and cleaning pattern are sent decision instruction to automatic driving module 34 and garbage-cleaning module 35;
Automatically drive module 34, receive the road cleaning system bearing data of living in that controller 2 transmits according to the decision instruction data, and according to obstruction and rubbish position data, determine the moving direction data, these moving direction data are sent to hardware controls module 36, make road cleaning system in mobile, get around obstruction in advance;
Refuse sweeping module 35, the action data that the obstruction that sends according to vision module 32 and rubbish position data are determined cleaning mechanism, and this action data sent to hardware controls module 36, this action can make road cleaning systematic collection or dump rubbish;
Hardware controls module 36, receive the behavior command that automatic driving module 34 and garbage-cleaning module 35 transmit after, set up communication with controller 2, control travel mechanism and cleaning mechanism are finished mobile and cleanup action.
As shown in Figure 3, described cleaning mechanism 4 comprises power supply 41, motor 42, screw mandrel 43, push pedal 44, slide plate 45 and a pair of mechanical arm 46.Wherein:
Push pedal 44, in be provided with the screwed hole corresponding with screw mandrel 43 circle side screw threads, screw-threaded engagement in screw thread on the screw mandrel 43 and push pedal 44 screwed holes, the rotation drive push pedal 44 of screw mandrel 43 is seesawed, when the cleaning system carried out the action that rubbish topples over, screw mandrel 43 drove push pedals 44 rubbish in the cleaning mechanism is released.
A pair of mechanical arm 46, symmetry are fixed on cleaning mechanism 4 both sides external, and each mechanical arm comprises upper arm steering wheel 461, underarm steering wheel 463, first arm 462 and second arm 464.Between the end of two mechanical arms, baffle plate 465 is arranged fixedly.First arm 462 is fixed together with upper arm steering wheel 461.The tail end of first arm 462 has circular hole, passes this hole and cleaning mechanism 4 outer walls are fixed for the axle of upper arm steering wheel 461.Second arm 464 is fixed together with underarm steering wheel 463.The tail end of second arm 464 has circular hole, passes this hole and first arm 461 for the axle of underarm steering wheel 463 and fixes.Baffle plate 465 is fixed between the end of two second arms 464.Whole mechanical arm 46 is stretched Qu Yundong by controller 2 control, with the rubbish uncinate gyrus to cleaning mechanism 4.
As shown in Figure 4, described travel mechanism 5 comprises 511,512,513,514, four power motors 521,522,523,524 of four motor fixers, four omnidirectional's wheels 531,532,533,534.Wherein:
Four motor fixers 511,512,513,514 are fixed on the base of travel mechanism 5, are distributed in four jiaos of this base.
First omnidirectional wheel 531 is plugged on first power motor 521 and driven by first power motor 521, second omnidirectional wheel 532 is plugged on second power motor 522 and driven by second power motor 522, the 3rd omnidirectional wheel 533 is plugged on the three-power electric machine 523 and driven by three-power electric machine 523, and the 4th omnidirectional wheel 534 is plugged on the 4th power motor 524 and driven by the 4th power motor 524.Described grafting is that the axle at each power motor is provided with projection, being provided with respective slot at each omnidirectional's wheel, realizes the corresponding grafting that power motor and omnidirectional take turns by projection and the interlock of groove phase.
Described 4 omnidirectionals wheel 531,532,533,534 all is equipped with 8 passive rollers along its round side separately, and it can initiatively be rolled along its radial direction, again can be along the passive rolling of its axial direction.Because this characteristic, travel mechanism 5 makes native system have higher mobility directly to the direction motion of central processing unit 3 appointments under situation about not turning under the control of controller 2.
With reference to Fig. 6, the present invention utilizes said system to carry out the method for road-cleaning, may further comprise the steps:
If signal lamp is red, then central processing unit 3 is assigned instruction and is given controller 2, drives road cleaning entire system with control travel mechanism 5 and turns to place road center direction.If signal lamp is green, then central processor 3 is assigned instruction and is given controller 2, drives road cleaning system with control travel mechanism 5
System integral body turns to place road avris direction.
This road center direction and road avris direction by the user according to use the highway section towards arranging voluntarily.
Three sensors of supersonic sounding unit 6 are forwards launched ultrasonic wave simultaneously, gather echo-signal separately, and the signal that will collect separately are uploaded to controller 2.After controller 2 receives three signals that 6 three sensors in supersonic sounding unit transmit, measure the high level signal duration t of these three sensors respectively
1, t
2, t
3, according to formula d=t * v/2, calculate the range data d of the maximum distance of three sensor emission ultrasonic wave arrival
1, d
2, d
3, and it is uploaded to central processing unit 3, and wherein, v is the velocity of sound, value is 340m/s.
If the maximum distance d that first ultrasonic range finder sensor emission ultrasonic wave arrives
120, then abscissa in the area-of-interest is filled to white less than the point of area-of-interest width 1/3;
If second maximum distance d that ultrasonic range finder sensor emission ultrasonic wave arrives
220, then abscissa in the area-of-interest is filled to white less than area-of-interest width 2/3 and greater than the point of area-of-interest width 1/3;
If the 3rd maximum distance d that ultrasonic range finder sensor emission ultrasonic wave arrives
320, then abscissa in the area-of-interest is filled to white greater than the point of area-of-interest width 2/3.
If jobbie in the depth map, its size then is judged to be rubbish less than 14 * 8cm, and records its coordinate; If its size greater than 14 * 8cm, then is judged to be obstacle, and records its coordinate;
After the full figure been scanned, if detected rubbish quantity is not 0, then carry out next step; If detected rubbish quantity is 0, then central processing unit 3 is assigned instruction and is given controller 2, and control travel mechanism 5 drives roads cleaning entire system and turns to earlier and be parallel to place road avris direction, to overtake 2 seconds again, returns step 1.
(5A) central processing unit 3 is determined best travel direction according to obstacle and rubbish position data:
(5A1) in detected rubbish, check that successively it apart from the distance of road-cleaning system, finds nearest rubbish;
Being starting point with the depth map bottom center (5A2), is terminal point with the nearest rubbish coordinate that is found, and is connected to line segment, is the axis with this line segment, and doing width is the rectangle of road cleaning system-wide, as the path rectangle;
(5A3) if the path rectangle overlaps with obstruction, be axle with the depth map bottom center then, be rotated counterclockwise the path rectangle to not overlapping with obstruction, if rotating to the path rectangle touches the image border, still overlap with obstruction, then the path rectangle is not gone to by the vertical position dextrorotation and overlaps with obstruction, touch the image border if rotate to the path rectangle, still overlap with obstruction, then the path rectangle is made as level left, and finish scanning; If scanning the rubbish coordinate is expert at, then finish scanning;
(5A4) behind the end of scan, with the axis direction of this path rectangle as best travel direction.
(5B) should the best travel direction assign to controller 2, drive roads cleaning entire system to this direction running after 0.5 second by controller 2 control travel mechanisms 5, judge that according to depth map whether nearest rubbish is less than 15 centimetres again, if, then controller 2 control earlier travel mechanism 5 drive system integral body are shifted to over against this rubbish place, controlling cleaning mechanism 4 again stretches out a pair of mechanical arm 46 and slide plate 45, by a pair of mechanical arm 46 with the rubbish uncinate gyrus to cleaning mechanism 4 inside, and the withdrawal slide plate, carry out next step afterwards; Otherwise return step 1.
The sign that makes things convenient for road cleaning system identification is posted in the identification of the system of road cleaning for convenience on the described rubbish casing.
Claims (10)
1. an intelligent robot road is cleared up system, comprising:
Supersonic sounding unit (6) is used for the distance of pick-up transducers the place ahead obstacle or road rubbish, and with this data upload to controller (2);
Controller (2) is used for receiving the supersonic sounding cell data and gathers road cleaning system bearing data of living in, and gives central processing unit (3) with these data upload;
Binocular camera shooting head (7) is fixed on controller (2) front end, is used for acquisition camera the place ahead image, and is uploaded to central processing unit (3);
Central processing unit (3), be fixed on the bottom of controller (2), its front end links to each other with supersonic sounding unit (6), be used for according to the data that receive, identify the place ahead obstacle and road rubbish position and distance, determine movement and the cleanup action of system, and action command is conveyed to controller (2), carry out entire system by controller control travel mechanism (5) and cleaning mechanism (4) and move and clear up road rubbish;
Cleaning mechanism (4) is fixed on central processing unit (3) bottom, under the control of controller, carries out refuse collection and temporary;
Travel mechanism (5) is fixed on the bottom of cleaning mechanism (4), under the control of controller, realizes the oriented motion of whole system.
2. intelligent robot road according to claim 1 is cleared up system, and it is characterized in that: range cells is to be made of three sensors, and these three sensors are fixed on the front end of central processing unit side by side.
3. intelligent robot road according to claim 1 is cleared up system, it is characterized in that: two control panels (211 are fixedly arranged in the controller (2), 212), two motor-driven plates (231,232), camera support (24) and camera fixed head (25)
Two control panels (211,212) be fixed on the interior rear portion of controller (2) side by side, two motor-driven plates (231,232) be fixed on front portion in the controller (2) side by side, camera support (24) is fixed on the front end in the controller (2), camera fixed head (25) is connected with camera support (24), and the camera fixed head can be used for fixedly binocular camera shooting head (7).
4. intelligent robot road according to claim 1 is cleared up system, and it is characterized in that: central processing unit (3) comprising:
Communication module (31) is used for communicating with the system outside, obtains signal lamp state and these highway section vehicle flowrate data in road cleaning highway section, system place, and it is encoded to the control instruction data, is transferred to decision-making module (33);
Vision module (32), be used for receiving the view data of binocular camera shooting head (7) gained, receive the supersonic sounding cell data that controller (2) transmits simultaneously, judge area-of-interest according to the supersonic sounding cell data, generate the depth image data by this area-of-interest and view data, go out obstruction and rubbish position by this depth image data identification
Data, and be transferred to decision-making module (33) respectively, drive module (34) and garbage-cleaning module (35) automatically;
Decision-making module (33), be used for Move Mode and cleaning pattern according to control instruction data and obstruction and rubbish position data judgement system, and it is encoded to the decision instruction data, be transferred to automatic driving module (34) and garbage-cleaning module (35) simultaneously;
Automatically drive module (34), be used for to receive the data of the road cleaning system direction of living in that controller (2) transmits, and the obstruction and the rubbish position data that send according to these data, decision instruction data and vision module (32), determine the moving direction data, and this bearing data is sent to hardware controls module (36);
Garbage-cleaning module (35) is used for according to the obstruction of decision instruction and vision module (32) transmission and the action data that the rubbish position data is determined cleaning mechanism, and this action data is sent to hardware controls module (36);
Hardware controls module (36) is used for the action data of moving direction data and cleaning mechanism is encoded, and sends to controller (2).
5. intelligent robot road according to claim 1 is cleared up system, it is characterized in that: battery (41), motor (42), screw mandrel (43), push pedal (44), slide plate (45) and a pair of mechanical arm (46) are fixedly arranged in the cleaning mechanism (4), battery (41) is fixed on the cleaning mechanism rear portion, motor (42) is fixed on the shell of battery, and is connected with screw mandrel (43); Screw mandrel (43) is connected with push pedal (44), and the front end of this push pedal is connected with slide plate (45); A pair of mechanical arm (46) is separately fixed at the cleaning mechanism both sides external.
6. according to the cleaning of the intelligent robot road described in the claim 5 system, it is characterized in that: the axle of motor (42) is provided with projection, the rear end face of screw mandrel (43) is provided with groove, by projection and groove phase interlock realization motor and screw mandrel being connected between the two.
7. according to the cleaning of the intelligent robot road described in the claim 5 system, it is characterized in that: the face of cylinder of screw mandrel (43) is provided with screw thread, push pedal (44) is provided with corresponding screwed hole, and by screw thread and screwed hole engagement, the interior screw mandrel (43) of realization is connected with push pedal (44).
8. intelligent robot road according to claim 1 is cleared up system, it is characterized in that: 4 omnidirectionals' wheels (531,532,533 are fixedly arranged in the travel mechanism (5), 534), 4 motors (521,522,523,524) and corresponding motor fixer (511,512,513,514); Described 4 motors are fixed on the described motor fixer, and fixator is fixed on the base plate of travel mechanism (5); Each motor shaft is provided with projection, and each omnidirectional's wheel is provided with respective slot, realizes corresponding connection that motor and omnidirectional take turns by projection and the interlock of groove phase.
9. one kind is utilized the described intelligent robot road of claim 1 cleaning system to carry out the method that road is cleared up, and may further comprise the steps:
Central processing unit (3) obtains the signal lamp indicating status in road cleaning highway section, system place by the signal lamp of crossroad, highway section, and determines the operative orientation of travel mechanism (5) according to the signal lamp indicating status:
If signal lamp is red, then central processing unit (3) is assigned instruction and is given controller (2), drives road cleaning entire system with control travel mechanism (5) and turns to place road center direction;
If signal lamp is green, then central processor (3) is assigned instruction and is given controller (2), drives road cleaning entire system with control travel mechanism (5) and turns to place road avris direction;
(9a) turn to finish after, three sensors of supersonic sounding unit (6) are forwards launched ultrasonic wave simultaneously, gather echo-signal separately, and the signal that will collect separately are uploaded to controller (2);
After (9b) controller (2) receives three signals that (6) three sensors in supersonic sounding unit transmit, measure the high level signal duration t of these three sensors respectively
1, t
2, t
3, according to formula d=t * v/2, wherein, v is the velocity of sound, value is 340m/s, calculates the range data d of the maximum distance of three sensor emission ultrasonic wave arrival
1, d
2, d
3, and it is uploaded to central processing unit (3);
(9c) central processing unit (3) is set up a color earlier entirely for black view data, as area-of-interest, and the maximum distance d that 3 sensor emission ultrasonic wave are arrived again
1, d
2, d
3Judge successively, to fill this area-of-interest:
If d
120, then abscissa in the area-of-interest is filled to white less than the point of area-of-interest width 1/3;
If d
220, then abscissa in the area-of-interest is filled to white less than area-of-interest width 2/3 and greater than the point of area-of-interest width 1/3;
If d
320, then abscissa in the area-of-interest is filled to white greater than the point of area-of-interest width 2/3;
(9d) central processing unit (3) reads its current view data of taking the photograph from binocular camera shooting head (7), and according to this image and image that contains the actual object three-dimensional information of area-of-interest generation, as the depth map data, and this depth map scanned, detect each object, determine obstacle on the road and the position of rubbish:
If jobbie in the depth map, its size then is judged to be rubbish less than 14 * 8cm, otherwise is judged to be obstacle, records its coordinate respectively;
After the full figure been scanned, if detected rubbish quantity is not 0, then carry out next step; If detected rubbish quantity is 0, then central processing unit (3) is assigned instruction and is given controller (2), and control travel mechanism (5) drives road cleaning entire system and turns to earlier and be parallel to place road avris direction, to overtake 2 seconds again; Return step (9a); Central processing unit (3) is determined best travel direction according to obstacle and rubbish position data, and should the best travel direction assign to controller (2); Drive road cleaning entire system to this direction running after 0.5 second by controller (2) control travel mechanism (5), judge that according to depth image whether nearest rubbish is less than 15 centimetres again, if, then controller (2) control earlier travel mechanism drive system integral body is shifted to over against this rubbish place, control cleaning mechanism (4) cleaning again and collect rubbish, carry out next step afterwards, otherwise return step (9b);
(9e) central processing unit (3) reads its current view data of taking the photograph from binocular camera shooting head (7), the position that goes out to tip rubbish according to this image recognition, and assign instruction control travel mechanism (5) to controller (2) and drive road cleaning entire system and move to the dustbin position, control cleaning mechanism again and pour out rubbish, return step (9a).
10. intelligent robot road method for cleaning according to claim 9, wherein the described central processing unit of step (9f) (3) is determined best travel direction according to obstacle and rubbish position data, carries out as follows:
(9f1) in detected rubbish, check that successively it apart from the distance of road-cleaning system, finds nearest rubbish;
Being starting point with the depth map bottom center (9f2), is terminal point with the nearest rubbish coordinate that is found, and is connected to line segment, is the axis with this line segment, and doing width is the rectangle of road cleaning system-wide, as the path rectangle;
(9f3) if the path rectangle overlaps with obstruction, be axle with the depth map bottom center then, be rotated counterclockwise the path rectangle to not overlapping with obstruction, if rotating to the path rectangle touches the image border, still overlap with obstruction, then the path rectangle is not gone to by the vertical position dextrorotation and overlaps with obstruction, touch the image border if rotate to the path rectangle, still overlap with obstruction, then the path rectangle is made as level left, and finish scanning; If scanning the rubbish coordinate is expert at, then finish scanning;
(9f4) behind the end of scan, with the axis direction of this path rectangle as best travel direction.
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