CN103194991B - Intelligent robot road cleaning system and method for cleaning - Google Patents
Intelligent robot road cleaning system and method for cleaning Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 13
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- 230000007246 mechanism Effects 0.000 claims abstract description 88
- 230000009471 action Effects 0.000 claims abstract description 19
- 230000009183 running Effects 0.000 claims description 7
- 238000004891 communication Methods 0.000 claims description 5
- 230000007613 environmental effect Effects 0.000 abstract 1
- 238000005096 rolling process Methods 0.000 description 7
- 230000001680 brushing effect Effects 0.000 description 6
- 230000008569 process Effects 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 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
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 241001417527 Pempheridae Species 0.000 description 1
- 239000010782 bulky waste Substances 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 239000011229 interlayer Substances 0.000 description 1
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- 229910001416 lithium ion Inorganic materials 0.000 description 1
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Abstract
The invention discloses a kind of intelligent robot road cleaning system and method for cleaning, mainly solve the sanitary cleaning systems of existing road large to traffic impact, easily cause the problem of environmental sanitation personnel Frequent Accidents.This system comprises controller (2), binocular camera (7), central processing unit (3), supersonic sounding unit (6), cleaning mechanism (4) and travel mechanism (5).Controller (2) reads the data of supersonic sounding unit (6), central processing unit (3) is uploaded to after coding, central processing unit (3) reads binocular camera (7) image of taking the photograph, section, place signal lamp state and supersonic sounding unit (6) data, and after carrying out identifying processing, the moving direction of certainty annuity and cleanup action, assign to controller (2), first controlling travel mechanism (5) by controller (2) drives whole system to move to rubbish direction, then controls cleaning mechanism (4) cleaning rubbish.The present invention can automatically and clear up road on one's own initiative, can be used for substituting or auxiliary sanitationman at heavy traffic or the higher Dangerous Area of the speed of a motor vehicle, go on patrol and go deep into road and carry out cleaning work.
Description
Technical field
The invention belongs to intelligent robot technology field, particularly a kind of intelligent robot road cleaning system and method for cleaning, can be used for the cleaning of intelligent road garbage.
Background technology
The cleaning in outdoor road street, is always heavy, dangerous, a not only dirty but also tired job, consumes a large amount of manpower and materials.If particularly having rubbish in cleaning process appears on highway, when sanitationman cleans, close contact can be produced with the vehicle of running at high speed, easily occur by the accident of hitting, serious threat is caused to the life security of road cleaning personnel.In the ever-increasing situation of vehicle per capita, while road cleaning, how to ensure that the life security of road cleaning personnel is urgent problems.
Existing scheme mainly contains following three kinds:
The first scheme is as Chinese patent invention 200910111960.4.The program 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 being arranged on tray bottom is made up of multiple 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 chain, the band conveyer belt of refuse hopper, conveyer belt electric machine, drive sprocket, drive sprocket and adjustment sprocket wheel, can complete cleaning and pour rubbish into dustbin by conveyer belt under rough environment.The advantage of the program is: road cleaning efficiency is high, and cleaning speed, can store the rubbish clearing up in a large number, be modal one in current programme.But the shortcoming that the program exists is: the device used needs manual operation, and automaticity is low; Equipment therefor volume is large, is slow in action, easily causes traffic jam, is not easy to enter heavy traffic section cleaning, limits its service time and use occasion, therefore less to same section clearing times, is difficult to tackle the road garbage frequently occurred.In order to keep road surface clean and tidy, sanitationman still needs frequently to take a risk to step into highway and carries out refuse sweeping.
First scheme is as Chinese utility model patent 201120517848.The program is a kind of micro road sweeper, and this scheme can regard the miniaturization version of ordinary road road-sweeper as.It is made up of front frame, driving cabin and Rear frame.Front frame and Rear frame, to be hinged and connected, reduce car body turning radius.Front frame there are front dustbin, clearing apparatus and dust exhaust apparatus, rubbish can be swept in front dustbin by clearing apparatus, and absorbed the dust swept up by dust exhaust apparatus.Rear frame there are rear dustbin, water tank and discharging device, can road pavement sprinkle water, and the rubbish that before storing, dustbin is collected.The advantage of the program is: have certain rubbish memory space, cleaning efficiency is higher, and equipment therefor volume is compared the first scheme and reduced to some extent, turning radius is little, use occasion is expanded to some extent, as the supplementary use of the first scheme, can use to some extent in megapolis.But the shortcoming that the program exists is: be still based on manned vehicle, still exists and affect road traffic, field of employment and the limited time, cleaning frequency is difficult to the problem ensured, and cost is higher, be not suitable for extensive use, still need sanitationman to take a risk to carry out labor cleaning.
The third scheme is as Chinese patent utility model 201120320493.The program is a kind of device utilizing 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, be provided with garbage collection tank below road under division board with ground.When there being wind to blow over division board sandwich portion, division board interlayer can form the passage of wind, causes both sides inside and outside division board to produce pressure difference, is sucked by rubbish in rubbish groove.Though the program in cleaning process without the need to manual intervention, also energy resource supply is not needed, little to traffic impact, cost is lower, but need to carry out global revision to road itself, be difficult to adapt to various different road conditions, and engineering quantity of certain scale, the road surrounding enviroment of being changed are existed to the impact being difficult to predict.Particularly the program is inreal clean by garbage-cleaning, but is temporarily stored in garbage collection tank, needs regularly to clear up garbage collection tank, and this scale removal process exists certain difficulty with dangerous; Its collection process needs by climatic factor, initiatively cannot clear up because of needs, and its cleaning frequency is determined according to weather, and stability is not enough.
Summary of the invention
The object of the invention is to the deficiency for above-mentioned prior art, a kind of intelligent robot road is provided to clear up system and method, with when not changing this body structure of road, road being implemented to the cleaning repeatedly of active stabilization, and not needing manual operation.
To achieve these goals, intelligent robot road cleaning system of the present invention, comprises
Supersonic sounding unit, for the distance of pick-up transducers preceding object or road garbage, and by this data upload to controller;
Controller, for receiving supersonic sounding cell data and gathering bearing data residing for road cleaning system, and by these data upload to central processing unit;
Binocular camera, is fixed on controller front end, for acquisition camera forward image, and is uploaded to central processing unit;
Central processing unit, be fixed on the bottom of controller, its front end is connected with supersonic sounding unit, for the data that basis receives, identify preceding object and road garbage position and distance, the movement of certainty annuity and cleanup action, 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 garbage;
Cleaning mechanism, is fixed on central processing unit bottom, under the control of the controller, carries out refuse collection and keeps in;
Travel mechanism, is fixed on the bottom of cleaning mechanism, under the control of the controller, realizes the oriented motion of whole system.
As preferably, described range cells is made up of three sensors, and these three sensors are fixed on the front end of central processing unit side by side.
As preferably, described controller internal fixtion has two pieces of control panels, two motor drive plates, camera bracket and camera fixed heads, two pieces of control panels are fixed on the rear portion in controller side by side, two motor drive plate fixing front portions in the controller side by side, camera bracket is fixed on the front end in controller, camera fixed head is connected with camera bracket, and camera fixed head can be used for fixing binocular camera.
As preferably, described central processing unit comprises:
Communication module, for communicating with its exterior, obtaining signal lamp state and these section vehicle flowrate data in road cleaning section, system place, and being encoded to control instruction data, being transferred to decision-making module;
Vision module, for receiving the view data of binocular camera gained, receive the supersonic sounding cell data that controller transmits simultaneously, area-of-interest is judged according to supersonic sounding cell data, by this area-of-interest and view data generating depth map as data, go out obstruction and rubbish position data by this depth image data identification, and be transferred to decision-making module, automatic Pilot module and garbage-cleaning module respectively;
Decision-making module, for judging Move Mode and the pattern of cleaning of system according to control instruction data and obstruction and rubbish position data, and is encoded to decision instruction data, is transferred to automatic Pilot module and garbage-cleaning module simultaneously;
Automatic Pilot module, for receiving the data in direction residing for road cleaning system that controller transmits, and according to these data, decision instruction data and vision module send obstruction and rubbish position data, determine moving direction data, and this bearing data sent to hardware control module;
Garbage-cleaning module, for the action data of the obstruction that sends according to decision instruction and vision module and rubbish position data determination cleaning mechanism, and sends to hardware control module by this action data;
Hardware control module, for being encoded by the action data of moving direction data and cleaning mechanism, sends to controller.
As preferably, described cleaning mechanism internal fixtion has battery, motor, screw mandrel, push pedal, slide plate and a pair mechanical arm, and battery is fixed on 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 mechanical arm is separately fixed at 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, realizes motor and screw mandrel connection between the two by protruding to be engaged mutually with groove.The face of cylinder of this screw mandrel is provided with screw thread, and push pedal is provided with corresponding screwed hole, is engaged with screwed hole by screw thread, the connection of screw mandrel and push pedal in realizing.
As preferably, described travel mechanism's internal fixtion has 4 omni-directional wheels, the motor fixer of 4 motors and correspondence; Described 4 motors are fixed on described motor fixer, and fixator is fixed on the base plate of travel mechanism; Each motor shaft is provided with projection, and each omni-directional wheel is provided with respective slot, is engaged mutually realizes motor and be connected with the corresponding of omni-directional wheel by protruding and groove.
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 section, system place by the signal lamp of crossroad, section, and determines the operative orientation of travel mechanism according to signal lamp indicating status:
2) if signal lamp is red, then central processing unit assigns instruction to controller, drives road cleaning entire system to turn to road center direction, place to control travel mechanism;
If signal lamp is green, then central processor assigns instruction to controller, drives road cleaning entire system to turn to road avris direction, place to control travel mechanism;
3), after having turned to, three sensors of supersonic sounding unit forwards launch ultrasonic wave simultaneously, gather respective echo-signal, and the signal collected separately is uploaded to controller;
4), after controller receives three signals that supersonic sounding unit three sensors transmit, the high level signal duration t of these three sensors is measured respectively
1, t
2, t
3, according to formula d=t × v/2, wherein, v is the velocity of sound, and value is 340m/s, calculates the range data d of the maximum distance that three sensor emission ultrasonic wave arrive
1, d
2, d
3, and be uploaded to central processing unit;
5) color first set up by central processing unit is black view data entirely, as area-of-interest, then to the maximum distance d that 3 sensor emission ultrasonic wave arrive
1, d
2, d
3judge successively, to fill this area-of-interest:
If d
1>20, then some abscissa in area-of-interest being less than area-of-interest width 1/3 is filled to white;
If d
2>20, be then less than area-of-interest width 2/3 by abscissa in area-of-interest and the point being greater than area-of-interest width 1/3 is filled to white;
If d
3>20, then some abscissa in area-of-interest being greater than area-of-interest width 2/3 is filled to white;
6) central processing unit reads its current taken the photograph view data from binocular camera, and generate an image containing actual object three-dimensional information according to this image and area-of-interest, as depth map data, and this depth map is scanned, detect each object, determine the position of obstacle on road and rubbish:
7) if jobbie in depth map, its size is less than 14 × 8cm, be then judged to be rubbish, otherwise is judged to be obstacle, records its coordinate respectively;
8) full figure scanned after, if the rubbish quantity detected not is 0, then perform next step; If the rubbish quantity detected is 0, then central processing unit assigns instruction to controller, and control travel mechanism driving road cleaning entire system first turns to and is parallel to road avris direction, place, then moves forward 2 seconds; Return step (1);
9) central processing unit determines best travel direction according to obstacle and rubbish position data, and assigns to controller by this best travel direction; Controlling travel mechanism by controller drives road to clear up entire system to this direction running after 0.5 second, judge whether nearest rubbish is less than 15 centimetres according to depth image again, if, then controller first controls travel mechanism's drive system entirety and shifts to just to this rubbish place, control cleaning mechanism again clear up and collect rubbish, perform next step afterwards, otherwise return step (2);
10) central processing unit reads its current taken the photograph view data from binocular camera, according to the position that this image recognition goes out to tip rubbish, and to controller assign instruction control travel mechanism drive road cleaning entire system move to dustbin position, control cleaning mechanism again and pour out rubbish, return step (1).
Tool of the present invention has the following advantages:
1) the present invention is owing to being provided with cleaning mechanism, can clear up larger rubbish when body is less; Simultaneously because volume is little, thus can sail into the comparatively large and road of the vehicle flowrate being difficult to clear up due to conventional solution comparatively narrow road section carry out work.
The present invention is owing to being provided with the central processing unit and controller with higher position rationality energy, the data of signal lamp state, binocular camera and supersonic sounding unit can be passed through, for different road conditions plans different route, initiatively find rubbish, and avoid various obstacle, do not need manual intervention therebetween, therefore comparatively conventional solution can reduce human cost, and clearing times can meet road needs simultaneously.
2) have can the travel mechanism of omnidirectional running in the present invention, makes mobility of the present invention far above conventional solution, can avoid vehicle and pedestrian better, therefore on the impact of traffic order far below conventional solution.
Accompanying drawing explanation
Fig. 1 is overall structure schematic diagram of the present invention;
Fig. 2 is the controller architecture schematic diagram in the present invention;
Fig. 3 is the cleaning mechanism structural representation in the present invention;
Fig. 4 is the travel mechanism's structural representation in the present invention;
Fig. 5 is the central processing unit structural representation in the present invention;
Fig. 6 is workflow diagram of the present invention.
Detailed description of the invention
With reference to Fig. 1, intelligent robot road-cleaning system of the present invention, comprises top cover 1, controller 2, central processing unit 3, cleaning mechanism 4, travel mechanism 5, supersonic sounding unit 6 and binocular camera 7.
Wherein, cleaning mechanism 5 is positioned at the central authorities of road cleaning system, carries out garbage-cleaning under control of the controller 2.Travel mechanism 6 is fixed on the lower floor of cleaning mechanism 5, drives road cleaning entire system to move under control of the controller 2.Central processing unit 3 is fixed on the upper strata of cleaning mechanism 5, for identifying position and the distance of preceding object and road garbage, the movement of certainty annuity and cleanup action, assigns to controller 2.Supersonic sounding unit 6 is fixed on central processing unit 3 front end, it is made up of the ultrasonic range finder sensor of three side by side, each ultrasonic range finder sensor all continues to launch ultrasonic wave, and receive its respective echo, this echo-signal is uploaded to controller 2, after being encoded by controller 2, is uploaded to central processing unit 3.Controller 2 is fixed on central processing unit 3 upper strata, encodes to the data of ultrasonic range finder sensor 6, 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 7 is fixed on controller 2 front end; Its finding image of continuous acquisition, reads for central processing unit 3.Top cover 1 covers above controller 2, bonded to each other between each layer, and this top cover 1 is the protective cover of road cleaning system top level, can, under controller 2 dismounting, facilitate body to keep in repair adjustment.
As shown in Figure 2, described controller 2, comprises shell 22, two pieces of control panels 211 and 212, two motor drive plates 231 and 232, camera bracket 24 and camera fixed heads 25.Wherein:
It is rear portion that first control panel 211 and the second control panel 212 are fixed in shell 22 side by side.First control panel 211 primary responsibility reads the data of supersonic sounding unit 6, and be uploaded to central processing unit 3 to after this data encoding, meanwhile, the first control panel 211 is also integrated with electronic compass sensor, in order to gather bearing data residing for road cleaning system, and be uploaded to central processing unit 3.The low-power machine running of the second control panel 212 Direct driver cleaning mechanism 4, and by control first motor drive plate 231 and the second motor drive plate 232, drive 4 heavy-duty motor runnings of travel mechanism 5.
First motor drive plate 231 and the second motor drive plate 232 are fixed on the front portion in controller 2 side by side.Second control panel 212 provides control signal to the first motor drive plate 231 and the second motor drive plate 232, first motor drive plate 231 and the second motor drive plate 232 are under the control of the second control panel 212, respectively according to 2 motors of the order-driven travel mechanism 5 of central processing unit 3, complete shift action.
Camera bracket 24 is fixed on the front end of shell 22, and camera fixed head 25 is housed, in order to install binocular camera 7.
As shown in Figure 5, described central processing unit 3, adopt but be not limited to the mainboard that a piece is integrated with 64 bit processors, it comprises communication module 31, vision module 32, decision-making module 33, automatic Pilot module 34, refuse sweeping module 35 and hardware control module 36.Wherein:
Communication module 31, is responsible for communicating with its exterior, obtains the signal lamp state in road cleaning section, system place, and is encoded to control instruction data, be transferred to decision-making module 33;
Vision module 32, is responsible for from binocular camera 7, read its current taken the photograph view data, receives the supersonic sounding cell data that controller 2 transmits simultaneously, generates a black and white binary image, as area-of-interest according to supersonic sounding cell data.By this area-of-interest and view data generating depth map as data, obstruction and rubbish position data is gone out by this depth image data identification, and be transferred to decision-making module 33, automatic Pilot module 34 and garbage-cleaning module 35 respectively, this obstruction refers to that size is 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, send decision instruction to automatic Pilot module 34 and garbage-cleaning module 35;
Automatic Pilot module 34, bearing data residing for the road cleaning system transmitted according to decision instruction data receiver controller 2, and according to obstruction and rubbish position data, determine moving direction data, these moving direction data are sent to hardware control module 36, make road clear up system while movement, get around obstruction in advance;
Refuse sweeping module 35, the obstruction sent according to vision module 32 and the action data of rubbish position data determination cleaning mechanism, and this action data is sent to hardware control module 36, this action can make road clear up systematic collection or dump rubbish;
Hardware control module 36, after receiving the behavior command that automatic Pilot module 34 and garbage-cleaning module 35 transmit, sets up communication with controller 2, controls travel mechanism and cleaning mechanism completes 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 mechanical arm 46.Wherein:
Power supply 41, is fixed on the rear end in cleaning mechanism, and it is one piece of Li-Ion rechargeable battery being surrounded by hard shell, and its maximum voltage is 12V, maximum current 7A.
Screw mandrel 43, adopt circular configuration, end face has groove thereafter, and screw thread is carved with in circle side.
Motor 42, the end on its axle is provided with the projection corresponding with screw mandrel 43 groove, is mutually engaged with the groove of screw mandrel 43 by the projection of motor 42, makes motor 42 drive screw mandrel 43 to rotate.
Push pedal 44, inside be provided with the screwed hole corresponding with screw mandrel 43 circle flank threads, screw-threaded engagement in screw thread on screw mandrel 43 and push pedal 44 screwed hole, the rotation of screw mandrel 43 is made to drive push pedal 44 to seesaw, when the action that cleaning system execution rubbish is toppled over, screw mandrel 43 drives push pedal 44 to be released by the rubbish in cleaning mechanism.
Slide plate 45, it is connected with push pedal 44, and being moved by push pedal 44 drives slide plate 45 to seesaw, and after slide plate 45 is released cleaning mechanism 4 by push pedal 44 completely, slide plate 45 freely hangs down, and forms a ramp with ground, facilitates rubbish to enter in cleaning mechanism; After rubbish is poured out, or after rubbish enters cleaning mechanism, slide plate 45, to the motion of cleaning mechanism 4 inboard, is withdrawn into cleaning mechanism 4 inner by push pedal 44.
A pair mechanical arm 46, symmetry is 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, be fixed with baffle plate 465.First arm 462 is fixed together with upper arm steering wheel 461.The tail end of first arm 462 has circular hole, and the axle for upper arm steering wheel 461 is fixed through this hole and cleaning mechanism 4 outer wall.Second arm 464 is fixed together with underarm steering wheel 463.The tail end of second arm 464 has circular hole, and the axle for underarm steering wheel 463 is fixed through this hole and first arm 461.Baffle plate 465 is fixed between the end of two second arms 464.Whole mechanical arm 46 is controlled to carry out stretching Qu Yundong, by rubbish uncinate gyrus in cleaning mechanism 4 by controller 2.
As shown in Figure 4, described travel mechanism 5 comprises four motor fixers, 511,512,513,514, four power motors 521,522,523,524, four omni-directional 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 the corner of this base.
First power motor 521 is fixed on the first motor fixer 511; Second power motor 522 is fixed on the second motor fixer 512; Three-power electric machine 523 is fixed on the 3rd motor fixer 513; 4th power motor 524 is fixed on the 4th motor fixer 514.
First omni-directional wheel 531 is plugged on the first power motor 521 and also drives by the first power motor 521, second omni-directional wheel 532 is plugged on the second power motor 522 and also drives by the second power motor 522,3rd omni-directional wheel 533 is plugged on three-power electric machine 523 and also drives by three-power electric machine 523, and the 4th omni-directional wheel 534 is plugged on the 4th power motor 524 and also drives by the 4th power motor 524.Described grafting is provided with projection on the axle of each power motor, and each omni-directional wheel is provided with respective slot, is engaged the corresponding grafting realizing power motor and omni-directional wheel by protruding and groove mutually.
Described 4 omni-directional wheels 531,532,533,534 are all equipped with 8 passive rollers along its respective round side, make it radially initiatively roll in direction, again can along the passive rolling of its axial direction.Due to this characteristic, under control of the controller 2, moving in the direction that native system is specified directly to central processing unit 3 when not turning to, has higher mobility in travel mechanism 5.
With reference to Fig. 6, the present invention utilizes said system to carry out the method for road-cleaning, comprises the following steps:
Step 1, determines operative orientation.
Central processing unit 3 obtains the signal lamp indicating status in road cleaning section, system place by the signal lamp of crossroad, section, and determines the operative orientation of travel mechanism 5 according to signal lamp indicating status:
If signal lamp is red, then central processing unit 3 assigns instruction to controller 2, drives road cleaning entire system to turn to road center direction, place to control travel mechanism 5.If signal lamp is green, then central processor 3 assigns instruction to controller 2, drives road to clear up system to control travel mechanism 5
System entirety turns to road avris direction, place.
This road center direction and way-out avris direction by user according to use section towards arranging voluntarily.
Step 2, gathers and changes the data of supersonic sounding unit.
Three sensors of supersonic sounding unit 6 forwards launch ultrasonic wave simultaneously, gather respective echo-signal, and the signal collected separately is uploaded to controller 2.Controller 2 measures the high level signal duration t of these three sensors after receiving three signals that supersonic sounding unit 6 three sensors transmit respectively
1, t
2, t
3, according to formula d=t × v/2, calculate the range data d of the maximum distance that three sensor emission ultrasonic wave arrive
1, d
2, d
3, and be uploaded to central processing unit 3, wherein, v is the velocity of sound, and value is 340m/s.
Step 3, sets up area-of-interest.
A color first set up by central processing unit 3 is black view data entirely, as area-of-interest, then to the maximum distance d that 3 sensor emission ultrasonic wave arrive
1, d
2, d
3judge successively, to fill this area-of-interest:
If first ultrasonic range finder sensor launches the maximum distance d of ultrasonic wave arrival
1>20, then some abscissa in area-of-interest being less than area-of-interest width 1/3 is filled to white;
If second ultrasonic range finder sensor launches the maximum distance d of ultrasonic wave arrival
2>20, be then less than area-of-interest width 2/3 by abscissa in area-of-interest and the point being greater than area-of-interest width 1/3 is filled to white;
If the 3rd ultrasonic range finder sensor launches the maximum distance d of ultrasonic wave arrival
3>20, then some abscissa in area-of-interest being greater than area-of-interest width 2/3 is filled to white.
Step 4, detects road garbage and obstacle.
Central processing unit 3 reads its current taken the photograph view data from binocular camera 7, and generate an image containing actual object three-dimensional information according to this image and area-of-interest, as depth map data, and this depth map is scanned, detect each object, determine the position of obstacle on road and rubbish:
If jobbie in depth map, its size is less than 14 × 8cm, be then judged to be rubbish, and records its coordinate; If its size is greater than 14 × 8cm, be then judged to be obstacle, and record its coordinate;
After full figure is scanned, if the rubbish quantity detected not is 0, then perform next step; If the rubbish quantity detected is 0, then central processing unit 3 assigns instruction to controller 2, controls travel mechanism 5 and drives road to clear up entire system first to turn to and be parallel to road avris direction, place, then move forward 2 seconds, return step 1.
Step 5, refuse collection.
(5A) central processing unit 3 determines best travel direction according to obstacle and rubbish position data:
(5A1) in the rubbish detected, check the distance of its distance road-cleaning system successively, find nearest rubbish;
(5A2) with depth map bottom center for starting point, with found nearest rubbish coordinate for terminal, connect for line segment, with this line segment for axis, do width be road cleaning system-wide rectangle, as path rectangle;
If (5A3) path rectangle overlaps with obstruction, then with depth map bottom center for axle, be rotated counterclockwise path rectangle to not overlapping with obstruction, if rotate to path rectangle to touch image border, still overlap with obstruction, then path rectangle is gone to by vertical position dextrorotation and does not overlap with obstruction, if rotate to path rectangle to touch image border, still overlap with obstruction, then path rectangle is set to level left, and terminate scanning; If scan rubbish coordinate be expert at, then terminate scanning;
(5A4) after the end of scan, using the axis direction of this path rectangle as best travel direction.
(5B) this best travel direction is assigned to controller 2, controlling travel mechanism 5 by controller 2 drives road to clear up entire system to this direction running after 0.5 second, judge whether nearest rubbish is less than 15 centimetres according to depth map again, if, then controller 2 first controls travel mechanism 5 drive system entirety and shifts to just to this rubbish place, control cleaning mechanism 4 again a pair mechanical arm 46 and slide plate 45 are stretched out, by a pair mechanical arm 46, rubbish uncinate gyrus is inner to cleaning mechanism 4, and regain slide plate, perform next step afterwards; Otherwise return step 1.
Step 6, rubbish is toppled over.
Central processing unit 3 reads its current taken the photograph view data from binocular camera 7, according to the position that this image recognition goes out to tip rubbish, and to controller 2 assign instruction control travel mechanism 5 drive road clear up entire system move to dustbin position, control cleaning mechanism again and pour out rubbish, return step 1;
Conveniently the identification of road cleaning system, described garbage box posts the mark facilitating road to clear up system identification.
Claims (8)
1. an intelligent robot road cleaning system, comprising:
Supersonic sounding unit (6), for the distance of pick-up transducers preceding object thing or road garbage, and is uploaded to controller (2) by this range data;
Controller (2), for receiving the range data that supersonic sounding unit sends and the bearing data gathered residing for road cleaning system, and by these data upload to central processing unit (3);
Binocular camera (7), is fixed on controller (2) front end, for acquisition camera forward image, and is uploaded to central processing unit (3);
Central processing unit (3), be fixed on the bottom of controller (2), its front end is connected with supersonic sounding unit (6), for the data that basis receives, identify preceding object thing and road garbage position and distance, the movement of certainty annuity and cleanup action, and action command is conveyed to controller (2), control travel mechanism (5) and cleaning mechanism (4) by controller and carry out entire system and move and clear up road garbage;
Cleaning mechanism (4), is fixed on central processing unit (3) bottom, under the control of the controller, carries out refuse collection and keeps in;
Travel mechanism (5), is fixed on the bottom of cleaning mechanism (4), under the control of the controller, realizes the oriented motion of whole system;
Described central processing unit (3) comprising:
Communication module (31), for communicating with its exterior, obtaining signal lamp state and these section vehicle flowrate data in road cleaning section, system place, and being encoded to control instruction data, being transferred to decision-making module (33);
Vision module (32), for receiving the view data of binocular camera (7) gained, receive the supersonic sounding cell data that controller (2) transmits simultaneously, area-of-interest is judged according to supersonic sounding cell data, by this area-of-interest and view data generating depth map as data, go out obstruction and rubbish position data by this depth image data identification, and be transferred to decision-making module (33), automatic Pilot module (34) and garbage-cleaning module (35) respectively;
Decision-making module (33), for judging Move Mode and the pattern of cleaning of system according to control instruction data and obstruction and rubbish position data, and be encoded to decision instruction data, be transferred to automatic Pilot module (34) and garbage-cleaning module (35) simultaneously;
Automatic Pilot module (34), for receiving the data in direction residing for road cleaning system that controller (2) transmits, and the obstruction sent according to these data, decision instruction data and vision module (32) and rubbish position data, determine moving direction data, and these moving direction data are sent to hardware control module (36);
Garbage-cleaning module (35), for the action data of the obstruction that sends according to decision instruction data and vision module (32) and rubbish position data determination cleaning mechanism, and this action data is sent to hardware control module (36);
Hardware control module (36), for being encoded by the action data of moving direction data and cleaning mechanism, sends to controller (2);
Described travel mechanism (5) internal fixtion has 4 omni-directional wheels (531,532,533,534), the motor fixer (511,512,513,514) of 4 motors (521,522,523,524) and correspondence; Described 4 motors are fixed on described motor fixer, and motor fixer is fixed on the base plate of travel mechanism (5); The axle of each motor is provided with projection, and each omni-directional wheel is provided with respective slot, is engaged mutually realizes motor and be connected with the corresponding of omni-directional wheel by protruding and groove.
2. intelligent robot road cleaning system according to claim 1, is characterized in that: supersonic sounding unit is made up of three sensors, and these three sensors are fixed on the front end of central processing unit side by side.
3. intelligent robot road cleaning system according to claim 1, it is characterized in that: controller (2) internal fixtion has two pieces of control panels (211, 212), two motor drive plates (231, 232), camera bracket (24) and camera fixed head (25), two pieces of control panels (211, 212) rear portion in controller (2) is fixed on side by side, two motor drive plates (231, 232) front portion in controller (2) is fixed on side by side, camera bracket (24) is fixed on the front end in controller (2), camera fixed head (25) is connected with camera bracket (24), camera fixed head can be used for fixing binocular camera (7).
4. intelligent robot road cleaning system according to claim 1, it is characterized in that: cleaning mechanism (4) internal fixtion has battery (41), motor (42), screw mandrel (43), push pedal (44), slide plate (45) and a pair mechanical arm (46), battery (41) is fixed on 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 mechanical arm (46) is separately fixed at cleaning mechanism both sides external.
5. according to the intelligent robot road cleaning system described in claim 4, 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, realizes motor and screw mandrel connection between the two by protruding to be engaged mutually with groove.
6. according to the intelligent robot road cleaning system described in claim 4, 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, engaged with screwed hole by screw thread, realize the connection of screw mandrel (43) and push pedal (44).
7. utilize intelligent robot road cleaning system described in claim 1 to carry out a method for road cleaning, comprise the following steps:
Central processing unit (3) obtains the signal lamp state in road cleaning section, system place by the signal lamp of crossroad, section, and determines the operative orientation of travel mechanism (5) according to signal lamp state:
If signal lamp is red, then central processing unit (3) assigns instruction to controller (2), drives road cleaning entire system to turn to road center direction, place to control travel mechanism (5);
If signal lamp is green, then central processing unit (3) assigns instruction to controller (2), drives road cleaning entire system to turn to road avris direction, place to control travel mechanism (5);
(7a), after having turned to, three sensors of supersonic sounding unit (6) forwards launch ultrasonic wave simultaneously, gather respective echo-signal, and the signal collected separately is uploaded to controller (2);
(7b), after controller (2) receives three signals that supersonic sounding unit (6) three sensors transmit, the high level signal duration t of these three sensors is measured respectively
1, t
2, t
3, according to formula d=t × v/2, wherein, v is the velocity of sound, and value is 340m/s, calculates the range data d of the maximum distance that three sensor emission ultrasonic wave arrive
1, d
2, d
3, and be uploaded to central processing unit (3);
(7c) color first set up by central processing unit (3) is black view data entirely, as area-of-interest, then the range data d to the maximum distance that 3 sensor emission ultrasonic wave arrive
1, d
2, d
3judge successively, to fill this area-of-interest:
If d
1>20, then some abscissa in area-of-interest being less than area-of-interest width 1/3 is filled to white;
If d
2>20, be then less than area-of-interest width 2/3 by abscissa in area-of-interest and the point being greater than area-of-interest width 1/3 is filled to white;
If d
3>20, then some abscissa in area-of-interest being greater than area-of-interest width 2/3 is filled to white;
(7d) central processing unit (3) reads its current taken the photograph view data from binocular camera (7), and generate an image containing actual object three-dimensional information according to this image and area-of-interest, as depth image data, and this depth image is scanned, detect each object, determine the position of obstruction on road and rubbish:
If jobbie in depth image, its size is less than 14 × 8cm, be then judged to be rubbish, otherwise is judged to be obstruction, records its coordinate respectively;
After full figure is scanned, if the rubbish quantity detected not is 0, then perform next step; If the rubbish quantity detected is 0, then central processing unit (3) assigns instruction to controller (2), control travel mechanism (5) driving road cleaning entire system first turns to and is parallel to road avris direction, place, then moves forward 2 seconds; Return step (7a);
Central processing unit (3) determines best travel direction according to obstacle and rubbish position data, and assigns to controller (2) by this best travel direction; Controlling travel mechanism (5) by controller (2) drives road to clear up entire system to this direction running after 0.5 second, judge whether nearest rubbish is less than 15 centimetres according to depth image again, if, then controller (2) first controls travel mechanism's drive system entirety and shifts to just to this rubbish place, control cleaning mechanism (4) again clear up and collect rubbish, perform next step afterwards, otherwise return step (7b);
(7e) central processing unit (3) reads its current taken the photograph view data from binocular camera (7), according to the position that this image recognition goes out to tip rubbish, and to controller (2) assign instruction control travel mechanism (5) drive road cleaning entire system move to dustbin position, control cleaning mechanism again and pour out rubbish, return step (7a).
8. intelligent robot road cleaning system according to claim 7 carries out the method for road cleaning, central processing unit (3) wherein described in step (7d) determines best travel direction according to obstacle and rubbish position data, carries out as follows:
(7d1) in the rubbish detected, check that it clears up the distance of system apart from road successively, find nearest rubbish;
(7d2) with depth image bottom center for starting point, with found nearest rubbish coordinate for terminal, connect for line segment, with this line segment for axis, do width be road cleaning system-wide rectangle, as path rectangle;
If (7d3) path rectangle overlaps with obstruction, then with depth image bottom center for axle, be rotated counterclockwise path rectangle to not overlapping with obstruction, if rotate to path rectangle to touch image border, still overlap with obstruction, then path rectangle is gone to by vertical position dextrorotation and does not overlap with obstruction, if rotate to path rectangle to touch depth image edge, still overlap with obstruction, then path rectangle is set to level left, and terminate scanning; If scan rubbish coordinate be expert at, then terminate scanning;
(7d4) after the end of scan, using the axis direction of this path rectangle as best travel direction.
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