CN112207845A - Robot for automatically sorting, transporting and putting garbage - Google Patents
Robot for automatically sorting, transporting and putting garbage Download PDFInfo
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- CN112207845A CN112207845A CN202011227951.4A CN202011227951A CN112207845A CN 112207845 A CN112207845 A CN 112207845A CN 202011227951 A CN202011227951 A CN 202011227951A CN 112207845 A CN112207845 A CN 112207845A
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- 239000010813 municipal solid waste Substances 0.000 title claims abstract description 174
- 230000002146 bilateral effect Effects 0.000 claims description 3
- 238000000151 deposition Methods 0.000 claims 2
- 238000004140 cleaning Methods 0.000 abstract description 4
- 230000003203 everyday effect Effects 0.000 abstract description 3
- 238000005192 partition Methods 0.000 abstract description 2
- 238000012544 monitoring process Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 4
- 210000001503 joint Anatomy 0.000 description 3
- 230000007613 environmental effect Effects 0.000 description 2
- 238000010191 image analysis Methods 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- 206010011409 Cross infection Diseases 0.000 description 1
- 206010029803 Nosocomial infection Diseases 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000002354 daily effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012384 transportation and delivery Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/38—Collecting or arranging articles in groups
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/087—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices for sensing other physical parameters, e.g. electrical or chemical properties
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F1/00—Refuse receptacles; Accessories therefor
- B65F1/14—Other constructional features; Accessories
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Multimedia (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Abstract
The invention provides a robot for automatically sorting, transporting and throwing garbage, and aims to improve the automation degree of a garbage sorting robot at the present stage. The five-axis mechanical arm is installed on a partition plate at the front end of the four-wheel omnidirectional movement chassis, the two-dimensional lifting structure is fixed in the middle of the four-wheel omnidirectional movement chassis, the left garbage hopper is installed on a left auxiliary sliding block of the two-dimensional lifting structure, and the right garbage hopper is installed on a right auxiliary sliding block of the two-dimensional lifting structure. The invention integrates the functions of picking up, classifying, transporting and putting in garbage, and the robot can inspect, recognize, classify, transport and put in the garbage in public places such as hospitals and stations in real time without cleaning workers and people regularly cleaning every day. Two-dimensional lift rubbish fill device in the robot can directly use with current outdoor garbage bin cooperation, need not to customize special garbage bin, can save a large amount of costs.
Description
Technical Field
The invention belongs to the technical field of environmental protection equipment, and particularly relates to a robot for automatically sorting, transporting and throwing garbage.
Background
In recent years, domestic economy is rapidly developed, the living standard of people is continuously improved, the discharge of domestic garbage is inevitably increased, the damage to the environment is gradually increased, particularly, in some places with dense population, a large amount of daily garbage is generated every day, garbage classification is an important way for solving the problems of sudden increase of garbage yield, low treatment efficiency and the like, the clearing link after garbage classification collection is still mainly manual operation at present, and according to statistics, nearly 60% of sanitation workers in China exceed 50 years old at present, the problems of labor shortage, serious aging, low efficiency and the like exist.
The existing garbage treatment equipment mainly has two types, one type is an intelligent garbage can capable of classifying garbage, and the other type is a garbage sorting workstation consisting of a mechanical arm and a conveyor belt. The research on the robot for picking, classifying, integrating, transporting and throwing the garbage is not perfect, and although the Chinese patent CN208914092U discloses an intelligent garbage sorting robot, the robot can identify and store the garbage in a classified manner, but can not throw the garbage, so that the garbage throwing still needs to be completed by workers, and a set of independent structural system is not formed. Therefore, a garbage sorting and cleaning robot with a simple structure and a high degree of automation is needed, which can autonomously plan a path for patrol, garbage recognition, classified storage, transportation and delivery.
Disclosure of Invention
The invention provides a robot for automatically sorting, transporting and throwing garbage, which aims to solve the problems of a garbage sorting robot in the current stage, so as to improve the environmental sanitation of the current public places, improve the working environment of sanitation workers and save labor force, and the technical scheme of the invention is as follows by combining the attached drawings of the specification:
the four-wheel omnidirectional moving chassis charging pile comprises a five-axis mechanical arm 1, a four-wheel omnidirectional moving chassis 2, a two-dimensional lifting structure 3, a left garbage hopper 4, a right garbage hopper 5 and a charging pile 6, wherein the five-axis mechanical arm 1 is installed on a front end partition plate 203 of the four-wheel omnidirectional moving chassis 2, the two-dimensional lifting structure 3 is fixed in the middle of the four-wheel omnidirectional moving chassis 2 through bolts, the left garbage hopper 4 is installed on a left auxiliary sliding block 308 of the two-dimensional lifting structure 3, and the right garbage hopper 5 is installed on a right auxiliary sliding block 309 of the two-dimensional lifting structure 3.
The two-dimensional lifting structure 3 is a bilateral symmetry structure, and further comprises a main guide rail 301, a left main sliding block 302, a right main sliding block 303, a left main motor 304, a right main motor 305, a left auxiliary guide rail 306, a right auxiliary guide rail 307, a left auxiliary motor 310, a right auxiliary motor 311, a left main screw rod 312, a right main screw rod 313, a left auxiliary screw rod 314 and a right auxiliary screw rod 315, wherein the main guide rail 301, the left auxiliary guide rail 306 and the right auxiliary guide rail 307 are dual-optical-axis screw rod linear guide rails, the left main sliding block 302 and the right main sliding block 303 are adapted to the main guide rail 301, the left auxiliary guide rail 306 is mounted on the left main sliding block 302, the right auxiliary guide rail 307 is mounted on the right main sliding block 303, the left auxiliary sliding block 308 is adapted to the left auxiliary guide rail 306, the right auxiliary sliding block 309 is adapted to the right auxiliary guide rail 307, the left main motor 304 is connected with the left main sliding block 302 through the left main screw rod 312, the right main motor 305 is connected with the right main sliding block 303 through the right main screw rod 313, the left auxiliary motor 310 is connected with the left auxiliary sliding block 308 through the left auxiliary screw rod 314, and the right auxiliary motor 311 is connected with the right auxiliary sliding block 309 through the right auxiliary screw rod 315.
The left garbage hopper 4 consists of a left box body 401, a left upper cover 402, a left conveyor belt 403, a left rear cover 404, a left upper cover steering engine 405, a left laser sensor 406 and a left rear cover steering engine 407; the left box body 401 and the left upper cover 402 are connected through the left upper cover steering engine 405 and the left upper cover 402 is opened and closed, the left laser sensor 406 is installed at the upper end of the inside of the left box body 401, the left conveyor belt 403 is installed at the bottom of the left box body 401, and the left box body 401 and the left rear cover 404 are connected through the left rear cover steering engine 407) and the left rear cover 404 is opened and closed.
The right garbage hopper 5 consists of a right box body 501, a right upper cover 502, a right conveyor belt 503, a right rear cover 504, a right upper cover steering engine 505, a right laser sensor 506 and a right rear cover steering engine 507; the right box body 501 and the right upper cover 502 are connected through the right upper cover steering engine 505 and are opened and closed, the right upper cover 502 is opened and closed, the right laser sensor 506 is installed at the upper end of the inside of the right box body 501, the right conveyor belt 503 is installed at the bottom of the right box body 501, and the right box body 501 and the right rear cover 504 are connected through the right rear cover steering engine 507) and are opened and closed, and the right rear cover 504 is opened and closed.
The front end of four-wheel omnidirectional movement chassis 2 has set up front end baffle 203 be equipped with on the front end baffle 203 and supply the fixed slot that five arms 1 put into below the front end baffle 203 and install laser radar 204 at the front end of chassis 205 the above-mentioned intermediate position on chassis 205 is equipped with the confession the fixed slot that two-dimensional elevation structure 3 put into the rear face of chassis 205 has installed USB camera 201 the charging contact piece 202 is installed below the rear end of chassis 205.
The charging head 601 corresponding to the charging contact sheet 202 is installed at the lower end of the charging pile 6, and the two-dimensional code pasting position 602 is located at the middle position right in front of the charging pile 6.
The tail end executing mechanism of the five-axis mechanical arm 1 is a vacuum suction device 101, a left camera 102 and a right camera 103 are installed on a fixing plate 104, and the fixing plate 104 is fixed at the tail end of the five-axis mechanical arm 1 through a connecting frame 105.
Inside the chassis 205, from front to back, a mechanical arm motor drive 210, an air pump drive 211, a mechanical arm processor 207, a main processor 206, a garbage hopper motor drive 213, a garbage hopper steering engine drive 214, a chassis processor 208, a conveyor belt drive 215, a garbage hopper processor 209, a chassis motor drive 212 and a power supply 216 are arranged in sequence from left to right;
the laser radar 204, the USB camera 201, the left camera 102 and the right camera 103 are respectively connected to the main processor 206;
the robot arm processor 207 is connected to the main processor 206, the robot arm motor driver 210 and the air pump driver 211 are respectively connected to the robot arm processor 207, an output terminal of the robot arm motor driver 210 is connected to the robot arm motor, and an output terminal of the air pump driver 211 is connected to the air pump motor;
the chassis processor 208 is connected with the main processor 206, the chassis motor driver 212 is connected with the chassis processor 208, and the output end of the chassis motor driver 212 is connected with a chassis motor;
the garbage bucket processor 209 is connected with the main processor 206, the left laser sensor 406 and the right laser sensor 506 are respectively connected with the garbage bucket processor 209, the garbage bucket motor drive 213, the garbage bucket steering engine drive 214 and the conveyor belt drive 215 are respectively connected with the garbage bucket processor 209, the output end of the garbage bucket motor drive 213 is connected with the motor of the two-dimensional lifting structure 3, the output end of the garbage bucket steering engine drive 214 is connected with the steering engines of the left garbage bucket 4 and the right garbage bucket 5, and the output end of the conveyor belt drive 215 is connected with the conveyor belt motor;
the power supply 216 is connected with the five-axis mechanical arm 1, the four-wheel omnidirectional moving chassis 2, the two-dimensional lifting structure 3, the left garbage hopper 4 and the right garbage hopper 5 through a voltage division circuit, is connected with a motor and a motor, is connected with the laser radar 204, the USB camera 201, the left camera 102 and the right camera 103, and provides electric energy.
The working principle of the invention is that a mature SLAM algorithm is used, the laser radar 204 is used for scanning a working scene, scanning information is transmitted to the main processor 206, and a map is built; after the map is built, performing global path planning in the main processor 206, then performing local path planning by combining with real-time scanning information of the laser radar 204, outputting a control instruction to the chassis processor 208, analyzing the control instruction by the chassis processor 208, outputting a control signal to the chassis motor driver 212, and controlling the chassis motor to run by the chassis motor driver 212 to enable the robot to walk; in the walking process of the robot, the left camera 102 and the right camera 103 at the tail end of the five-axis mechanical arm 1 acquire images in real time, transmit the images to the main processor 206 for image analysis and processing, once garbage is detected, the main processor 206 sends a control instruction to the chassis processor 208 to control the robot to stop walking, at the moment, the garbage is identified and classified, the three-dimensional space positioning of the garbage is carried out by using the view difference of the images shot by the left camera 102 and the right camera 103, data is transmitted to the mechanical arm processor 207 to analyze and process the position information of the garbage, each motor on the mechanical arm is controlled to run to a target position by the mechanical arm motor driver 210, the air pump driver 211 controls the air pump to suck the garbage, and the main processor 206 sends a control instruction to the garbage hopper processor 209 by combining the type information of the garbage, analyzing the instruction, sending a control signal to the garbage hopper steering engine drive 214, opening the corresponding garbage hopper upper cover, putting picked garbage into the garbage hopper by the mechanical arm, closing the garbage hopper upper cover, then continuing walking by the robot, and repeating the step after recognizing the garbage; the laser sensor at the upper end of the interior of the garbage hopper is used for monitoring whether the garbage is full or not, transmitting monitoring information to the garbage hopper processor 209, when it is detected that the garbage bin is full of garbage, the garbage bin processor 209 sends monitoring information to the main processor 206, the main processor 206 sends a control command to the chassis processor 208 to control the robot to move to a garbage can or a garbage disposal center, and after reaching a destination, the main processor 206 sends a control instruction to the garbage hopper processor 209, analyzes the instruction, sends a control signal to the garbage hopper motor drive 213, the garbage hopper steering engine drive 214 and the conveyor belt drive 215, controls the two-dimensional lifting structure 3 of the robot to move to a corresponding position, controls the garbage hopper steering engine to move so as to open a rear cover of a corresponding garbage hopper, controls the conveyor belt to operate, realizes the throwing of garbage, and continues to walk to detect the garbage after the throwing is finished; when the robot is in the low voltage state, host processor 206 sends control command for chassis treater 208 control robot moves to filling the stake front 30 centimetres department, this moment, four-wheel omnidirectional movement chassis 2 USB camera 201 can discern and post and be in fill the two-dimensional code on the stake 6, and then can confirm the robot and fill the position relation between the stake, then adjust the position of automobile body for the two-dimensional code through PID, realize the robot and fill the accurate butt joint of stake, realize that the robot is independently charged.
The robot for automatically sorting, transporting and putting in the garbage has the advantages that the robot integrates garbage picking, classifying, transporting and putting in, can patrol, recognize, classify, transport and put in the garbage in public places such as hospitals, wholesale markets and stations in real time, does not need cleaning workers to clean the garbage at regular time every day, reduces the risk of cross infection among the workers, and effectively resists epidemic; the two-dimensional lifting garbage bucket device in the robot can be directly matched with the existing outdoor garbage can for use, a special garbage can is not required to be customized, and a large amount of cost can be saved; the robot uses two-dimensional laser radar as the main, and the comprehensive positioning scheme of visual identification as assisting can realize the millimeter level location of key point, can realize robot and garbage bin, the accurate butt joint of filling electric pile from this function.
Drawings
FIGS. 1 and 2 are schematic structural views of the present invention;
FIG. 3 is a schematic view of a two-dimensional lifting structure according to the present invention;
FIGS. 4 and 5 are schematic views of the left garbage hopper of the present invention;
FIGS. 6 and 7 are schematic views of the right garbage hopper according to the present invention;
fig. 8 and 9 are schematic views of the external structure of the four-wheel omnidirectional movement chassis of the invention;
FIG. 10 is a schematic diagram of a charging pile according to the present invention;
FIGS. 11 and 12 are schematic views of the end structures of the robot arm of the present invention;
FIG. 13 is a schematic view of the internal structure of the four-wheel omni-directional mobile chassis according to the present invention;
FIG. 14 is a circuit control schematic of the present invention;
FIG. 15 is a schematic view of the robotic arm of the present invention in a position to deposit waste into the right waste hopper;
fig. 16 and 17 are schematic views showing the left garbage hopper of the present invention in a state of throwing garbage outward.
In the figure, 1, a five-shaft mechanical arm, 2, a four-wheel omnidirectional moving chassis, 3, a two-dimensional lifting structure, 4, a left garbage hopper, 5, a right garbage hopper, 6, a charging pile, 101, a vacuum suction device, 102, a left camera, 103, a right camera, 104, a fixing plate, 105, a connecting frame, 201, a USB camera, 202, a charging contact sheet, 203, a front end clapboard, 204, a laser radar, 205, a chassis, 206, a main processor, 207, a mechanical arm processor, 208, a chassis processor, 209, a garbage hopper processor, 210, a mechanical arm motor drive, 211, an air pump drive, 212, a chassis motor drive, 213, a garbage hopper motor drive, 214, a garbage hopper steering engine drive, 215, a conveyor belt drive, 216, a power supply, 301, a main guide rail, 302, a left main slide block, 303, a right main slide block, 304, a left main motor, 305, a right main motor, 306, a left auxiliary guide rail, 307, a right auxiliary guide rail, 308. The left and right double-screw conveyor belt comprises a left and right double-screw slider, 309 a right double-screw slider, 310 a left and right double-screw motor, 311 a right double-screw motor, 312 a left and right main screw rod, 313 a right and right main screw rod, 314 a left and right double-screw rod, 315 a right and right double-screw rod, 401 a left box body, 402 a left upper cover, 403 a left conveyor belt, 404 a left and right rear cover, 405 a left upper cover steering engine, 406 a left laser sensor, 407 a left and rear cover steering engine, 501 a right box body, 502 a right upper cover, 503 a right conveyor belt, 504 a right and rear cover, 505 a right upper cover steering engine, 506 a right laser sensor, 507 a right and rear cover steering engine, 601 a charging head, 602 a two-dimensional code pasting part.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Examples
Referring to fig. 1-17, the present invention provides the following technical solutions: the utility model provides a robot for rubbish automatic sorting, transportation and input, includes five arms 1, four-wheel omnidirectional movement chassis 2, two-dimentional elevation structure 3, left rubbish fill 4, right rubbish fill 5 and fill electric pile 6, five arms 1 are installed on four-wheel omnidirectional movement chassis 2's front end baffle 203, two-dimentional elevation structure 3 passes through the bolt fastening and is in four-wheel omnidirectional movement chassis 2's rear end, left rubbish fill 4 is installed on two-dimentional elevation structure 3's the vice slider in a left side 308, right rubbish fill 5 install on two-dimentional elevation structure 3's the vice slider in a right side 309.
The two-dimensional lifting structure 3 is a bilateral symmetry structure, and further comprises a main guide rail 301, a left main sliding block 302, a right main sliding block 303, a left main motor 304, a right main motor 305, a left auxiliary guide rail 306, a right auxiliary guide rail 307, a left auxiliary motor 310, a right auxiliary motor 311, a left main screw rod 312, a right main screw rod 313, a left auxiliary screw rod 314 and a right auxiliary screw rod 315, wherein the main guide rail 301, the left auxiliary guide rail 306 and the right auxiliary guide rail 307 are dual-optical-axis screw rod linear guide rails, the left main sliding block 302 and the right main sliding block 303 are adapted to the main guide rail 301, the left auxiliary guide rail 306 is mounted on the left main sliding block 302, the right auxiliary guide rail 307 is mounted on the right main sliding block 303, the left auxiliary sliding block 308 is adapted to the left auxiliary guide rail 306, the right auxiliary sliding block 309 is adapted to the right auxiliary guide rail 307, the left main motor 304 is connected with the left main sliding block 302 through the left main screw rod 312, the right main motor 305 is connected with the right main sliding block 303 through the right main screw rod 313, the left auxiliary motor 310 is connected with the left auxiliary sliding block 308 through the left auxiliary screw rod 314, and the right auxiliary motor 311 is connected with the right auxiliary sliding block 309 through the right auxiliary screw rod 315.
The left garbage hopper 4 consists of a left box body 401, a left upper cover 402, a left conveyor belt 403, a left rear cover 404, a left upper cover steering engine 405, a left laser sensor 406 and a left rear cover steering engine 407; the left box body 401 and the left upper cover 402 are connected through the left upper cover steering engine 405 and the left upper cover 402 is opened and closed, the left laser sensor 406 is installed at the upper end of the inside of the left box body 401, the left conveyor belt 403 is installed at the bottom of the left box body 401, and the left box body 401 and the left rear cover 404 are connected through the left rear cover steering engine 407) and the left rear cover 404 is opened and closed.
The right garbage hopper 5 consists of a right box body 501, a right upper cover 502, a right conveyor belt 503, a right rear cover 504, a right upper cover steering engine 505, a right laser sensor 506 and a right rear cover steering engine 507; the right box body 501 and the right upper cover 502 are connected through the right upper cover steering engine 505 and are opened and closed, the right upper cover 502 is opened and closed, the right laser sensor 506 is installed at the upper end of the inside of the right box body 501, the right conveyor belt 503 is installed at the bottom of the right box body 501, and the right box body 501 and the right rear cover 504 are connected through the right rear cover steering engine 507) and are opened and closed, and the right rear cover 504 is opened and closed.
The front end of four-wheel omnidirectional movement chassis 2 has set up front end baffle 203 be equipped with on the front end baffle 203 and supply the fixed slot that five arms 1 put into below the front end baffle 203 and install laser radar 204 at the front end of chassis 205 the above-mentioned intermediate position on chassis 205 is equipped with the confession the fixed slot that two-dimensional elevation structure 3 put into the rear face of chassis 205 has installed USB camera 201 the charging contact piece 202 is installed below the rear end of chassis 205.
The charging head 601 corresponding to the charging contact sheet 202 is installed at the lower end of the charging pile 6, and the two-dimensional code pasting position 602 is located at the middle position right in front of the charging pile 6.
The tail end executing mechanism of the five-axis mechanical arm 1 is a vacuum suction device 101, a left camera 102 and a right camera 103 are installed on a fixing plate 104, and the fixing plate 104 is fixed at the tail end of the five-axis mechanical arm 1 through a connecting frame 105.
Inside the chassis 205, from front to back, a mechanical arm motor drive 210, an air pump drive 211, a mechanical arm processor 207, a main processor 206, a garbage hopper motor drive 213, a garbage hopper steering engine drive 214, a chassis processor 208, a conveyor belt drive 215, a garbage hopper processor 209, a chassis motor drive 212 and a power supply 216 are arranged in sequence from left to right;
the laser radar 204, the USB camera 201, the left camera 102 and the right camera 103 are respectively connected to the main processor 206;
the robot arm processor 207 is connected to the main processor 206, the robot arm motor driver 210 and the air pump driver 211 are respectively connected to the robot arm processor 207, an output terminal of the robot arm motor driver 210 is connected to the robot arm motor, and an output terminal of the air pump driver 211 is connected to the air pump motor;
the chassis processor 208 is connected with the main processor 206, the chassis motor driver 212 is connected with the chassis processor 208, and the output end of the chassis motor driver 212 is connected with a chassis motor;
the garbage bucket processor 209 is connected with the main processor 206, the left laser sensor 406 and the right laser sensor 506 are respectively connected with the garbage bucket processor 209, the garbage bucket motor drive 213, the garbage bucket steering engine drive 214 and the conveyor belt drive 215 are respectively connected with the garbage bucket processor 209, the output end of the garbage bucket motor drive 213 is connected with the motor of the two-dimensional lifting structure 3, the output end of the garbage bucket steering engine drive 214 is connected with the steering engines of the left garbage bucket 4 and the right garbage bucket 5, and the output end of the conveyor belt drive 215 is connected with the conveyor belt motor;
the power supply 216 is connected with the five-axis mechanical arm 1, the four-wheel omnidirectional moving chassis 2, the two-dimensional lifting structure 3, the left garbage hopper 4 and the right garbage hopper 5 through a voltage division circuit, is connected with a motor and a motor, is connected with the laser radar 204, the USB camera 201, the left camera 102 and the right camera 103, and provides electric energy.
The working principle of the invention is that a mature SLAM algorithm is used, the laser radar 204 is used for scanning a working scene, scanning information is transmitted to the main processor 206, and a map is built; after the map is built, performing global path planning in the main processor 206, then performing local path planning by combining with real-time scanning information of the laser radar 204, outputting a control instruction to the chassis processor 208, analyzing the control instruction by the chassis processor 208, outputting a control signal to the chassis motor driver 212, and controlling the chassis motor to run by the chassis motor driver 212 to enable the robot to walk; in the walking process of the robot, the left camera 102 and the right camera 103 at the tail end of the five-axis mechanical arm 1 acquire images in real time, transmit the images to the main processor 206 for image analysis and processing, once garbage is detected, the main processor 206 sends a control instruction to the chassis processor 208 to control the robot to stop walking, at the moment, the garbage is identified and classified, the three-dimensional space positioning of the garbage is carried out by using the view difference of the images shot by the left camera 102 and the right camera 103, data is transmitted to the mechanical arm processor 207 to analyze and process the position information of the garbage, each motor on the mechanical arm is controlled to run to a target position by the mechanical arm motor driver 210, the air pump driver 211 controls the air pump to suck the garbage, and the main processor 206 sends a control instruction to the garbage hopper processor 209 by combining the type information of the garbage, analyzing the instruction, sending a control signal to the garbage hopper steering engine drive 214, opening the corresponding garbage hopper upper cover, putting the picked garbage into the garbage hopper by the mechanical arm, closing the garbage hopper upper cover after putting the garbage into the garbage hopper as shown in fig. 15, then continuing to walk by the robot, and repeating the step after recognizing the garbage; the laser sensor at the upper end inside the garbage hopper is used for monitoring whether garbage is full or not and transmitting monitoring information to the garbage hopper processor 209, when the garbage hopper is monitored to be full of garbage, the garbage hopper processor 209 transmits the monitoring information to the main processor 206, the main processor 206 transmits a control command to the chassis processor 208 to control the robot to run to a garbage can or a garbage processing center, and after the garbage hopper reaches a destination, the main processor 206 transmits a control command to the garbage hopper processor 209 to analyze the command and transmit a control signal to the garbage hopper motor drive 213, the garbage hopper steering engine drive 214 and the conveyor belt drive 215 to control the two-dimensional lifting structure 3 of the robot to move to a corresponding position and control the garbage steering engine to move to open a rear cover of the corresponding garbage hopper and control the conveyor belt to run to realize the throwing of the garbage, as shown in figures 16-17, after the throwing is finished, the robot continues to walk to detect the garbage; when the robot is in the low voltage state, host processor 206 sends control command for chassis treater 208 control robot moves to filling the stake front 30 centimetres department, this moment, four-wheel omnidirectional movement chassis 2 USB camera 201 can discern and post and be in fill the two-dimensional code on the stake 6, and then can confirm the robot and fill the position relation between the stake, then adjust the position of automobile body for the two-dimensional code through PID, realize the robot and fill the accurate butt joint of stake, realize that the robot is independently charged.
Claims (7)
1. A robot for automatic sorting, transporting and depositing of garbage is characterized by comprising: five arms (1), four-wheel omnidirectional movement chassis (2), two-dimensional elevation structure (3), left rubbish fill (4), right rubbish fill (5) and fill electric pile (6), five arms (1) are installed on front end baffle (203) on four-wheel omnidirectional movement chassis (2), two-dimensional elevation structure (3) pass through the bolt fastening the middle part on four-wheel omnidirectional movement chassis (2), left rubbish fill (4) is installed on the vice slider in a left side (308) of two-dimensional elevation structure (3), right rubbish fill (5) is installed on the vice slider in a right side (309) of two-dimensional elevation structure (3).
2. The robot for automatic sorting, transporting and throwing of garbage according to claim 1, wherein the two-dimensional lifting structure (3) is a bilateral symmetry structure, further comprising a main guide rail (301), a left main slide block (302), a right main slide block (303), a left main motor (304), a right main motor (305), a left auxiliary guide rail (306), a right auxiliary guide rail (307), a left auxiliary motor (310), a right auxiliary motor (311), a left main screw rod (312), a right main screw rod (313), a left auxiliary screw rod (314) and a right auxiliary screw rod (315), wherein the main guide rail (301), the left auxiliary guide rail (306) and the right auxiliary guide rail (307) are dual-spindle screw rod linear guide rails, the left main slide block (302) and the right main slide block (303) are adapted to the main guide rail (301), and the left auxiliary guide rail (306) is installed on the left main slide block (302), the right auxiliary guide rail (307) is installed on the right main sliding block (303), the left auxiliary sliding block (308) is matched with the left auxiliary guide rail (306), the right auxiliary sliding block (309) is matched with the right auxiliary guide rail (307), the left main motor (304) is connected with the left main sliding block (302) through the left main screw rod (312), the right main motor (305) is connected with the right main sliding block (303) through the right main screw rod (313), the left auxiliary motor (310) is connected with the left auxiliary sliding block (308) through the left auxiliary screw rod (314), and the right auxiliary motor (311) is connected with the right auxiliary sliding block (309) through the right auxiliary screw rod (315).
3. The robot for automatically sorting, transporting and throwing in garbage according to claim 1, wherein the left garbage hopper (4) is composed of a left box body (401), a left upper cover (402), a left conveyor belt (403), a left rear cover (404), a left upper cover steering engine (405), a left laser sensor (406) and a left rear cover steering engine (407); the left box body (401) is connected with the left upper cover (402) through the left upper cover steering engine (405) and the action of opening and closing the left upper cover (402) is completed, the left laser sensor (406) is installed at the upper end inside the left box body (401), the left conveyor belt (403) is installed at the bottom of the left box body (401), and the left box body (401) is connected with the left rear cover (404) through the left rear cover steering engine (407) and the action of opening and closing the left rear cover (404) is completed;
the right garbage hopper (5) consists of a right box body (501), a right upper cover (502), a right conveyor belt (503), a right rear cover (504), a right upper cover steering engine (505), a right laser sensor (506) and a right rear cover steering engine (507); the right box body (501) and the right upper cover (502) are connected through the right upper cover steering engine (505) and are opened and closed, the right upper cover (502) acts, the right laser sensor (506) is installed at the upper end of the inside of the right box body (501), the right conveyor belt (503) is installed at the bottom of the right box body (501), and the right box body (501) and the right rear cover (504) are connected through the right rear cover steering engine (507) and are opened and closed to act on the right rear cover (504).
4. The robot for automatically sorting, transporting and throwing in garbage according to claim 1, wherein the front end clapboard (203) is arranged at the front end of the four-wheel omnidirectional movement chassis (2), a fixing groove for the five-axis mechanical arm (1) to be placed in is arranged on the front end clapboard (203), a laser radar (204) is arranged below the front end clapboard (203) and at the front end of the chassis (205), a fixing groove for the two-dimensional lifting structure (3) to be placed in is arranged at the middle position above the chassis (205), a USB camera (201) is arranged behind the chassis (205), and a charging contact sheet (202) is arranged below the rear end of the chassis (205).
5. The robot for the automatic sorting, transporting and depositing of trash according to claims 1 and 4, wherein a charging head (601) corresponding to the charging contact sheet (202) is installed at the lower end of the charging pile (6), and a two-dimensional code attaching place (602) is located at a middle position right in front of the charging pile (6).
6. The robot for the automatic sorting, transporting and throwing of the garbage according to claim 1, wherein the end actuator of the five-axis robot arm (1) is a vacuum suction device (101), the left camera (102) and the right camera (103) are mounted on a fixing plate (104), and the fixing plate (104) is fixed at the end of the five-axis robot arm (1) through a connecting frame (105).
7. The robot for automatically sorting, transporting and throwing in garbage is characterized in that a mechanical arm motor drive (210), an air pump drive (211), a mechanical arm processor (207), a main processor (206), a garbage hopper motor drive (213), a garbage hopper steering engine drive (214), a chassis processor (208), a conveyor belt drive (215), a garbage hopper processor (209), a chassis motor drive (212) and a power supply (216) are arranged inside the chassis (205) from front to back in sequence from left to right;
the laser radar (204), the USB camera (201), the left camera (102) and the right camera (103) are respectively connected with the main processor (206);
the mechanical arm processor (207) is connected with the main processor (206), the mechanical arm motor drive (210) and the air pump drive (211) are respectively connected with the mechanical arm processor (207), the output end of the mechanical arm motor drive (210) is connected with the mechanical arm motor, and the output end of the air pump drive (211) is connected with the air pump motor;
the chassis processor (208) is connected with the main processor (206), the chassis motor driver (212) is connected with the chassis processor (208), and the output end of the chassis motor driver (212) is connected with a chassis motor;
the garbage bucket processor (209) is connected with the main processor (206), the left laser sensor (406) and the right laser sensor (506) are respectively connected with the garbage bucket processor (209), the garbage bucket motor drive (213), the garbage bucket steering engine drive (214) and the conveyor belt drive (215) are respectively connected with the garbage bucket processor (209), the output end of the garbage bucket motor drive (213) is connected with the motor of the two-dimensional lifting structure (3), the output end of the garbage bucket steering engine drive (214) is connected with the steering engines of the left garbage bucket (4) and the right garbage bucket (5), and the output end of the conveyor belt drive (215) is connected with the conveyor belt motor;
the power supply (216) is connected with the five-axis mechanical arm (1), the four-wheel omnidirectional movement chassis (2), the two-dimensional lifting structure (3), the left garbage hopper (4) and the right garbage hopper (5) through voltage division circuits in a motor driving mode, and is connected with the laser radar (204), the USB camera (201), the left camera (102) and the right camera (103) in a connecting mode and provides electric energy.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011227951.4A CN112207845A (en) | 2020-11-06 | 2020-11-06 | Robot for automatically sorting, transporting and putting garbage |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011227951.4A CN112207845A (en) | 2020-11-06 | 2020-11-06 | Robot for automatically sorting, transporting and putting garbage |
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