CN114890009A - Unmanned garbage cleaning robot - Google Patents
Unmanned garbage cleaning robot Download PDFInfo
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- CN114890009A CN114890009A CN202210568606.XA CN202210568606A CN114890009A CN 114890009 A CN114890009 A CN 114890009A CN 202210568606 A CN202210568606 A CN 202210568606A CN 114890009 A CN114890009 A CN 114890009A
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- 239000010813 municipal solid waste Substances 0.000 title claims abstract description 214
- 238000004140 cleaning Methods 0.000 title abstract description 14
- 238000000034 method Methods 0.000 claims abstract description 12
- 239000002699 waste material Substances 0.000 claims description 32
- 230000007246 mechanism Effects 0.000 claims description 31
- 238000007789 sealing Methods 0.000 claims description 17
- 230000008569 process Effects 0.000 claims description 11
- 238000012544 monitoring process Methods 0.000 claims description 9
- 230000000007 visual effect Effects 0.000 claims description 8
- 230000009471 action Effects 0.000 claims description 4
- 238000013441 quality evaluation Methods 0.000 claims description 4
- 230000008447 perception Effects 0.000 claims description 3
- 230000006870 function Effects 0.000 claims description 2
- 238000000926 separation method Methods 0.000 abstract description 4
- 206010063385 Intellectualisation Diseases 0.000 abstract description 2
- 238000013473 artificial intelligence Methods 0.000 abstract description 2
- 238000005516 engineering process Methods 0.000 abstract description 2
- 238000000605 extraction Methods 0.000 description 8
- 238000003860 storage Methods 0.000 description 5
- 230000004888 barrier function Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
- 230000002354 daily effect Effects 0.000 description 1
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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
- B65F1/0033—Refuse receptacles; Accessories therefor specially adapted for segregated refuse collecting, e.g. receptacles with several compartments; Combination of receptacles
- B65F1/0053—Combination of several receptacles
- B65F1/0073—Flexible receptacles fixed on a frame or in an enclosure
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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
- B65F1/12—Refuse receptacles; Accessories therefor with devices facilitating emptying
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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
- B65F1/1468—Means for facilitating the transport of the receptacle, e.g. wheels, rolls
- B65F1/1473—Receptacles having wheels
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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
- B65F1/16—Lids or covers
- B65F1/1623—Lids or covers with means for assisting the opening or closing thereof, e.g. springs
- B65F1/1638—Electromechanically operated lids
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
- G01S19/485—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an optical system or imaging system
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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
- B65F2210/00—Equipment of refuse receptacles
- B65F2210/144—Level detecting means
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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
- B65F2210/00—Equipment of refuse receptacles
- B65F2210/167—Sealing means
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02W—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO WASTEWATER TREATMENT OR WASTE MANAGEMENT
- Y02W30/00—Technologies for solid waste management
- Y02W30/10—Waste collection, transportation, transfer or storage, e.g. segregated refuse collecting, electric or hybrid propulsion
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Mechanical Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Refuse Collection And Transfer (AREA)
Abstract
The invention relates to an unmanned garbage cleaning robot, which belongs to the field of artificial intelligence, and is characterized in that the robot is supplemented, combined and positioned by various high-precision positioning algorithms, so that the robot can be positioned in an all-round and reliable manner, dry-wet separation of dumped garbage is realized by arranging a plurality of garbage accommodating chambers, the garbage classification efficiency is improved, and the full-process video recording of garbage dumping is realized to realize a real-name system. By reserving the unmanned robot to collect the garbage, the situation that people are dense due to garbage throwing can be avoided; the system can serve on the door in a non-garbage throwing time period, and effectively solves the technical problem of contradiction between working time and garbage delivery time; the trouble of delivering the household garbage when residents go out is effectively solved in cold, hot summer and rainy and snowy weather. The unmanned garbage cleaning robot disclosed by the invention integrates multiple technologies such as unmanned driving, automatic garbage dumping, multi-task cooperative scheduling and the like, and has the advantages of safety, high efficiency, convenience, intellectualization and strong practicability.
Description
Technical Field
The invention belongs to the field of artificial intelligence, and particularly relates to an unmanned garbage cleaning robot.
Background
The garbage throwing is a daily behavior which needs to be faced by residents almost every day in life, a garbage throwing point is usually arranged at a community central position, the residents are required to take garbage to the garbage throwing point for throwing in the garbage throwing time period, and for a special working group, the working time of the special working group is contradictory to the garbage throwing time, so that the garbage cannot be thrown in time on a working day.
The garbage is thrown out in cold, hot and rainy or snowy weather, which brings great inconvenience to the life of residents and brings the problem of intensive personnel, and a large number of pathogens exist in the garbage, so that the residents throw the garbage in a centralized way and contact the garbage in kitchens and bathrooms of different users at a short distance, which causes great infection risk to the garbage throwing process.
Due to the contact with the garbage, sanitary cleaning personnel are also easily infected in the garbage clearing process, the cleaning personnel usually carry out cross-region operation in the garbage clearing process, and once the sanitary cleaning personnel are infected, a great spreading risk exists in the garbage clearing process.
Therefore, in the garbage throwing and clearing processes, the mutual contact among garbage throwing residents is reduced, and the avoidance of cross-region operation of sanitary cleaning personnel has important significance for prevention and control.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide the unmanned garbage cleaning robot which has the advantages of safety, high efficiency, convenience, intellectualization and strong practicability.
In order to achieve the purpose, the invention adopts the technical scheme that: an unmanned garbage cleaning robot comprises a main body, wherein a garbage accommodating chamber is formed in each of the left side and the right side of the interior of the main body, and the garbage accommodating chambers are a first garbage accommodating chamber and a second garbage accommodating chamber respectively; a first garbage delivery automatic door and a second garbage delivery automatic door are respectively arranged at the top of the main body and at the positions corresponding to the first garbage containing chamber and the second garbage containing chamber, so that garbage is thrown to the corresponding garbage containing chambers through the first garbage delivery automatic door and the second garbage delivery automatic door; the left side and the right side of the front side of the main body are respectively provided with a garbage taking-out door, namely a first garbage taking-out door and a second garbage taking-out door, the first garbage taking-out door is communicated with the first garbage accommodating chamber, and the second garbage taking-out door is communicated with the second garbage accommodating chamber; sealing mechanisms are arranged on the periphery of the tops of the first garbage accommodating chamber and the second garbage accommodating chamber and are used for sealing delivered garbage; the lifting scissors mechanisms are respectively arranged in the first garbage accommodating chamber and the second garbage accommodating chamber and automatically discharge delivered garbage out of the main body through the first garbage taking-out door and the second garbage taking-out door according to received instructions; the system also comprises a main control unit and a battery, wherein the main control unit can carry out ranging and positioning, communicates with the outside and advances according to a received signal and a designated route.
Further, when the first garbage delivery automatic door and the second garbage delivery automatic door are closed, the sealing mechanism is covered by the first garbage delivery automatic door and the second garbage delivery automatic door, and when the first sensor detects that the garbage bags of the first garbage containing chamber and the second garbage containing chamber are full, the sealing mechanism is controlled to automatically seal the garbage bags.
Further, the lifting scissors mechanism is arranged on one side corresponding to the first garbage taking-out door and the second garbage taking-out door, and after the sealing mechanism completes sealing, the lifting scissors mechanism automatically discharges delivered garbage out of the main body according to a received instruction.
Furthermore, the lifting scissors mechanism comprises a push rod and a scissors mechanism connected with the push rod, and the upper plane of the scissors mechanism is pushed to move forwards through the telescopic movement of the push rod, so that the lifting action is realized.
Further, the main control unit comprises at least one of a GPS antenna, a laser radar and video monitoring.
Further, the main control unit performs feature matching according to GPS data, the laser radar or the visual camera of the video monitoring to perform positioning.
Further, the main control unit performs positioning through the following steps:
s221, the robot calls GPS data of an RTK module of a system, and when the GPS data positioning and orientation data of the RTK module are both fixed solutions, the robot is judged to be successfully positioned;
s222, when the robot is unsuccessfully positioned by adopting the GPS, automatically starting a 3D laser radar to be matched with the features on the map established previously, and when the robot adopts the matched integral to evaluate the positioning quality, judging that the robot is successfully positioned when the integral reaches a first preset threshold value;
s223, when the robot adopts the 3D laser radar to perform feature matching and cannot successfully position, automatically starting a visual camera to perform feature matching, and when the robot adopts the matched integral to perform positioning quality evaluation, judging that the robot is successfully positioned when the integral reaches a second preset threshold value;
s224, when the robot adopts the visual camera to perform feature matching and cannot successfully position, the robot starts an automatic perception obstacle avoidance function, performs position adjustment and movement, and then re-executes the steps S221-S223 until the positioning is successful.
Furthermore, a plurality of running wheels are arranged at the bottom of the main body, and anti-collision strips are arranged at the front and the back of the bottom of the main body.
Further, the first garbage delivery automatic door is used for delivering dry garbage, the first garbage accommodating chamber is used for temporarily storing the dry garbage, and the first garbage taking door is used for taking out the dry garbage; the second garbage delivery automatic door is used for delivering wet garbage, the second garbage accommodating chamber is used for temporarily storing the wet garbage, and the second garbage taking-out door is used for taking out the wet garbage.
Further, the video monitoring is arranged at the top of the main body and is further used for carrying out whole-course photographing record on the garbage dumping process.
The invention has the following effects: by adopting the unmanned garbage cleaning robot disclosed by the invention, the supplementary combined positioning is carried out through various high-precision positioning algorithms, the omnibearing reliable positioning and safe obstacle avoidance of the robot are realized, the dry-wet separation of the dumped garbage is realized by arranging the two garbage accommodating chambers, the garbage classification efficiency and proportion are improved, the video recording of the whole garbage dumping process is realized, and the real-name system is realized. By reserving the unmanned robot to collect the garbage, the situation that people are dense due to garbage throwing can be avoided; the system can serve on the door in a non-garbage throwing time period, and effectively solves the technical problem of contradiction between working time and garbage delivery time; the trouble of delivering the household garbage when residents go out is effectively solved in cold, hot summer and rainy and snowy weather. The system integrates a plurality of technologies such as unmanned driving, automatic garbage capacity detection, automatic garbage packing, automatic garbage dumping, multi-task cooperative scheduling and the like.
Drawings
Fig. 1 is a perspective view illustrating an unmanned garbage collection robot in a closed state according to an embodiment of the present invention;
FIG. 2 is a perspective view of an unmanned garbage collection robot with a first garbage delivery automatic door in an open state according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a sealing mechanism in an unmanned garbage collection robot according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a lifting scissors mechanism in an unmanned garbage collection robot according to an embodiment of the present invention;
wherein: 1-main body, 21-first garbage containing chamber, 22-second garbage containing chamber, 31-first garbage delivery automatic door, 32-second garbage delivery automatic door, 2-video monitoring, 41-first garbage taking-out door, 42-second garbage taking-out door, 3-sealing mechanism, 4-lifting scissor mechanism, 51-push rod, 52-scissor mechanism, 12-operation key, 6-GPS antenna, 7-laser radar, 8-driving wheel, 9-anti-collision bar and 10-charging interface.
Detailed Description
The invention is further described with reference to the following figures and detailed description.
Example one
As shown in fig. 1, an embodiment of the present invention discloses an unmanned garbage cleaning robot, which includes a robot main body 1, the main body 1 is square, and a garbage accommodating chamber is formed at each of the left and right sides inside the main body 1, which is a first garbage accommodating chamber 21 and a second garbage accommodating chamber 22. A first garbage delivery automatic door 31 and a second garbage delivery automatic door 32 are respectively arranged at the top of the main body 1 and at positions corresponding to the two garbage accommodating chambers, so that garbage is thrown to the corresponding garbage accommodating chambers through the first garbage delivery automatic door 31 and the second garbage delivery automatic door 32. The first garbage delivery automatic door 31 is used for delivering dry garbage, and the first garbage accommodating chamber 21 is used for temporarily storing the dry garbage. The second garbage delivery automatic door 32 is used for delivering wet garbage, and the second garbage accommodating chamber 22 is used for temporarily storing the wet garbage.
The dry-wet separation of the dumped garbage is realized through the arrangement of the first garbage accommodating chamber 21 and the second garbage accommodating chamber 22 and the arrangement of the first garbage delivery automatic door 31 and the second garbage delivery automatic door 32.
The top of the main body 1 is also provided with a video monitor 2 for recording the whole shooting process of the garbage dumping process. In this embodiment the video surveillance device is arranged between the first and second automated trash delivery doors 31, 32.
The first garbage delivery automatic door 31 and the second garbage delivery automatic door 32 can be automatically opened or closed according to a received control instruction so as to avoid contact, the first garbage delivery automatic door 31 and the second garbage delivery automatic door 32 can also be opened or closed through the set operation keys 12, and after a user delivers dry and wet garbage, the two automatic doors can be closed through the operation buttons or App.
As shown in fig. 2, a waste taking-out door, which is a first waste taking-out door 41 and a second waste taking-out door 42, is respectively disposed at the left and right sides of the front side of the main body 1, the first waste taking-out door 41 is communicated with the first waste accommodating chamber 21 for taking out dry waste, and the second waste taking-out door 42 is communicated with the second waste accommodating chamber 22 for taking out wet waste.
In the present embodiment, the first waste extraction door 41 is located at the left side of the main body 1, and the second waste extraction door 42 is located at the right side of the main body 1, and in fact, the temporary storage position of the dry waste and the wet waste is not limited, and in an alternative embodiment, the first waste extraction door 41 is located at the right side of the main body 1, and the second waste extraction door 42 is located at the left side of the main body 1.
As shown in fig. 3, the sealing mechanisms 3 are arranged around the top of the first garbage accommodating chamber 21 and the second garbage accommodating chamber 22, and when the first garbage delivery automatic door 31 and the second garbage delivery automatic door 32 are closed, the sealing mechanisms 3 are covered by the first garbage delivery automatic door 31 and the second garbage delivery automatic door 32. When the first sensor detects that the garbage bag in the garbage accommodating chamber is full, the sealing mechanism 3 is controlled to automatically seal the garbage bag.
The first sensor is a laser sensor, and is installed above the first waste storage chamber 21 and the second waste storage chamber 22.
As shown in fig. 4, a pair of lifting scissors 4 are provided inside the first waste storage chamber 21 and the second waste storage chamber 22 on the sides corresponding to the first waste extraction door 41 and the second waste extraction door 42, respectively, and after the waste is completely sealed, the lifting scissors 4 automatically eject the waste through the first waste extraction door 41 and the second waste extraction door 42 according to a received instruction.
The lifting scissors mechanism 4 comprises a push rod 51 and a scissors mechanism 52, and the upper plane of the scissors mechanism 52 is pushed to move forwards through the push rod 51, so that the lifting action is realized.
At least one GPS antenna 6 is disposed on the side of the top of the main body 1, and in this embodiment, one GPS antenna 6 is disposed on each of the left and right sides of the top of the main body, and in fact, the number and positions of the GPS antennas 6 are not limited, and the GPS antennas 6 are used for receiving and transmitting position signals.
In order to further improve the positioning accuracy of the robot, a plurality of laser radars 7 are arranged on the robot main body 1, and in this embodiment, a plurality of laser radars 7 are arranged on the top of the main body 1 and around the main body.
Set up a plurality of wheels 8 that travel in main part 1 bottom in order to make things convenient for the robot freely to walk, both ends have set up crashproof strip 9 around main part 1 bottom and form buffering and guard action to the robot main part when taking place the collision accident of big or small at the production of various emergency and unexpected factor, have prolonged the life of robot and have avoided producing traffic accident to a certain extent.
The video surveillance 2 may be used for feature matching to assist in positioning.
The robot also comprises a main control unit, under the normal condition, the robot carries out positioning according to the GPS data, the GPS data is called, and when the positioning data and the orientation data in the GPS data are both fixed solutions, the robot is judged to be successfully positioned.
When the GPS signal is not good, such as a high building, trees are shielded, the robot cannot be successfully positioned by adopting the GPS position, the robot automatically starts the 3D laser radar to be matched with the features on the map established previously, the robot system adopts the matched integral to perform positioning quality evaluation, and when the integral reaches a first preset threshold value, the robot is judged to be successfully positioned.
When GPS signals are poor and the 3D laser radar feature matching cannot be successfully positioned due to the influence of position angles or surrounding environments, the robot automatically starts a visual camera of video monitoring to perform feature matching, and the visual feature matching is the supplement of the laser feature matching. And the robot system adopts the matched integral to carry out positioning quality evaluation, and when the integral reaches a second preset threshold value, the robot is judged to be successfully positioned.
An automatic charging interface 10 is further provided at a sidewall of the main body 1 to charge the robot. There is virtually no restriction on the position of the charging interface 10 of the robot.
The robot has the perception and keeps away the barrier function, tries to respond to the barrier through laser radar or vision, on the road that discerns to have the barrier to advance, the vehicle can stop advancing and change the direction of advance, avoids taking place danger.
According to the unmanned garbage cleaning robot disclosed by the invention, the supplementary combined positioning is carried out through various high-precision positioning algorithms, the omnibearing reliable positioning and safe obstacle avoidance of the robot are realized, the dry-wet separation of the dumped garbage is realized by arranging the two garbage accommodating chambers, the garbage classification efficiency and proportion are improved, the video recording of the whole garbage dumping process is realized, and the real-name system is realized. The personnel density caused by throwing garbage can be avoided; the system can serve on the door in a non-garbage throwing time period, and effectively solves the technical problem of contradiction between working time and garbage delivery time; the trouble of delivering the household garbage when residents go out is effectively solved in cold, hot summer and rainy and snowy weather.
The device according to the present invention is not limited to the embodiments described in the specific embodiments, and those skilled in the art can derive other embodiments according to the technical solutions of the present invention, and also belong to the technical innovation scope of the present invention.
Claims (10)
1. The utility model provides an unmanned rubbish clearance robot which characterized in that: the garbage collection device comprises a main body, wherein a garbage containing chamber is respectively formed at the left side and the right side in the main body, and the garbage containing chambers are respectively a first garbage containing chamber and a second garbage containing chamber; a first garbage delivery automatic door and a second garbage delivery automatic door are respectively arranged at the top of the main body and at the positions corresponding to the first garbage containing chamber and the second garbage containing chamber, so that garbage is thrown to the corresponding garbage containing chambers through the first garbage delivery automatic door and the second garbage delivery automatic door; the left side and the right side of the front side of the main body are respectively provided with a garbage taking-out door, namely a first garbage taking-out door and a second garbage taking-out door, the first garbage taking-out door is communicated with the first garbage accommodating chamber, and the second garbage taking-out door is communicated with the second garbage accommodating chamber; sealing mechanisms are arranged on the periphery of the tops of the first garbage accommodating chamber and the second garbage accommodating chamber and are used for sealing delivered garbage; the lifting scissors mechanisms are respectively arranged in the first garbage accommodating chamber and the second garbage accommodating chamber and automatically discharge delivered garbage out of the main body through the first garbage taking-out door and the second garbage taking-out door according to received instructions; the system also comprises a main control unit and a battery, wherein a sensor of the main control unit can carry out ranging and positioning, is communicated with the outside and is controlled according to a received signal and a designated program.
2. The unmanned waste collection robot of claim 1, wherein: when the first garbage delivery automatic door and the second garbage delivery automatic door are closed, the sealing mechanism is covered by the first garbage delivery automatic door and the second garbage delivery automatic door, and when the first sensor detects that the garbage bags of the first garbage containing chamber and the second garbage containing chamber are full, the sealing mechanism is controlled to automatically seal the garbage bags.
3. The unmanned waste collection robot of claim 2, wherein: the lifting scissors mechanism is arranged on one side corresponding to the first garbage taking-out door and the second garbage taking-out door, and after the sealing mechanism finishes sealing, the lifting scissors mechanism automatically discharges delivered garbage to the main body according to a received instruction.
4. An unmanned garbage collection robot according to claim 3, wherein: the lifting scissors mechanism comprises a push rod and a scissors mechanism connected with the push rod, and the upper plane of the scissors mechanism is pushed to move forwards through the telescopic motion of the push rod, so that the lifting action is realized.
5. The unmanned waste collection robot of claim 1, wherein: the main control unit comprises at least one of a GPS antenna, a laser radar and video monitoring.
6. The unmanned waste collection robot of claim 5, wherein: and the main control unit performs feature matching according to GPS data, the laser radar or the visual camera of the video monitoring so as to perform positioning.
7. The unmanned garbage collection robot of claim 6, wherein said master control unit is positioned by:
s221, the robot calls GPS data of an RTK module of a system, and when the GPS data positioning and orientation data of the RTK module are both fixed solutions, the robot is judged to be successfully positioned;
s222, when the robot is unsuccessfully positioned by adopting the GPS, automatically starting a 3D laser radar to be matched with the features on the map established previously, and when the robot adopts the matched integral to evaluate the positioning quality, judging that the robot is successfully positioned when the integral reaches a first preset threshold value;
s223, when the robot adopts the 3D laser radar to perform feature matching and cannot successfully position, automatically starting a visual camera to perform feature matching, and when the robot adopts the matched integral to perform positioning quality evaluation, judging that the robot is successfully positioned when the integral reaches a second preset threshold value;
s224, when the robot adopts the visual camera to perform feature matching and cannot successfully position, the robot starts an automatic perception obstacle avoidance function, performs position adjustment and movement, and then re-executes the steps S221-S223 until the positioning is successful.
8. The unmanned waste collection robot of claim 1, wherein: the automobile anti-collision device is characterized in that a plurality of running wheels are arranged at the bottom of the main body, and anti-collision strips are arranged at the front and the back of the bottom of the main body.
9. The unmanned waste collection robot of claim 1, wherein: the first garbage delivery automatic door is used for delivering dry garbage, the first garbage accommodating chamber is used for temporarily storing the dry garbage, and the first garbage taking door is used for taking out the dry garbage; the second garbage delivery automatic door is used for delivering wet garbage, the second garbage accommodating chamber is used for temporarily storing the wet garbage, and the second garbage taking-out door is used for taking out the wet garbage.
10. The unmanned waste collection robot of claim 6, wherein: the video monitoring set up in the top of main part, the video monitoring still is used for toppling over the process to rubbish and carries out the record of shooing in the whole journey.
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| CN202210568606.XA CN114890009A (en) | 2022-05-24 | 2022-05-24 | Unmanned garbage cleaning robot |
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| CN202210568606.XA CN114890009A (en) | 2022-05-24 | 2022-05-24 | Unmanned garbage cleaning robot |
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| CN114890009A true CN114890009A (en) | 2022-08-12 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116022484A (en) * | 2022-12-31 | 2023-04-28 | 绿港环境资源股份公司 | Kitchen waste collection and transportation vehicle and upper door collection and transportation method |
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