CN207081986U - Self-navigation mobile dustbin - Google Patents
Self-navigation mobile dustbin Download PDFInfo
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- CN207081986U CN207081986U CN201720851253.9U CN201720851253U CN207081986U CN 207081986 U CN207081986 U CN 207081986U CN 201720851253 U CN201720851253 U CN 201720851253U CN 207081986 U CN207081986 U CN 207081986U
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The utility model discloses self-navigation mobile dustbin, is made up of AGV trolley bodies and the dustbin above it, the human-computer interaction interface of its front upper place, its internal chargeable storage, the ranging sensing module of its side, its internal wireless data communication module, its subjacent or the positioning of inside with navigation sensing module, its internal kinematic driving unit and electrically driven module, its internal master control circuit board.The dustbin automatically moves according to the route planned operates in the places such as park, public square, resident living area, market, shopping street, means of transportation station, style venue, campus, hospital, recreation ground, tourist attractions, and can be by radio communication by background computer dispatching management information system management and running, rubbish and can transport of refuse can be collected, realize that environmental sanitation and cleaning are intelligent, automate, environmental sanitation and the work of street cleaner are liberated, greatly improves environmental sanitation and clean manufacturing efficiency.
Description
Technical field
The utility model is related to self-navigation mobile dustbin, more particularly to mobile operation operation park, public square,
Resident living area, parking lot, market, commercial medium street, airport, station, harbour, stadiums, concert venue, campus,
The various places such as hospital, recreation ground, tourist attractions, it can automatically move, can collect according to the route or region planned in advance
Rubbish and can transport of refuse, it can be communicated wirelessly with background computer dispatching management information system and can pass through nothing
Line mode by the background computer dispatching management information system United Dispatching management self-navigation mobile dustbin.
Background technology
In park, public square, resident living area, parking lot, market, commercial medium street, airport, station, harbour, body
The various places such as venue, concert venue, campus, hospital, recreation ground, tourist attractions are educated, people are it can be seen that collect rubbish
Dustbin.It is well known that people enumerate above-mentioned those place garbage throwings when, often run into following some inconvenience
And embarrassment：1, position immobilizes, and occupies the activity space of people；2, it can always trickle down in dustbin during people's garbage throwing
Outside, cause to become rubbish heap around dustbin, stink is unpleasant, mosquitos and flies aggregation；3, rubbish case broken is in bad repair, causes dustbin
Become the embarrassment of rubbish；4, it is necessary to take out rubbish from dustbin by street cleaner and be transported to refuse transfer station again；5, street cleaner
When not clearing the dustbin in time, rubbish, which overflows, to be scattered low in heaps, influences environment, and stink is unpleasant, mosquitos and flies aggregation；6, people live
It is dynamic it is provisional it is intensive in the case of, dustbin is not enough, causes rubbish everywhere.Therefore, design it is a kind of with scientific and technological content,
Intelligence, can be automatically moved according to the route or region planned in advance, rubbish and can transport of refuse, Ke Yitong can be collected
Wireless mode is crossed to communicate with background computer dispatching management information system and pipe can be dispatched by background computer wirelessly
Manage the self-navigation mobile dustbin of systematic unity management and running.There is such a self-navigation mobile dustbin, not only may be used
To cause science and technology more to incorporate life, beautify the environment, it is even more important that it can realize that environmental sanitation and cleaning are intelligent, automatic
Change, and can has liberated environmental sanitation and the work of street cleaner, more substantially increases the production efficiency of environmental sanitation and cleaning.
The content of the invention
Dustbin based on background technology description collects the real current situation of rubbish, and the utility model proposes one kind to lead automatically
Navigate mobile dustbin.
The utility model proposes self-navigation mobile dustbin, including AGV trolley bodies, located at the AGV dollies sheet
It is at least one dustbin above body, the human-computer interaction interface located at the AGV trolley bodies front upper place, small located at the AGV
The chargeable storage of car body interior, one or more ranging sensing modules located at the AGV trolley bodies side, it is located at
Wireless data communication module inside the AGV trolley bodies, the positioning located at the AGV trolley bodies subjacent or inside
With navigation sensing module, the kinematic driving unit inside the AGV trolley bodies, inside the AGV trolley bodies
Kinematic driving unit electrically driven module, the master control circuit board inside the AGV trolley bodies.The AGV is small
The electrically driven module of the kinematic driving unit of car body interior, the corresponding port of the master control circuit board is connected to wire
On；The common function of the electrically driven module of kinematic driving unit and kinematic driving unit is the control by master control circuit board
Drive the operation movement of the utility model self-navigation mobile dustbin.The dustbin, it is fixed on the upper of the AGV trolley bodies
Side, has certain volume, and the function of the dustbin is to collect rubbish and loading rubbish.The human-computer interaction interface, including
Information display screen, indicator lamp, acousto-optic warning lamp, operation button, emergency stop button, before being installed on the AGV trolley bodies
Top；The indicator lamp, contains drive circuit of indicator；The acousto-optic warning lamp, contains acousto-optic warning lamp drive circuit；It is described
Information display screen, drive circuit of indicator, acousto-optic warning lamp drive circuit, operation button, emergency stop button respectively pass through
Wire is connected on the corresponding port of the master control circuit board；The function of the human-computer interaction interface is display the utility model
Text information, instruction the utility model operation when status information, instruction the utility model operation when warning message, with by
Button is to information input operation of the present utility model.The chargeable storage, it is installed on the inside of the AGV trolley bodies；Can
The function of charging accumulator is to provide electric energy for the utility model, and after the electric energy of chargeable storage exhausts, can charge benefit
Charging energy, continue as the utility model and electric energy is provided.One or more of ranging sensing modules, it is small to be installed on the AGV
1 side in four sides of car body either 2 sides or 3 sides or 4 sides；Ranging sensing module passes through
Wire is connected on the corresponding port of the master control circuit board；The function of ranging sensing module is that measurement the utility model is certainly
From the safe distance of peripheral obstacle during dynamic navigation mobile dustbin movement operation, the utility model self-navigation movement rubbish is ensured
The movement operation of rubbish case safety and steady.The wireless data communication module, including (1) WIFI module, (2) RF wireless communication modules,
(3) any a kind in 5 kinds of options such as GPRS communication modules, (4) 3G mobile communication modules, (5) 4G mobile communication modules or
Any several combination；Wireless data communication module is connected to or is embedded in the corresponding of the master control circuit board by wire
On port；The function of the wireless data communication module is to establish data with background computer dispatching management information system to communicate.It is described
Positioning with navigation sensing module, including (1) magnetic induction sensor, (2) gyroscope and motion accelerometer, (3) satellite navigation module,
(4) any a kind or any several combination in the options in 4 kinds of options such as RFID reader；It is installed on the AGV
The bottom part down of trolley body or the inside of AGV trolley bodies, the respective end of the master control circuit board is connected to by wire
On mouth；The function of the positioning and navigation sensing module is to obtain positioning and navigation desired position data message.The master control
Circuit board processed, including microcontroller, ranging sensing module interface circuit, information display screen interface circuit, indicator lamp interface electricity
Road, acousto-optic warning lamp interface circuit, button interface circuit, emergency stop button interface circuit, SD card interface circuit, battery power
Monitor interface circuit, positioning and navigation sensing module interface circuit, wireless data communication module interface circuit, kinematic driving unit
Interface circuit.The master control circuit board is installed on the inside of AGV trolley bodies, is data communication and control of the present utility model
Maincenter.The function of the master control circuit board, including wirelessly communicate, read with background computer dispatching management information system
And handle the measurement distance data of ranging sensing module, send display information to information display screen, transmission configured information to instruction
Lamp, information warning is sent to acousto-optic warning lamp, reception and treatment button input information, reception and handles emergency stop button input
Information, monitoring battery power situation, reception and the positioning and navigation position data, the comprehensive number that handle positioning and navigation module
According to computing and the electrically driven module of AGV trolley body kinematic driving units is controlled, to realize that the utility model self-navigation moves
The goal of the invention of the self-navigation movement of dynamic dustbin.
As the further Curve guide impeller of the utility model self-navigation mobile dustbin, it is provided with human-computer interaction interface
Loudspeaker and audio audio power amplifying circuit, while it is provided with voice module interface circuit in master control circuit board.Audio audio
Power amplification circuit is connected by wire with the voice module interface circuit of the master control circuit board.The function of loudspeaker is hair
Go out music or voice, prompt people to avoid or prompt people to operate with the utility model self-navigation mobile dustbin.
As the further Curve guide impeller of the utility model self-navigation mobile dustbin, the rubbish above AGV trolley bodies
Rubbish case is provided with dustbin lid, and the dustbin lid is provided with the mechanism opened and closed automatically and its electric driver circuit；Together
When master control circuit board be provided with the electrically driven module of dustbin lid control interface；The dustbin lid electrically drives
Dynamic model block is connected by wire with the control interface of the electrically driven module of dustbin lid of the master control circuit board.Institute
Stating the function of dustbin lid is：Realize that the utility model self-navigation mobile dustbin automatically opens up and closed rubbish lid
Son, it is convenient for people to garbage throwing.
As the further Curve guide impeller of the utility model self-navigation mobile dustbin, the rubbish above AGV trolley bodies
The bottom of rubbish case, provided with dustbin automatic turning device and its electric driver circuit；Simultaneously rubbish is provided with master control circuit board
The control interface of the electrically driven module of case automatic turning device；The electric driver circuit of the dustbin automatic turning device
It is connected by wire with the control interface of the electrically driven module of dustbin automatic turning device of the master control circuit board.
The function of the dustbin automatic turning mechanism is：When the utility model self-navigation mobile dustbin returns to refuse transfer station
When, the instruction that background computer dispatching management information system sends, Automatic-dumping rubbish by button or can be received according to operator
Rubbish is into garbage pool in rubbish case.
As the further Curve guide impeller of the utility model self-navigation mobile dustbin, the rubbish above AGV trolley bodies
The bottom of rubbish case, provided with garbage weight sensing sensor；Simultaneously weight sensing sensor interface electricity is provided with master control circuit board
Road；The weight sensing sensor is connected by wire with the weight sensing sensor interface circuit of the master control circuit board.
The function of the garbage weight sensing sensor is：When the master control circuit board sense of the utility model self-navigation mobile dustbin
When measuring the rubbish in the dustbin and reaching the constant weight limit, automatically move and return to refuse transfer station, unload rubbish automatically；
Another function of the garbage weight sensing sensor is：The MCU of the master control circuit board can be sensed according to weight and passed
The data variation of sensor, the frequency of usage data of discriminatory analysis this TV station mobile dustbin, and upload to background computer scheduling pipe
Reason system, big data analysis is done for background computer dispatching management information system.
As the further Curve guide impeller of the utility model self-navigation mobile dustbin, the information on human-computer interaction interface
Display screen, select as the color LCD display of audio-visual video can be played.Simultaneously audio-visual video screen module is provided with master control circuit board
Block interface circuit；The function of the color LCD display is：Both text information can be shown, various videos can also be played, it is real
Audio-visual amusement function, public service ads function and commercial advertisement work(during existing the utility model self-navigation mobile dustbin operation
Energy.
As the further Curve guide impeller of the utility model self-navigation mobile dustbin, it is provided with human-computer interaction interface
Night light and its electric driver circuit, while it is provided with night light control interface in master control circuit board.Night
The night light control interface that the electric driver circuit of illuminating lamp is provided with by wire and the master control circuit board connects
Connect.The function of night light is to facilitate night it is found that the utility model self-navigation mobile dustbin, and facilitates people
In night garbage throwing.
The MCU in master control circuit board included by the utility model self-navigation mobile dustbin, invented containing realizing
The program code of purpose, including following functions module：(1) with dispatching system communication function module, (2) human-computer interaction interface information
Input/output function module, (3) positioning is read with navigation data and processing function module, (4) ranging sensing module digital independent
With processing function module, the input of (5) scram button and processing function module, (6) SD card data read-write module, (7) battery power
Monitoring function module, (8) integrated data computing module, (9) motion control function module, (10) supplemental functionality；It is described auxiliary
Functional module is helped to include night light driving function, speaker sound function, display information playing function, dustbin lid
Open and shutdown driving function, dustbin automatic turning device driving function.
The utility model self-navigation mobile dustbin, using above-mentioned structurally and electrically connection, and in the utility model
In the MCU in master control circuit board included by self-navigation mobile dustbin, the program for realizing the utility model purpose is downloaded
After code, it can be established and communicated with background computer dispatching management information system by way of radio communication, when putting into job run,
Under background computer dispatching management information system United Dispatching and management, following job content can be completed：
(1) scheduling on duty：The utility model self-navigation mobile dustbin of refuse transfer station is uniformly concentrated on, is connect simultaneously
After receiving the instruction on duty that background computer dispatching management information system is sent, all the utility model self-navigation mobile dustbins
It will in order set out, each along specified path, be moved to respective stop site location, start to start to work.
(2) it is laid off and dispatches：There is no the place of people's activity, the utility model self-navigation movement dustbin in some periods
Can be laid off this certain time point is unified, with it is on duty when the rubbish collected rejoin one's unit to refuse transfer station, topple over unloading.From the background
After the laid-off instruction that computer scheduling management system is sent to the utility model self-navigation movement dustbin all in region,
All the utility model self-navigation mobile dustbins will be since respective stop site location beginning, each along specified
Path, move Gui Ying in order, return to garbage reclamation station, unload all rubbish, charge maintenance, carry out standard on duty again
It is standby.
(3) temporary scheduling：Background computer dispatching management information system sends temporary scheduling instruction, specifies the utility model automatic
Mobile dustbin navigate from initial point position, is moved to destination locations；
(4) it is fully loaded with unloading：The utility model self-navigation mobile dustbin, which is collected into rubbish and reaches constant weight value, to be fully loaded with
When, fully loaded unloading request will be sent to backstage computer scheduling management system automatically；Background computer dispatching management information system can be with
According to actual conditions, dispatch command is sent to the playscript with stage directions utility model self-navigation mobile dustbin, orders it to return to rubbish
Recycle bin unloads rubbish.
(5) electric energy Gui Ying is owed：The master control circuit board of the utility model self-navigation movement dustbin detects itself
Remaining battery electric energy reaches when returning battalion's limiting value, and deficient electric energy Gui Ying request will be sent from trend dispatching management information system；Hind computation
Machine dispatching management information system can send dispatch command and move rubbish to the playscript with stage directions utility model self-navigation according to actual conditions
Case, it is ordered to return to garbage reclamation station, electric energy supplement.
(6) user self-help temporary scheduling：User's available handsets scan setting the utility model self-navigation mobile dustbin
The Quick Response Code of site location is stopped, can be to link and log on the webpage of this background computer dispatching management information system, in webpage
On to backstage computer scheduling management system send dispatch command, background computer dispatching management information system receives the scheduling of the mobile phone
After order, according to actual conditions, the playscript with stage directions utility model self-navigation mobile dustbin of temporary scheduling one, is moved to the mobile phone nearby
The Quick Response Code of scanning stops site location.
(7) street cleaner's transport of refuse is assisted：, can be with described above when street cleaner cleans rubbish in region
User self-help temporary scheduling mode, dispatch the utility model self-navigation mobile dustbin, the rubbish that cleaning is collected is just
It is near to launch, when the utility model self-navigation mobile dustbin full load, it will automatically to backstage computer scheduling management system
System sends fully loaded unloading request, after obtaining the order sent of background computer dispatching management information system, loads rubbish and returns to rubbish
Stand and unload rubbish.
(8) emergency scheduling：After background computer dispatching management information system is according to Operational Data Analysis, some region is judged
When having provisional people's activity closeness sharp increase, background computer dispatching management information system will dispatch idle sheet according to actual conditions
Utility model self-navigation mobile dustbin, the website operation intensive to people's activity.
(9) go on patrol at a slow speed：When background computer dispatching management information system is to the utility model self-navigation mobile dustbin, hair
Go out between more than two websites in a certain order, and after the instruction run repeatedly with slower speed, then this practicality
New type auto navigation mobile dustbin will the slow running repeatedly between these websites along fixed route；Transporting at a slow speed
During row, people can halt the utility model self-navigation mobile dustbin by pressing the form of button at any time, to launch rubbish
Rubbish；After people's garbage throwing, the utility model self-navigation mobile dustbin will resume operation automatically.
(10) other emergency upload informations：It is various instant when the utility model self-navigation mobile dustbin is run
Running state information, such as malfunction, receive garbage throwing number, garbage weight data, the state of emergency that dustbin is collected
Information, the speed of service, surrounding failure safe range data, positioning and track position data, other service datas etc., it is described these
Data will upload to background computer dispatching management information system in time, be used for the data analysis of background computer dispatching management information system,
The dispatching efficiency of background computer dispatching management information system is improved, improves the running service of the utility model self-navigation mobile dustbin
Quality.
Brief description of the drawings
Just the utility model is described in further detail with specific embodiment with reference to the accompanying drawings below, wherein.
Fig. 1 is overall structure and the building block signal that the utility model embodiment provides self-navigation mobile dustbin
Figure.
Reference title：1st, AGV trolley bodies；11st, kinematic driving unit；12nd, kinematic driving unit is electrically driven
Module；2nd, dustbin；21st, recyclable rubbish dustbin；22nd, Other Waste dustbin；23rd, the rubbish of recyclable rubbish dustbin
Case lid；24th, the dustbin lid of Other Waste dustbin；3rd, human-computer interaction interface；31st, information display screen；32nd, indicator lamp；
33rd, acousto-optic warning lamp；34th, operation button；35th, emergency stop button；36th, loudspeaker；Audio audio power amplifying circuit 361；
4th, chargeable storage；5th, ranging sensing module；51st, leading flank ranging sensing module；52nd, right flank ranging sensing module；53、
Left surface ranging sensing module；6th, wireless data communication module；7th, positioning and navigation sensing module；8th, master control circuit board.
Fig. 2 is the microprocessor for the master control circuit board that the utility model embodiment provides self-navigation mobile dustbin
MCU, interface circuit and functional module connection block diagram Part I.
Fig. 3 is the microprocessor for the master control circuit board that the utility model embodiment provides self-navigation mobile dustbin
MCU, interface circuit, the Part II of functional module connection block diagram.
Fig. 4 is the microprocessor for the master control circuit board that the utility model embodiment provides self-navigation mobile dustbin
MCU and wireless data communication module interface circuit connection figure.
Fig. 5 is the microprocessor for the master control circuit board that the utility model embodiment provides self-navigation mobile dustbin
MCU and positioning and the interface circuit connection figure of navigation sensing module.
Fig. 6 is the microprocessor for the master control circuit board that the utility model embodiment provides self-navigation mobile dustbin
MCU and audio power amplification module, SD card, the interface circuit connection figure of LCD display.
Fig. 7 is the microprocessor for the master control circuit board that the utility model embodiment provides self-navigation mobile dustbin
MCU and indicator lamp, acousto-optic warning lamp, night light, button, the interface circuit connection figure of danger button.
Fig. 8 is the microprocessor for the master control circuit board that the utility model embodiment provides self-navigation mobile dustbin
MCU and motor driving module, the electrically driven module of dustbin lid, the interface of the electrically driven module of dustbin automatic turning device
Circuit connection diagram.
Fig. 9 is the microprocessor for the master control circuit board that the utility model embodiment provides self-navigation mobile dustbin
MCU and ranging sensing module, dustbin bottom weighing sensor interface circuit connection figure.
Figure 10 is the microprocessor for the master control circuit board that the utility model embodiment provides self-navigation mobile dustbin
MCU and battery current voltage monitoring module interface circuit connection figure.
The real-time example of Figure 11, the utility model provides the microprocessor in the master control circuit board of self-navigation mobile dustbin
MCU main program flow chart.
The real-time example of Figure 12, the utility model provides the microprocessor in the master control circuit board of self-navigation mobile dustbin
MCU interrupt service routine flow chart.
Embodiment
Self-navigation mobile dustbin is provided with reference to the utility model embodiment to be described further.Implement below
Example is only specific embodiment of the utility model, but design concept of the present utility model is not limited thereto, all to utilize this design
The change of unsubstantiality is carried out to the utility model, the behavior for invading scope of protection of the utility model all should be belonged to.In order to more preferable
Ground understands the technical scheme of the utility model self-navigation mobile dustbin, and the utility model is described in detail below in conjunction with the accompanying drawings and carries
The embodiment of confession.
Referring to Fig. 1, shown, the utility model provides being described in detail below for self-navigation mobile dustbin embodiment：AGV
The top of trolley body 1 is provided with two dustbins, respectively recyclable rubbish dustbin 21 and Other Waste dustbin 22；AGV
The front upper place of trolley body 1 is provided with human-computer interaction interface 3；The inside of AGV trolley bodies 1 is provided with chargeable storage 4；In AGV
Three sides of trolley body 1 are provided with 3 ranging sensing modules, the ranging sensing module 51 that respectively leading flank is provided with, right side
The ranging sensing module 52 that face is provided with, and the ranging sensing module 53 that left surface is provided with；To make full use of AGV trolley bodies 1
Preceding fraction and AGV trolley body 1 front upper place human-computer interaction interface 3 between inner space, in this AGV trolley body
Inner space in, provided with wireless data communication module 6, provided with positioning and navigation sensing module 7 and provided with main control circuit
Plate 8.AGV trolley bodies 1 contain kinematic driving unit 11, the drive wheel position located at the front of the vehicle frame of AGV trolley bodies 1, bag
2 d.c. motors with reduction box are included, before the shafts of 2 motors drives AGV trolley bodies 1 by mechanical transmission structure respectively
Two driving wheels in side left and right；The electrically driven module 12 of kinematic driving unit is arranged on small with the identical AGV of master control circuit board 8
In the inner space of car body 1, the electrically driven module 12 of kinematic driving unit has the various independent output ends of two-way, connects respectively
It is connected on 2 d.c. motors with reduction box in kinematic driving unit 11；The electrically driven module 12 of kinematic driving unit
Input is connected on the corresponding port of master control circuit board 8, and master control circuit board 8 controls the electrically driven of kinematic driving unit
Module 12, rotated with direct current horse of 2 in powered motion drive device 11 with reduction box；When master control circuit board 8 respectively with
During the direct current horse with reduction box of 2 in different speed control kinematic driving units 11, turning for AGV trolley bodies 1 will be realized
Moved to operation, here it is the control of the differential steering in control technology.Human-computer interaction interface 3 includes information display screen 31, referred to
Show lamp 32,1 acousto-optic warning lamps 33, operation button 34, emergency stop button 35, loudspeakers 36, loudspeaker 36 also includes audio
Audio power amplifying circuit 361, loudspeaker 36 and audio audio power amplifying circuit 361 are arranged on and the phase of master control circuit board 8
Top in the same inner space of AGV trolley bodies 1；Audio audio power amplifying circuit 361 passes through wire and the main control
The voice module interface circuit connection of circuit board 8, the function of loudspeaker is to send music or voice, prompts people to avoid or prompt
People operate with the utility model self-navigation mobile dustbin.
Referring to as shown in Figure 1, Figure 3, in order that the more optimization of self-navigation mobile dustbin embodiment of the present utility model
Design, there is more preferable man-machine interaction to experience, the information display screen 31 on human-computer interaction interface human-computer interaction interface 3, select as can
To play the color LCD display of audio-visual video；Simultaneously audio-visual video module interface circuit 8 is provided with master control circuit board 8；If
After having put color LCD display, text information can be both shown, various animated videos can also be played, realize the utility model
Self-navigation mobile dustbin operation when audio-visual amusement function, public service ads function and commercial function.
Referring to as shown in Figure 1, Figure 3, in order that the more optimization of self-navigation mobile dustbin embodiment of the present utility model
Design, there is more preferable human oriented design content, and the recyclable rubbish dustbin 21 of the top of AGV trolley bodies 1 is provided with recyclable rubbish
The dustbin lid 23 of rubbish dustbin, the Other Waste dustbin 22 of the top of AGV trolley bodies 1 are provided with Other Waste dustbin
Dustbin lid 24, the dustbin lid 23 of recyclable rubbish dustbin and the dustbin lid 24 of Other Waste dustbin are distinguished
Provided with the mechanical structure opened and closed automatically and the electrically driven module 11 of dustbin lid；Simultaneously in master control circuit board 8
Control interface 10 provided with the electrically driven module of dustbin lid；The dustbin lid 23 of recyclable rubbish dustbin and its
The electrically driven module 11 of dustbin lid of the dustbin lid 24 of his rubbish dustbin passes through on wire and master control circuit board 8
The control interface 10 of the electrically driven module of dustbin lid connect.The He of dustbin lid 23 of recyclable rubbish dustbin
The function of the dustbin lid 24 of Other Waste dustbin is to realize self-navigation mobile dustbin embodiment of the present utility model
Dustbin lid can be automatically opened up and closed, is convenient for people to garbage throwing.The mechanical structure opened and closed automatically selects stepping
Motor drives, and the electrically driven module 11 of dustbin lid then elects stepper motor drives as.
Referring to as shown in Figure 1, Figure 3, in order that the more optimization of self-navigation mobile dustbin embodiment of the present utility model
Design, the bottom of recyclable rubbish dustbin 21 and the bottom of Other Waste dustbin 22 of the top of AGV trolley bodies 1, all sets
There are dustbin automatic turning device and the electrically driven module 13 of its dustbin automatic turning device；Simultaneously in master control circuit board
8 are provided with the control interface 12 of the electrically driven module of dustbin automatic turning device；Dustbin automatic turning device it is electric
Drive circuit 13 passes through wire and the control interface of the electrically driven module of dustbin automatic turning device of master control circuit board 8 electricity
Road 12 connects.The function of the dustbin automatic turning mechanism is：When the utility model self-navigation mobile dustbin returns to rubbish
During rubbish recycle bin, the instruction that can be sent according to operator or background computer dispatching management information system, in Automatic-dumping dustbin
Rubbish is into garbage pool.Dustbin automatic turning device is driven from stepper motor, and dustbin automatic turning device is electrically driven
Module 13 then elects stepper motor drives as.
Referring to as shown in Figure 1, Figure 3, in order that the more optimization of self-navigation mobile dustbin embodiment of the present utility model
Design, the bottom of recyclable rubbish dustbin 21 and the bottom of Other Waste dustbin 22 of the top of AGV trolley bodies 1, is provided with
The garbage weight sensing sensor 15 of recyclable rubbish dustbin 21 and the garbage weight sensing sensor 16 of Other Waste dustbin 22；
Simultaneously weight sensing sensor interface circuit 14 is provided with master control circuit board 8；Garbage weight sensing sensor 15 and rubbish weight
Amount sensing sensor 16 is connected by wire with the weight sensing sensor interface circuit 14 of the master control circuit board 8.Rubbish
The function of weight sensing sensor 15 and garbage weight sensing sensor 16 is, when this control board 8 senses the rubbish
When rubbish in case reaches the constant weight limit, self-navigation mobile dustbin embodiment of the present utility model will automatically move back
To refuse transfer station, rubbish is unloaded automatically；Another of garbage weight sensing sensor 15 and garbage weight sensing sensor 16
Function is, master control circuit board 8 can according to the data variation of weight sensing sensor, discriminatory analysis this TV station mobile dustbin
Frequency of usage data, and background computer dispatching management information system is uploaded to, do big data for background computer dispatching management information system
Analysis.
Referring to as shown in Figure 1, Figure 3, in order that the more optimization of self-navigation mobile dustbin embodiment of the present utility model
Design, night light 5 is provided with human-computer interaction interface 3, while is provided with night light control in master control circuit board 8 and connects
Mouth circuit 4.Night light 5 is connected by wire with the night light control interface 4 in master control circuit board 8.Night
Between the function of illuminating lamp be to facilitate night it is found that self-navigation mobile dustbin embodiment of the present utility model, and conveniently
People are in night garbage throwing.
Referring to as shown in figure 1, the chargeable storage 4 of self-navigation mobile dustbin embodiment of the present utility model, choosing
The AGV trolley body spcific power batteries produced with Britain Huo Ke, model：AX12-100,12V100AH, gone here and there using 3 sections
Connection uses, i.e. 36V100AH.
The main control circuit of self-navigation mobile dustbin embodiment of the present utility model is described in detail below in conjunction with the accompanying drawings
The technical scheme of plate.
Referring to as shown in Fig. 2 ranging sensing module 3 is connected to microprocessor by ranging sensing module interface circuit 2
On MCU 1；Information display screen 5 is connected on Micro-processor MCV 1 by information display screen interface circuit 4；Indicator lamp 7 passes through
Indicator lamp interface circuit 6, it is connected on Micro-processor MCV 1；Acousto-optic warning lamp 9 passes through acousto-optic warning lamp interface circuit 8, connection
On Micro-processor MCV 1；Button 11 is connected on Micro-processor MCV 1 by button interface circuit 10；Danger button 13 is logical
Urgent button interface circuit 12 is crossed, is connected on Micro-processor MCV 1；SD card 15 is connected to micro- place by SD card interface circuit 14
Manage on device MCU 1；Positioning, by positioning and navigation induction module interface circuit 16, is connected to microprocessor with navigation induction module 17
On device MCU 1；Wireless data communication module 19 is connected to Micro-processor MCV by wireless data communication module interface circuit 18
On 1；Battery current voltage monitoring module 21 is connected to Micro-processor MCV 1 by battery current voltage monitoring interface circuit 20
On.
Referring to as shown in figure 3, the electrically driven module 3 of kinematic driving unit is connected by moving drive device interface circuit 2
On Micro-processor MCV 1；Night light 5 is connected on Micro-processor MCV 1 by night light interface circuit 4；Sound
Frequency power amplification circuit 7 is connected on Micro-processor MCV 1 by voice module interface circuit interface circuit 6；Color LCD shows
Display screen 9 is connected on Micro-processor MCV 1 by audio-visual video module interface circuit 8；The electrically driven module 11 of dustbin lid
By the control interface 10 of the electrically driven module of dustbin lid, it is connected on Micro-processor MCV 1；Dustbin automatic turning
The electrically driven module 13 of rotary device is connected to by the control interface 12 of the electrically driven module of dustbin automatic turning device
On Micro-processor MCV 1；Recyclable rubbish dustbin weight sensing sensor 15 and Other Waste dustbin weight sensing sensing
Device 16 is connected on Micro-processor MCV 1 by weight sensing sensor interface circuit 14.
Referring to as shown in Fig. 4, Fig. 1, the master control circuit board 8 of self-navigation mobile dustbin embodiment of the present utility model
Micro-processor MCV 1 from 32-bit microprocessor MCU, model STM32F103VCT6 that ARM Cortex-M3 are core, envelope
It is 100 to fill as LQFP100, chip pin.Its main performance is：Highest frequency is 72MHz, and Flash program containing 256K stores
Device ROM, 64K internal data memory RAM；Containing five 16 bit input and output I/O ports such as PA, PB, PC, PD, PE；It is integrated with 3
Individual SPI serial interfaces circuit, 2 IIC serial interface circuits, 5 USART or UART asynchronous serial ports etc..
Referring to as shown in Fig. 4, Fig. 1, the RFDC of self-navigation mobile dustbin embodiment of the present utility model
Module 6,3 kinds of WIFI module 2, RF433Mhz wireless communication modules 3, GPRS communication modules 4 etc. are selected, implemented to run operation
In, one of which can be selected as principal communication module according to indoor or outdoor, the occasion such as the size in region, remaining two kinds
As subsidiary communications module it is standby.NSS, SCK, MOSI and the MISO at the SPI interface end of RF433MHz wireless communication modules 3 draw
Pin, it is connected respectively with PE12, PE13, PE14 and PE15 pin of Micro-processor MCV 1；With RS232 communication ports
RX the and TX pins of WIFI module, by electrical level transferring chip MAX3232 chips 5, connect with PA9, PA10 of Micro-processor MCV 1
Connect；RX the and TX pins of GPRS module with RS232 communication ports, by electrical level transferring chip MAX3232 chips 5,
It is connected with PC10, PC11 of Micro-processor MCV 1.
Referring to as shown in Fig. 5, Fig. 1, positioning and the navigation of self-navigation mobile dustbin embodiment of the present utility model pass
Feel module 7, selected gyroscope and motion accelerometer 2 and the combination of RFID reader 7, positioning is realized with inertial navigation mode
With navigation；Satellite navigation module TH-BD05F GNSS 3 have also been selected, positioning and navigation are realized in a manner of satellite navigation.In reality
Apply in operation operation, one of which, can be selected as master positioning and navigation at the actual conditions in region according to indoor or outdoor
Mode, it is another then standby as auxiliary positioning and navigation mode.Gyroscope and motion accelerometer 2, from based on MEMS inertia
Cross dip, vertical inclination angle, the horizontal azimuth of three axial angle instrument of measuring table, energy while output campaign carrier, it is internal
Integrated 3 axes accelerometers and 3 axial angle speed inertance elements, by being integrated to the angular speed of object, then with attitude angle
Multimodal data fusion is carried out, so as to which real-time update horizontal azimuth exports, reaches the purpose of positioning and navigation, wherein RFID is read
It is to read default RFID landmark informations that device 7, which is write, in the effect of inertial navigation, and inertial navigation position data is initialized；Tool
There are RX the and TX pins of the RFID reader 7 of RS232 communication ports, by electrical level transferring chip MAX3232 chips 5 and lead to
Believe conversion chip STM8S105K46, be connected with PD12, PD13, PD14, PD15 of Micro-processor MCV 1, establish data communication,
The conversion chip STM8S105K46 that wherein communicates is a programmable chip, built-in that SPI communication is converted into UART communications
Program；RX the and TX pins of gyroscope and motion accelerometer 2 with RS232 communication ports, pass through electrical level transferring chip
MAX3232 chips 4, it is connected with PC12, PD2 of Micro-processor MCV 1.Satellite navigation module 4, it is from TH-BD05F GNSS
The satellite navigation module of mainboard, it is a kind of frequency small-size main boards of GPS+BD-2 (Beidou II satellite navigation system) five, using GPS
The frequency high dynamic calculating engine of+Big Dipper dual system five, overlength baseline E-RTK measurements are supported, the operation most long reachable 300km of distance can
Up to Centimeter Level Differential positioning precision, it can meet that the positioning of self-navigation mobile dustbin embodiment of the present utility model and navigation are smart
Degree requires；RX the and TX pins of satellite navigation module 4 with RS232 communication ports, pass through electrical level transferring chip
MAX3232 chips 4, it is connected with PA2, PA3 of Micro-processor MCV 1.
Referring to as shown in Fig. 6, Fig. 1, the human-computer interaction interface 3 of self-navigation mobile dustbin embodiment of the present utility model
Information display screen 31 from 8 inches of serial ports LCD touch screen 6, have RS232 communication ports LCD touch screen 6 RX
With TX pins, by electrical level transferring chip MAX3232 chips 5, it is connected with PB10, PB11 of Micro-processor MCV 1.Man-machine interaction
The information display screen 361 at interface 3 is from speech chip VS1003 3, speech chip VS1003 3 SPI interface and microprocessor
MCU 1 PA5, PB3, PB4, PB5 connection, speech chip VS1003 3 output end, audio signal power amplifier module 4 connect
Connect.The SPI interface of SD card 2, it is connected with PB12, PB13, PB14, PB15 of Micro-processor MCV 1；SD card 2 stores voice text
Part, Micro-processor MCV 1 can read the voice document in SD card 2, be played by chip VS1003 3.
Referring to as shown in Figure 1, Figure 7 shows, the human-computer interaction interface 3 of self-navigation mobile dustbin embodiment of the present utility model
2 indicator lamps 32,1,33,2, acousto-optic warning lamp operation button 34 and 1 emergency stop button 35, be respectively such as Fig. 7 institutes
Indicator lamp 2, indicator lamp 3, acousto-optic warning lamp 4, operation button 7, operation button 8 and the danger button 9 shown.As shown in fig. 7, instruction
Lamp 2, indicator lamp 3, acousto-optic warning lamp 4, night illumination LED, by ULN2803 chips 6, respectively with Micro-processor MCV 1
PA11, PA12, PA13, PA14 are connected；Operation button 7, operation button 8 and danger button 9, pass through Phototube Coupling TLP281-4 cores
Piece 10, respectively PB0, PB1, PB2 with Micro-processor MCV 1 be connected.
Referring to as shown in Fig. 8, Fig. 1, the kinematic driving unit of self-navigation mobile dustbin embodiment of the present utility model
Electrically driven module 12, elect motor driving module 6 and motor driving module 7 as；Motor driving module 6 and motor driving module
7, by operational amplifier LM324 chips 5, PA4, PA5 with Micro-processor MCV 1 are connected respectively.Dustbin lid electrically drives
Dynamic model block 8 and the electrically driven module 9 of dustbin lid pass through Phototube Coupling TLP281-4 chips 2 and Phototube Coupling respectively
TLP281-4 chips 3, respectively PB6, PB7, PB8, PB9, PC5, PC6 with Micro-processor MCV 1 be connected；Dustbin automatic turning
The electrically driven module 10 of device and the electrically driven module 11 of dustbin automatic turning device pass through Phototube Coupling TLP281-4 respectively
Chip 4 and Phototube Coupling TLP281-4 chips 5, respectively with PC7, PC8, PC9, PC13, PC14, PC15 of Micro-processor MCV 1
Connection.
Referring to as shown in Fig. 9, Fig. 1, the leading flank ranging of self-navigation mobile dustbin embodiment of the present utility model passes
Module 51 is felt, from the UBG-04LX-F01 range lasers scanner 6 of MAT's production, its superior performance, RS232 strings
Row COM1 exports measurement data；The end of UBG-04LX-F01 range lasers scanner 6 with RS232 communication ports
Mouth RX and TX pins, by electrical level transferring chip MAX3232 chips 5 and communication conversion chip STM8S105K4 4, with microprocessor
Device MCU 1 PE0, PE1, PE2, PE3 connection, establishes data communication, wherein communication conversion chip STM8S105K4 4 is one
Programmable chip, the built-in program that SPI communication is converted to UART communications.Rubbish is moved in self-navigation of the present utility model
The right flank ranging sensing module 52 and left surface ranging sensing module 53 of the kinematic driving unit of case embodiment, from GM3101
Radar range finding sensing module 8 and GM3101 radar range finding sensing module 10；GM3101 radar range finding sensing module is base
In the radar for backing car module of ultrasonic ranging principle, stable performance, its maximum measure distance scope is 0---3.5m, and range accuracy is
5cm, ranging cycle are 80ms, and output signal uses standard Transistor-Transistor Logic level UART asynchronous serial communication modes；Serially lead to UART
Believe the port DOUT+ pins of the GM3101 of port radar range finding sensing module 8, by the conversion chip STM8S105K47 that communicates,
It is connected with PE4, PE5, PE6, PE7 of Micro-processor MCV 1, establishes data communication, wherein communication conversion chip STM8S105K4
7 be a programmable chip, the built-in program that SPI communication is converted to UART communications；With UART communication ports
GM3101 radar range finding sensing module 10 port DOUT+ pins, it is and micro- by the conversion chip STM8S105K4 9 that communicates
Processor MCU 1 PE8, PE9, PE10, PE11 connection, establishes data communication, wherein communication conversion chip STM8S105K4 9
It is a programmable chip, the built-in program that SPI communication is converted to UART communications.
Referring to as shown in Fig. 9, Fig. 1, the recyclable rubbish rubbish of self-navigation mobile dustbin embodiment of the present utility model
The bottom of rubbish case 21 and the load cell of the bottom of Other Waste dustbin 22, have selected electronic scale weight sensing sensor 2
With electronic scale weight sensing sensor 3；Electronic scale weight sensing sensor 2 and electronic scale weight sensing sensor 3 pass through resistance
PC0, the PC1 of bleeder circuit respectively with Micro-processor MCV 1 are connected.
Referring to as shown in Figure 10, the battery current voltage monitoring of self-navigation mobile dustbin embodiment of the present utility model
Module, it have selected battery current transformer 2 and cell voltage transformer 3；Battery current transformer 2 and cell voltage transformer 3
It is connected by 4 PC2, PC3 respectively with Micro-processor MCV 1 of operational amplifier LM324 chips.
MCU in the master control circuit board of self-navigation mobile dustbin embodiment of the present utility model, contains program generation
Code, including following functions module：With scheduling system communication function module 1, human-computer interaction interface information input/output function module
2nd, positioning and navigation data reading and processing function module 3, ranging sensing module digital independent and processing function module 4, jerk
Button inputs and processing function module 5, SD card data read-write module 6, battery power monitoring function module 7, integrated data computing
Module 8, motion control function module 9, supplemental functionality 10.Supplemental functionality 10 include night light driving function,
Speaker sound function, display information playing function, dustbin lid are opened and shutdown driving function, dustbin automatic turning
Device driving function.
The program circuit of MCU in the master control circuit board of self-navigation mobile dustbin embodiment of the present utility model is retouched
State as follows：
Main program flow chart is described as follows：
Referring to as shown in figure 11, first, chip initiation, subsequently enter unlatching and interrupted with scheduling system data communication, connect
Into scram button input and processing function module 5, be then made whether the judgement of scram button input, if it is,
All outputs are closed into jerk disposal, then into wait artificial treatment；If it is not, then into human-computer interaction interface information
Input/output function module 2, positioning and navigation data reading and processing function module 3 are subsequently entered, subsequently enter ranging sensing
Module data is read and processing function module 4, subsequently enters SD card data read-write module 6, subsequently enters battery power monitoring work(
Energy module 7, after battery power monitoring function module 7 comes out, data summarization is carried out with the data from communication interruption service program,
Enter integrated data computing module 8 after data summarization, out knock down into motion control function module 9, while enter auxiliary work(
Energy module 10, after motion control function module 9 and supplemental functionality 10 come out, scram button input and place are returned in remittance
Manage the porch of functional module 5, such unlimited iterative cycles.
Interrupt service routine flow chart is described as follows：
It is shown in Figure 12, first, start with system data communication interrupt service routine, subsequently enter and lead to scheduling system
Telecommunication function module 2, after being come out with scheduling system communication function module 2, then interrupt and return.
The self-navigation mobile dustbin that example is provided is applied to the utility model above to be described in detail, for ability
The those skilled in the art in domain, according to the thought of the utility model embodiment, have in specific embodiments and applications
Change part, in summary, this specification content should not be construed as to limitation of the present utility model.
Claims (10)
1. self-navigation mobile dustbin, including AGV trolley bodies, the motion driving dress inside the AGV trolley bodies
Put, the electrically driven module of the kinematic driving unit inside the AGV trolley bodies, in the AGV trolley bodies
Portion's chargeable storage, it is characterised in that：Dustbin, the AGV trolley bodies front upper place are provided with above the AGV trolley bodies
Ranging sensing module is provided with provided with human-computer interaction interface, the AGV trolley bodies side, AGV trolley bodies inside is provided with wirelessly
Data communication module, the AGV trolley bodies subjacent or internal be provided with position and navigation sensing module, the AGV dollies
Body interior is provided with master control circuit board.
2. self-navigation mobile dustbin as claimed in claim 1, it is characterised in that：The dustbin, which is provided with, to be automatically turned on and closes
Close the dustbin lid of mechanism, dustbin automatic turning device be provided with the bottom of the dustbin or at the bottom of the dustbin
Portion is provided with garbage weight sensing sensor.
3. self-navigation mobile dustbin as claimed in claim 2, it is characterised in that：The dustbin includes recyclable rubbish rubbish
Two kinds of rubbish case and Other Waste dustbin.
4. self-navigation mobile dustbin as claimed in claim 1, it is characterised in that：The wireless data communication module includes
WIFI module, RF wireless communication modules, GPRS communication modules, 3G mobile communication modules or 4G mobile communication, the positioning is with leading
The sensing module that navigates includes magnetic induction sensor, gyroscope and motion accelerometer, satellite navigation module or RFID reader.
5. self-navigation mobile dustbin as claimed in claim 1, it is characterised in that：The wireless data communication module includes
WIFI module, RF wireless communication modules, GPRS communication modules, described position include gyroscope and moved to add with navigation sensing module
Fast meter, satellite navigation module, RFID reader.
6. self-navigation mobile dustbin as claimed in claim 1, it is characterised in that：The human-computer interaction interface shows including information
Display screen, loudspeaker or indicator lamp.
7. self-navigation mobile dustbin as claimed in claim 6, it is characterised in that：Described information display screen is LCD colored aobvious
Display screen.
8. self-navigation mobile dustbin as claimed in claim 1, it is characterised in that：The ranging sensing module includes leading flank
Ranging sensing module, right flank ranging sensing module, left surface ranging sensing module.
9. self-navigation mobile dustbin as claimed in claim 1, it is characterised in that：The master control circuit board includes microcontroller
Device MCU, ranging sensing module interface circuit, information display screen interface circuit, SD card interface circuit, positioning and navigation sensing module
Interface circuit, wireless data communication module interface circuit, kinematic driving unit interface circuit.
10. self-navigation mobile dustbin as claimed in claim 9, it is characterised in that：The master control circuit board includes micro-
Controller MCU is the 32-bit microprocessor MCU that ARM Cortex-M3 are core.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201720851253.9U CN207081986U (en) | 2017-07-04 | 2017-07-04 | Self-navigation mobile dustbin |
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|---|---|---|---|
| CN201720851253.9U CN207081986U (en) | 2017-07-04 | 2017-07-04 | Self-navigation mobile dustbin |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107239059A (en) * | 2017-07-04 | 2017-10-10 | 许纶煌 | Self-navigation mobile dustbin |
| CN108646754A (en) * | 2018-06-30 | 2018-10-12 | 汤苏扬 | A kind of intelligent carriage control system |
| CN108861244A (en) * | 2018-05-17 | 2018-11-23 | 徐成刚 | A kind of refuse of building clears robot assembly and its control system |
| CN109137796A (en) * | 2018-10-09 | 2019-01-04 | 青岛港国际股份有限公司 | Automatic dock self-navigation sweeper, cleaning method and system |
-
2017
- 2017-07-04 CN CN201720851253.9U patent/CN207081986U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107239059A (en) * | 2017-07-04 | 2017-10-10 | 许纶煌 | Self-navigation mobile dustbin |
| CN108861244A (en) * | 2018-05-17 | 2018-11-23 | 徐成刚 | A kind of refuse of building clears robot assembly and its control system |
| CN108646754A (en) * | 2018-06-30 | 2018-10-12 | 汤苏扬 | A kind of intelligent carriage control system |
| CN108646754B (en) * | 2018-06-30 | 2021-03-30 | 汤苏扬 | Intelligent vehicle control system |
| CN109137796A (en) * | 2018-10-09 | 2019-01-04 | 青岛港国际股份有限公司 | Automatic dock self-navigation sweeper, cleaning method and system |
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