CN217534039U - Unmanned garbage clearing robot - Google Patents
Unmanned garbage clearing robot Download PDFInfo
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- CN217534039U CN217534039U CN202221253233.9U CN202221253233U CN217534039U CN 217534039 U CN217534039 U CN 217534039U CN 202221253233 U CN202221253233 U CN 202221253233U CN 217534039 U CN217534039 U CN 217534039U
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Abstract
The utility model relates to an unmanned rubbish clearance robot belongs to the artificial intelligence field, supplements the combination location through multiple high accuracy positioning algorithm, has realized the all-round reliable location of robot, realizes empting the wet-dry separation of rubbish through setting up a plurality of rubbish accommodation chambers, improves waste classification efficiency, and whole video recording is emptyd to rubbish, realizes the real name system. By reserving the unmanned robot to collect the garbage, the phenomenon that people are intensive due to garbage throwing can be avoided, and epidemic spread risks are greatly reduced; 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. Adopt the utility model discloses a unmanned rubbish clearance robot has fused multiple technologies such as unmanned, automatic rubbish of empting, multitask scheduling in coordination, has safety, high efficiency, convenient, intelligent and the strong advantage of practicality.
Description
Technical Field
The utility model belongs to the artificial intelligence field, concretely relates to unmanned rubbish clearance robot.
Background
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, contradiction exists between the working time and the garbage throwing time, so that garbage cannot be thrown in time on a working day.
The garbage is thrown out in cold, hot and rainy and 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 under the current situation of epidemic normalization, the residents throw the garbage in a concentrated manner and contact the garbage in kitchens and bathrooms of different users in a close range, 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 epidemic situation spreading risk exists in the garbage clearing process.
Therefore, in the garbage throwing and clearing process, the mutual contact among garbage throwing residents is reduced, and the cross-region operation of avoiding sanitary cleaning personnel has important significance for epidemic situation prevention and control.
SUMMERY OF THE UTILITY MODEL
To the defect that exists among the prior art, the utility model aims to provide an unmanned rubbish clearance robot has safety, high efficiency, convenient, intelligent and the advantage that the practicality is strong.
In order to achieve the above purpose, the utility model 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 is characterized by further comprising a main control unit and a battery, wherein the main control unit can perform ranging and positioning, communicate with the outside and perform traveling 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 carry out feature matching and cannot successfully position, automatically starting a visual camera to carry out feature matching, and when the robot adopts the matched integral to carry out positioning quality evaluation, judging that the robot is successfully positioned when the integral reaches a second preset threshold value;
s224, when the robot cannot be successfully positioned even when the robot adopts the visual camera to perform feature matching, the robot starts an automatic perception obstacle avoidance function, performs position adjustment and movement, and then re-executes the steps S221 to 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 utility model has the effects that: adopt the utility model discloses an unmanned rubbish clearance robot supplements the combination location through multiple high accuracy positioning algorithm, has realized all-round reliable location of robot and safe obstacle avoidance, realizes empting the wet separation futilely of rubbish through setting up two rubbish accommodation rooms, improves waste classification's efficiency and proportion, and whole video recording is emptyd to rubbish, realizes the real name system. By reserving the unmanned robot to collect the garbage, the phenomenon that the personnel are intensive due to garbage throwing can be avoided, and the epidemic spread risk is greatly reduced; 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 of 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 according to an embodiment of the present invention, in which a first garbage delivery automatic door is in an open state;
fig. 3 is a schematic structural view 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 accompanying drawings and the detailed description.
Example one
As shown in fig. 1, the embodiment of the utility model discloses unmanned rubbish clearing robot, including robot main part 1, main part 1 is squarely, respectively forms a rubbish accommodation chamber in the inside left and right sides of main part 1, is first rubbish accommodation chamber 21 and second rubbish accommodation chamber 22 respectively. 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 containing chamber 22 is used for temporarily storing the wet garbage.
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, dry-wet separation of the dumped garbage is realized.
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, and on discerning there is the barrier on the road that advances, the vehicle can stop to advance and change the direction of advance, avoids taking place danger.
Can see through above-mentioned embodiment, the utility model discloses an unmanned rubbish clearance robot replenishes the combined positioning through multiple high accuracy positioning algorithm, has realized all-round reliable location of robot and safe obstacle avoidance, realizes empting the wet and dry separation of rubbish through setting up two rubbish accommodation chambers, improves waste classification's efficiency and proportion, and rubbish is emptyd whole video recording, realizes the real name system. The personnel density caused by throwing garbage can be avoided, and the epidemic spread risk is greatly reduced; 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 of the present invention is not limited to the specific embodiments described in the embodiments, and those skilled in the art can obtain other embodiments according to the technical solution of the present invention, which also belongs 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 top of each of the first garbage accommodating chamber and the second garbage accommodating chamber and are used for sealing delivered garbage; lifting scissor mechanisms are respectively arranged in the first garbage accommodating chamber and the second garbage accommodating chamber, and the lifting scissor mechanisms 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 refuse collection robot according to 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 completes sealing, the lifting scissors mechanism automatically discharges delivered garbage out of 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 refuse collection robot according to 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 carrying out the whole record of shooing to the rubbish process of empting.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221253233.9U CN217534039U (en) | 2022-05-24 | 2022-05-24 | Unmanned garbage clearing robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202221253233.9U CN217534039U (en) | 2022-05-24 | 2022-05-24 | Unmanned garbage clearing robot |
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| CN217534039U true CN217534039U (en) | 2022-10-04 |
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| CN202221253233.9U Active CN217534039U (en) | 2022-05-24 | 2022-05-24 | Unmanned garbage clearing robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114890009A (en) * | 2022-05-24 | 2022-08-12 | 上海永力信息科技股份有限公司 | Unmanned garbage cleaning robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114890009A (en) * | 2022-05-24 | 2022-08-12 | 上海永力信息科技股份有限公司 | Unmanned garbage cleaning robot |
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| TR01 | Transfer of patent right |
Effective date of registration: 20221229 Address after: 223001 706, Floor 7, No. 18, Huaxi Road, Huai'an District, Huai'an City, Jiangsu Province Patentee after: Huai'an Yongdao Intelligent Technology Co.,Ltd. Address before: Room a0309, 668 Changjiang South Road, Baoshan District, Shanghai 200441 Patentee before: Shanghai Yongli Information Technology Co.,Ltd. |
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