CN103290798A - Cleaning robot - Google Patents
Cleaning robot Download PDFInfo
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- CN103290798A CN103290798A CN2013101910264A CN201310191026A CN103290798A CN 103290798 A CN103290798 A CN 103290798A CN 2013101910264 A CN2013101910264 A CN 2013101910264A CN 201310191026 A CN201310191026 A CN 201310191026A CN 103290798 A CN103290798 A CN 103290798A
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Abstract
A cleaning robot is composed of a self-propelling system, a rubbish recognizing and locating system, a cleaning system and a dumping system which differently function and coordinate to each other. The self-propelling system stays operating during working of the cleaning robot. When rubbish is found by a camera, the rubbish recognizing and locating system of the cleaning robot begins working, and the cleaning system of the cleaning robot begins working after locating. After cleaning, the dumping system starts functioning until the whole cleaning process is completed. The cleaning robot has the advantages of automatic searching, recognizing, locating and cleaning functions for rubbish and can normally operate in high- or low-temperature outdoor environment.
Description
Technical field
The present invention relates to a kind of refuse sweeping robot.
Background technology
Clean robot is as the forerunner of intelligent mobile robot practicability development, and its research starts from the 80's of 2nd 0 century, up to the present, has produced some concept model machine and products.Now the intelligent cleaning robot of selling on the market all is based on indoor environment basically, and can only dedusting or draw small rubbish.For outdoor clean robot then or be that automaticity is not enough, perhaps range of application is subjected to bigger restriction, or cleaning effect is undesirable.
Summary of the invention
The object of the present invention is to provide a kind of refuse sweeping robot, it is a kind of outdoor clean robot, can carry out full-automatic refuse sweeping work, and is relatively good to the compliance of environment.Can be under high temperature or low temperature works fine, can clean bigger rubbish.
The present invention is achieved like this, it comprises shell, the axle I, bearing support, the connecting rod I, the electric pushrod output shaft, the axle II, electric pushrod, the connecting rod II, base plate, the cleaning bucket, camera, ultrasonic wave is kept away the barrier sensor, power transmission shaft, the cleaning board contiguous block, corner potentiometer I, infrared sensor, the reducing motor I, cleaning board, the reducing motor II, preceding infrared obstacle avoidance sensor, front vehicle wheel, back infrared obstacle avoidance sensor, rear wheel, the side plate, the plate limited block, staking, the reducing motor III, pinion, the connecting rod III, gear wheel, the axle III, the axle IV, the axle V, fixed support, corner potentiometer II, junction plate, angle aluminium, the axle VI, the steering wheel support, steering wheel I and steering wheel II, the bottom that it is characterized in that shell is base plate, the soffit front and rear of base plate is connected with front vehicle wheel and rear wheel respectively, front vehicle wheel and rear wheel all are connected with the reducing motor II, the upper surface front portion of base plate is provided with preceding infrared obstacle avoidance sensor, the side of shell is kept away and is connected with the plate limited block, the side plate is connected between the plate limited block, being positioned at shell side under the side plate keeps away and also is provided with back infrared obstacle avoidance sensor, the shell postmedian is connected with two stakings, be connected with two axle I between the staking, wherein Shang Fang axle I two ends are connected with bearing support, the axle I of top and the axle I of below are connected to the rear end of connecting rod I and connecting rod II, the shell in the place ahead is gone back electric pushrod between staking, the axle II is connected on the electric pushrod output shaft of electric pushrod top, 2 of the axle II are connected on the connecting rod I, the front portion of connecting rod I and connecting rod II is connected on the connecting rod III, be connected with an III between the connecting rod III, axle IV and axle V, the connecting rod III links to each other with angle aluminium by junction plate, angle aluminium and fixed support all are fixedly connected on the rear side of cleaning bucket and keep away, the two ends of axle VI are connected with corner potentiometer II and pinion respectively, corner potentiometer II is connected on the fixed support, pinion and the gear wheel that is positioned on the V mesh, and the axle VI also is provided with the reducing motor III near an end of pinion; The front part sides of cleaning bucket connects cleaning board by the cleaning board contiguous block, the cleaning board contiguous block is connected on the power transmission shaft that is positioned at the cleaning bucket, the two ends up and down of power transmission shaft are connected with reducing motor I and corner potentiometer I respectively, cleaning bucket inner bottom part also is provided with infrared sensor, the top of cleaning bucket is arranged with ultrasonic wave and keeps away the barrier sensor, the top of cleaning bucket is connected with the steering wheel II, and the top of steering wheel II is connected with the steering wheel I, and the steering wheel I links to each other with camera by the steering wheel support.
Technique effect of the present invention is: can be in outdoor autonomous movement, keep away barrier, can realize Dumpster Diving, identification, location, cleaning full-automation, and can under high temperature or arctic weather, work, utilize the rotation of cleaning board can guarantee rubbish is swept the cleaning bucket.
Description of drawings
Fig. 1 is structural front view of the present invention.
Fig. 2 is cleaning bucket location structure schematic diagram of the present invention.
Fig. 3 is tipping mechanism structure for amplifying schematic diagram of the present invention.
Fig. 4 is each Executive Module block diagram of the present invention.
In the drawings, 1, shell 2, axle I 3, bearing support 4, connecting rod I 5, electric pushrod output shaft 6, axle II 7, electric pushrod 8, connecting rod II 9, base plate 10, cleaning bucket 11, camera 12, ultrasonic wave is kept away barrier sensor 13, power transmission shaft 14, cleaning board contiguous block 15, corner potentiometer I 16, infrared sensor 17, reducing motor I 18, cleaning board 19, reducing motor II 20, preceding infrared obstacle avoidance sensor 21, front vehicle wheel 22, back infrared obstacle avoidance sensor 23, rear wheel 24, side plate 25, plate limited block 26, staking 27, reducing motor III 28, pinion 29, connecting rod III 30, gear wheel 31, axle III 32, axle IV 33, axle V 34, fixed support 35, corner potentiometer II 36, junction plate 37, angle aluminium 38, axle VI 39, steering wheel support 40, steering wheel I 41 steering wheel II.
The specific embodiment
As Fig. 1, Fig. 2 and shown in Figure 3, the present invention is achieved like this, it comprises shell 1, axle I 2, bearing support 3, connecting rod I 4, electric pushrod output shaft 5, axle II 6, electric pushrod 7, connecting rod II 8, base plate 9, cleaning bucket 10, camera 11, ultrasonic wave is kept away barrier sensor 12, power transmission shaft 13, cleaning board contiguous block 14, corner potentiometer I 15, infrared sensor 16, reducing motor I 17, cleaning board 18, reducing motor II 19, preceding infrared obstacle avoidance sensor 20, front vehicle wheel 21, back infrared obstacle avoidance sensor 22, rear wheel 23, side plate 24, plate limited block 25, staking 26, reducing motor III 27, pinion 28, connecting rod III 29, gear wheel 30, axle III 31, axle IV 32, axle V 33, fixed support 34, corner potentiometer II 35, junction plate 36, angle aluminium 37, axle VI 38, steering wheel support 39, steering wheel I 40 and steering wheel II 41, its design feature is that the bottom of shell 1 is base plate 9, the soffit front and rear of base plate 9 is connected with front vehicle wheel 21 and rear wheel 23 respectively, front vehicle wheel 21 and rear wheel 23 all are connected with reducing motor II 19, the upper surface front portion of base plate 9 is provided with preceding infrared obstacle avoidance sensor 20, the side of shell 1 is kept away and is connected with plate limited block 25, side plate 24 is connected between the plate limited block 25, being positioned at shell 1 side under the side plate 24 keeps away and also is provided with back infrared obstacle avoidance sensor 22, shell 1 postmedian is connected with two stakings 26, be connected with two axle I 2 between the staking 26, wherein Shang Fang axle I 2 two ends are connected with bearing support 3, the axle I 2 of top and the axle I 2 of below are connected to the rear end of connecting rod I 4 and connecting rod II 8, the shell 1 in the place ahead is gone back electric pushrod 7 between staking 26, axle II 6 is connected on the electric pushrod output shaft 5 of electric pushrod 7 tops, 2 of axle II 6 are connected on the connecting rod I 4, the front portion of connecting rod I 4 and connecting rod II 8 is connected on the connecting rod III 29, be connected with an III 31 between the connecting rod III 29, axle IV 32 and axle V 33, connecting rod III 29 links to each other with angle aluminium 37 by junction plate 36, angle aluminium 37 and fixed support 34 all are fixedly connected on the rear side of cleaning bucket 10 and keep away, the two ends of axle VI 38 are connected with corner potentiometer II 35 and pinion 28 respectively, corner potentiometer II 35 is connected on the fixed support 34, pinion 28 and the gear wheel 30 that is positioned on the V 33 mesh, and axle VI 38 also is provided with reducing motor III 27 near an end of pinion 28; The front part sides of cleaning bucket 10 connects cleaning board 18 by cleaning board 14 contiguous blocks, cleaning board contiguous block 14 is connected on the power transmission shaft 13 that is positioned at cleaning bucket 10, the two ends up and down of power transmission shaft 13 are connected with reducing motor I 17 and corner potentiometer I 15 respectively, cleaning bucket 10 inner bottom parts also are provided with infrared sensor 16, the top of cleaning bucket 10 is arranged with ultrasonic wave and keeps away barrier sensor 12, the top of cleaning bucket 10 is connected with steering wheel II 41, the top of steering wheel II 41 is connected with steering wheel I 40, and steering wheel I 40 links to each other with camera 11 by steering wheel support 39.
This clean robot is to keep away robot that barrier sensor 12, preceding infrared obstacle avoidance sensor 20, back infrared obstacle avoidance sensor 22 constitute from walking system by front vehicle wheel 21, base plate 9, reducing motor II 19, ultrasonic wave.By reducing motor III 27, pinion 28, connecting rod III 29, gear wheel 30, axle V 33, fixed support 34, corner potentiometer II 35, junction plate 36, axle VI 38, axle III 31, axle IV 32, connecting rod I 4, connecting rod II 8, axle I 2, axle II 6, electric pushrod 7, the rubbish that staking 26 and angle aluminium 37 constitute is toppled over system, by steering wheel I 40, steering wheel II 41, steering wheel support 39, the rubbish identification and positioning system that camera 11 constitutes is by cleaning bucket 10, cleaning board 18, reducing motor I 17, cleaning board contiguous block 14, corner potentiometer I 15, infrared sensor 16, power transmission shaft 13, the refuse sweeping system that cleaning board 18 constitutes.
As shown in Figure 4, the refuse sweeping robot forms by toppling over system from walking system, rubbish identification and positioning system, refuse sweeping system and rubbish.The division of labor of 4 big systems is clear and definite and by the coordinating and unifying.In running order in the work of whole refuse sweeping robot from walking system.When camera 11 was found rubbish, the rubbish navigation system of sweeping robot entered duty.The purging system of robot entered duty after the location finished.Clean the hypsokinesis adjustable voltage system that finishes and enter duty.So far finish whole cleaning process.
Robot comprises that from walking system front vehicle wheel 21, base plate 9, reducing motor II 19, ultrasonic wave keep away barrier sensor 12, preceding infrared obstacle avoidance sensor 20, back infrared obstacle avoidance sensor 22.Two ultrasonic wave are kept away the front end that barrier sensor 12 is installed in cleaning bucket 10 tops side by side, two preceding infrared obstacle avoidance sensors 20 be installed in base plate 9 the place ahead about two orientation, and outward-dipping 45 °, infrared obstacle avoidance sensor 22 after adding two constitutes the external environment condition detection subsystem from walking system thus.Two reducing motor II 19 are fixed on the base plate 9 by electric machine support, drive the wheel rotation by gear drive then, form a driving mechanism thus.Base plate 9 on four orientation this driving mechanism is arranged fixedly all around, the refuse sweeping robot realizes advancing, retreating or turn and keep away barrier under the driving of this driving mechanism.
From walking system case study on implementation 1: when two ultrasonic wave that are installed in cleaning bucket 10 tops are kept away barrier sensor 12 and detected the place ahead obstacle is arranged, if infrared sensor 22 does not detect obstruction and exists after two, then the robot probability of turning right or turning left is identical; If after two infrared sensor 22 one of them detected obstruction and existed, then robot turns to other one side by accessory drive; If infrared sensor 22 all detects side after two obstruction is arranged, then robot draws back and turns according to actual conditions behind the segment distance again.
From walking system case study on implementation 2: when the wherein side of infrared sensor before the left and right sides 20 detects the place ahead obstruction is arranged: all detected obstruction if having only after two that sensor of an other side to detect obstruction or two simultaneously in the infrared sensor 22, then the robot segment distance of drawing back is turned according to actual conditions again; If simultaneously have only that sensor of the same side to detect obstruction in the infrared sensor 22 after two, then robot turns to an other side.
As shown in Figure 1, robot refuse sweeping system comprises 14, two infrared sensors 16 of 13, four cleaning board fixed blocks of 18, two power transmission shafts of 17, two cleaning boards of two reducing motor I and two corner potentiometer I 15.The reducing motor I is fixed on the cleaning bucket 10, and the output shaft of power transmission shaft 13 upper ends and reducing motor I 17 is fixed, and the axis of rotation of lower end and corner potentiometer I 15 is fixed, and corner potentiometer I 15 standing parts are fixing with cleaning bucket 10.Cleaning board 18 is fixing by two fixed blocks 14 that are fixed on the power transmission shaft 13.After reducing motor 17 energisings, drive power transmission shaft 13 rotations by reducing motor 17 output shafts, thereby drive cleaning board 18 motions, power transmission shaft 13 drives the knob rotation of corner potentiometer I 15 simultaneously, control centre controls the limit of sports record position of cleaning board 18 by the rotation that detects the corner potentiometer, thereby guarantees rubbish is swept cleaning bucket interior 10.Whether be installed in infrared sensors 16 in the cleaning bucket 10 can detect rubbish and sweep, sweep if detect, then cleaning board 10 revert to original position, if do not detect rubbish, then start the right side purging system identical with the left side, circulate so repeatedly in rubbish being swept cleaning bucket 10.After rubbish was swept cleaning bucket 10, dumping graound institute was just sought by robot, started rubbish then and toppled over system rubbish is toppled over
As Fig. 1, shown in Figure 3, robot rubbish is toppled over system and is comprised with electric pushrod 7 and be the jacking system of power and be the system that topples of power with reducing motor 27.Now its operating principle is described.Form a four-bar mechanism by connecting rod I 4, staking 26, connecting rod II 8 and connecting rod III 29, hinged in twos by axle between the revolute of four connecting rods, staking 26 is fixed on the base plate 9, the bottom of electric pushrod 7 and a support are hinged, support is fixed on the base plate 9, and the output shaft of electric pushrod 7 is hinged by axle 6 and connecting rod I 4.After electric pushrod 7 energisings, its output shaft 5 drives the four-bar mechanism motion by axle 6, thereby makes connecting rod III 29 rise or descend.The system of toppling comprises reducing motor III 27, pinion 28, gear wheel 30, connecting rod III 29, axle V 33, fixed support 34,36, two angle aluminium 37 of 35, two junction plates of corner potentiometer II, power transmission shaft 38.Reducing motor III 27 is fixed on the junction plate 36, pinion 28 is fixed on the output shaft of reducing motor III 27, gear wheel 30 is fixed on the connecting rod III 29, pinion 28 and gear wheel 30 engagements, power transmission shaft 38 1 ends and reducing motor III 27 output shafts are fixed, and the knob of the other end and corner potentiometer II 35 is fixed.Corner potentiometer II 35 is connected on support 34, and fixed support 34 is fixed on the cleaning bucket 10.Junction plate 36 1 ends and connecting rod III 29 are hinged by axle V 33, and the other end is fixed on the aluminium of angle, and angle aluminium is fixed on the cleaning bucket 10.After 27 energisings of reducing motor III, drive pinion 28 rotations, because gear wheel 30 is fixed on the connecting rod III 29, so the center of rotation of pinion 28 will rotate thereby drive junction plate 36 around gear wheel 30 rotations, finally the effect by angle aluminium 37 makes cleaning board 10 run-off the straights.Simultaneously because the rising of connecting rod III 29 or drive cleaning bucket 10 rise and fall that descend.
The rubbish identification and positioning system comprises camera 11, steering wheel I 40, steering wheel II 41, steering wheel support 39.
As shown in Figure 2, coordinate system is based upon on the central point of sensitive chip of camera 11.X-axis is parallel with the long limit of the upper surface of cleaning bucket 10, and the struggle against minor face of 10 upper surfaces of Y-axis and cleaning is parallel, and it is downward that the Z axle vertically cleans 10 the upper surface of struggling against.The upper surface of cleaning bucket 10 is parallel to the ground.H is known parameters, is the height on the origin of coordinates and ground, and S is the distance of rubbish 43 and origin of coordinates Y direction.α is the depression angle of camera 11, and β is the angle between camera 11 and cleaning bucket 10 central planes.When the camera 11 of intelligent sweeping robot was found rubbish, the angle beta that the angle [alpha] that steering wheel I 40 is rotated and steering wheel II 41 are rotated was namely decided.Control module is adjusted intelligent carriage according to the β value and is rotated the β angle to rubbish one side, makes cleaning bucket 10 face rubbish.Cleaning this moment bucket 10 is c=b*sin β/tan α with the distance of rubbish 43 in horizontal plane.Control module with the interpretation of result handled and order car body straight ahead c apart from stopping after the length.Cleaning board 18 starts, and rubbish can be swept in the cleaning bucket 10.
Camera localization method: behind the camera scanning piece image, through gray processing and binary conversion treatment, extract through medium filtering, profile again, obtain the appearance profile of rubbish.Extract the minimum boundary rectangle of target image again.The S point is two cornerwise focuses of rectangle.This technology is mature technology, is not described in detail in this.
Claims (1)
1. refuse sweeping robot, it comprises shell, the axle I, bearing support, the connecting rod I, the electric pushrod output shaft, the axle II, electric pushrod, the connecting rod II, base plate, the cleaning bucket, camera, ultrasonic wave is kept away the barrier sensor, power transmission shaft, the cleaning board contiguous block, corner potentiometer I, infrared sensor, the reducing motor I, cleaning board, the reducing motor II, preceding infrared obstacle avoidance sensor, front vehicle wheel, back infrared obstacle avoidance sensor, rear wheel, the side plate, the plate limited block, staking, the reducing motor III, pinion, the connecting rod III, gear wheel, the axle III, the axle IV, the axle V, fixed support, corner potentiometer II, junction plate, angle aluminium, the axle VI, the steering wheel support, steering wheel I and steering wheel II, the bottom that it is characterized in that shell is base plate, the soffit front and rear of base plate is connected with front vehicle wheel and rear wheel respectively, front vehicle wheel and rear wheel all are connected with the reducing motor II, the upper surface front portion of base plate is provided with preceding infrared obstacle avoidance sensor, the side of shell is kept away and is connected with the plate limited block, the side plate is connected between the plate limited block, being positioned at shell side under the side plate keeps away and also is provided with back infrared obstacle avoidance sensor, the shell postmedian is connected with two stakings, be connected with two axle I between the staking, wherein Shang Fang axle I two ends are connected with bearing support, the axle I of top and the axle I of below are connected to the rear end of connecting rod I and connecting rod II, the shell in the place ahead is gone back electric pushrod between staking, the axle II is connected on the electric pushrod output shaft of electric pushrod top, 2 of the axle II are connected on the connecting rod I, the front portion of connecting rod I and connecting rod II is connected on the connecting rod III, be connected with between the connecting rod III III and, axle IV and axle V, the connecting rod III links to each other with angle aluminium by junction plate, angle aluminium and fixed support all are fixedly connected on the rear side of cleaning bucket and keep away, the two ends of axle VI are connected with corner potentiometer II and pinion respectively, corner potentiometer II is connected on the fixed support, pinion and the gear wheel that is positioned on the V mesh, and the axle VI also is provided with the reducing motor III near an end of pinion; The front part sides of cleaning bucket connects cleaning board by the cleaning board contiguous block, the cleaning board contiguous block is connected on the power transmission shaft that is positioned at the cleaning bucket, the two ends up and down of power transmission shaft are connected with reducing motor I and corner potentiometer I respectively, cleaning bucket inner bottom part also is provided with infrared sensor, the top of cleaning bucket is arranged with ultrasonic wave and keeps away the barrier sensor, the top of cleaning bucket is connected with the steering wheel II, and the top of steering wheel II is connected with the steering wheel I, and the steering wheel I links to each other with camera by the steering wheel support.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310191026.4A CN103290798B (en) | 2013-05-22 | 2013-05-22 | Cleaning robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310191026.4A CN103290798B (en) | 2013-05-22 | 2013-05-22 | Cleaning robot |
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| CN103290798A true CN103290798A (en) | 2013-09-11 |
| CN103290798B CN103290798B (en) | 2015-07-08 |
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| CN201310191026.4A Expired - Fee Related CN103290798B (en) | 2013-05-22 | 2013-05-22 | Cleaning robot |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106320237A (en) * | 2016-10-19 | 2017-01-11 | 深圳市天益智网科技有限公司 | Garbage cleaning robot |
| CN106662876A (en) * | 2014-08-18 | 2017-05-10 | 东芝生活电器株式会社 | Autonomous moving body |
| CN106625709A (en) * | 2016-12-27 | 2017-05-10 | 上海未来伙伴机器人有限公司 | Novel domestic robot |
| CN110468633A (en) * | 2019-08-19 | 2019-11-19 | 南昌航空大学 | A kind of intelligent device that the anti-foreign matter of railway switch is stuck |
| CN112127307A (en) * | 2020-08-24 | 2020-12-25 | 兴力洁道路保洁集团有限公司 | Robot for road cleaning |
| CN112144454A (en) * | 2020-09-24 | 2020-12-29 | 天津职业技术师范大学(中国职业培训指导教师进修中心) | Mechanical system based on automatic mobile robot of picking up of garden rubbish |
| CN112589766A (en) * | 2020-12-02 | 2021-04-02 | 浙江博城机器人科技有限公司 | Automatic patrol garbage recognition and sorting robot for roads |
| CN113293726A (en) * | 2021-05-18 | 2021-08-24 | 马鞍山南马智能制造研究所有限公司 | Wisdom city is with automatic rubbish robot of picking up |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106662876A (en) * | 2014-08-18 | 2017-05-10 | 东芝生活电器株式会社 | Autonomous moving body |
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| CN110468633A (en) * | 2019-08-19 | 2019-11-19 | 南昌航空大学 | A kind of intelligent device that the anti-foreign matter of railway switch is stuck |
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| CN112127307A (en) * | 2020-08-24 | 2020-12-25 | 兴力洁道路保洁集团有限公司 | Robot for road cleaning |
| CN112144454A (en) * | 2020-09-24 | 2020-12-29 | 天津职业技术师范大学(中国职业培训指导教师进修中心) | Mechanical system based on automatic mobile robot of picking up of garden rubbish |
| CN112589766A (en) * | 2020-12-02 | 2021-04-02 | 浙江博城机器人科技有限公司 | Automatic patrol garbage recognition and sorting robot for roads |
| CN113293726A (en) * | 2021-05-18 | 2021-08-24 | 马鞍山南马智能制造研究所有限公司 | Wisdom city is with automatic rubbish robot of picking up |
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| Publication number | Publication date |
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| CN103290798B (en) | 2015-07-08 |
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