CN103290798B - Cleaning robot - Google Patents

Cleaning robot Download PDF

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Publication number
CN103290798B
CN103290798B CN 201310191026 CN201310191026A CN103290798B CN 103290798 B CN103290798 B CN 103290798B CN 201310191026 CN201310191026 CN 201310191026 CN 201310191026 A CN201310191026 A CN 201310191026A CN 103290798 B CN103290798 B CN 103290798B
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shaft
connected
cleaning
ii
link
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CN 201310191026
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Chinese (zh)
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CN103290798A (en )
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秦国华
胡锦扬
谢福华
张礼富
温祥东
胡政
李文华
李怡冉
马双龙
易中贵
刘德林
李科
程东旭
邓敏林
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南昌航空大学
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Abstract

一种垃圾清扫机器人,它由自走系统、垃圾识别定位系统、垃圾清扫系统和垃圾倾倒系统组成。 The refuse cleaning robot, which go by the system since, refuse recognition positioning system, scavenging systems and garbage dumping system. 4大系统分工明确而又协调统一。 4 large systems division clear and harmonized. 自走系统在整个垃圾清扫机器人工作中处于工作状态。 Self-propelled system is in working condition throughout the garbage cleaning robot work. 当摄像头发现垃圾时,清扫机器人的垃圾定位系统进入工作状态。 When the camera found trash, garbage cleaning robot positioning system into operation. 定位完毕后机器人的清扫系统进入工作状态。 After the completion of the positioning of the robot cleaning system into operation. 清扫完毕后倾倒系统进入工作状态。 After the cleaning is finished dumping the system into operation. 至此完成整个清扫过程。 This completes the entire cleaning process. 它具有自动搜寻、识别、定位、清扫垃圾的功能,能够在高温或寒冷的室外环境正常工作。 It has an automatic search for, identify, locate, scavenging function, can work in hot or cold outdoor environments.

Description

垃圾清扫机器人 Garbage cleaning robot

技术领域 FIELD

[0001] 本发明涉及一种垃圾清扫机器人。 [0001] The present invention relates to a garbage cleaning robot.

背景技术 Background technique

[0002] 清洁机器人作为智能移动机器人实用化发展的先行者,其研究始于2 O世纪80年代,到目前为止,已经产生了一些概念样机和产品。 [0002] The cleaning robot as an intelligent mobile robot practical development pioneer research 2 O began in the 1980s, so far, has produced some of the concepts and product prototypes. 现在市场上销售的智能清洁机器人基本上都是基于室内环境,且只能除尘或者吸取微小的垃圾。 Now on the market intelligent cleaning robots are essentially based on the indoor environment, and can only absorb tiny dust or garbage. 对于室外的清洁机器人则要么是自动化程度不够,或者应用范围受到较大限制,抑或清洁效果不理想。 For outdoor cleaning robot automation is either not enough, or more restricted range of applications, or cleaning effect is not ideal.

发明内容 SUMMARY

[0003] 本发明的目的在于提供了一种垃圾清扫机器人,它是一种室外清洁机器人,能够进行全自动化的垃圾清扫工作,对环境的适应性比较好。 [0003] The present invention is to provide a garbage cleaning robot, it is a kind of outdoor cleaning robot, can be fully automated garbage clean-up work, adaptability to the environment better. 能够在高温或者低温下良好工作,能够清扫较大的垃圾。 Able to work well at high temperatures or low temperatures, a large garbage can cleaning.

[0004] 本发明是这样来实现的,它包括外壳、轴1、轴承座、连杆1、电动推杆输出轴、轴 [0004] The present invention is implemented, which comprises a housing, a shaft, a bearing housing, a rod, an electric push rod output shaft,

I1、电动推杆、连杆I1、底板、清扫斗、摄像头、超声波避障传感器、传动轴、清扫板连接块、转角电位器1、红外传感器、减速电机1、清扫板、减速电机I1、前红外避障传感器、前车轮、后红外避障传感器、后车轮、侧插板、插板限位块、立支架、减速电机II1、小齿轮、连杆II1、大齿轮、轴II1、轴IV、轴V、固定支架、转角电位器I1、连接板、角铝、轴V1、舵机支架、舵机I和舵机II,其特征在于外壳的底部为底板,底板的下表面前部和后部分别连有前车轮和后车轮,前车轮和后车轮均连有减速电机II,底板的上表面前部设有前红外避障传感器,外壳的侧壁上连有插板限位块,侧插板连接在插板限位块之间,位于侧插板正下方的外壳侧壁上还设有后红外避障传感器,外壳中后部连有两个立支架,立支架之间连有两个轴I,其中上方的轴I两端连有轴承座,上 I1, electric push rod, link I1, floor cleaning bucket, camera, ultrasonic obstacle avoidance sensor, a drive shaft, the cleaning blade connection block, a rotation angle potentiometer, an infrared sensor, a geared motor 1, the cleaning blade, gear motor I1, before infrared obstacle avoidance sensors, front wheel, rear infrared obstacle avoidance sensors, rear wheels, side flapper, flapper stopper, stand, II1 geared motor, a pinion gear, a link II1, the large gear, shaft II1, IV shaft, axis V, fixing bracket angle potentiometer I1, webs, aluminum angle, axis V1, steering bracket, steering servo I and II, characterized in that the bottom of the housing bottom plate, the bottom plate of the lower surface of the front portion and the rear portion respectively connected front and rear wheels, front and rear wheels are connected with a geared motor II, on the front surface of the bottom portion of the interposer is provided with a stopper attached on the front infrared obstacle avoidance sensors, the side walls of the housing, side plug is connected between the interposer board stopper, positioned on the positive side of the housing sidewall below the interposer is further provided with a rear infrared obstacle avoidance sensors, even in the rear housing has two vertical brackets, there is connected between the two stand I axis, wherein both ends of the shaft I is connected over the bearing housing, the 方的轴I和下方的轴I分别连接在连杆I和连杆II的后端,位于立支架之间前方的外壳上还电动推杆,轴II连接在电动推杆上方的电动推杆输出轴上,轴II的两点连接在连杆I上,连杆I和连杆II的前部连接在连杆III上,连杆III之间连有轴 On the side of the shaft I I below and the shaft are connected to the rear end of the link I and link II is located between the support in front of the stand housing also the electric push rod, connected to the shaft II above electric push rod output electric putter axis II of the shaft connected to the two link I, link I and link II connecting the front portion to the link III, and even between the shaft rod III

II1、轴IV和轴V,连杆III通过连接板与角铝相连,角铝和固定支架均固定连接在清扫斗的后侧壁上,轴VI的两端分别连有转角电位器II和小齿轮,转角电位器II连接在固定支架上,小齿轮和位于轴V上的大齿轮啮合,轴VI紧靠小齿轮的一端还设有减速电机III;清扫斗的前部两侧通过清扫板连接块连接清扫板,清扫板连接块连接在位于清扫斗内的传动轴上,传动轴的上下两端分别连有减速电机I和转角电位器I,清扫斗内底部还设有红外传感器,清扫斗的顶部对称设有超声波避障传感器,清扫斗的顶部连有舵机II,舵机II的上部连有舵机I,舵机I通过舵机支架与摄像头相连。 II1, IV and shaft axis V, is connected through the link III connecting plate and an aluminum angle, angle aluminum brackets and fixing the rear wall are fixedly connected to the cleaning bucket, VI ends of the shaft are respectively connected with a small angle potentiometer II and gear, angle II potentiometer connected to the fixed bracket, and the large gear meshing pinion on the shaft V, VI close to the end of the shaft is also provided with a pinion gear motors III; both sides of the front portion of the cleaning bucket is connected to the plate by sweeping block cleaning blade is connected, the cleaning blade connecting block connected to a drive shaft located within the cleaning bucket, the upper and lower ends respectively connected with a drive shaft and a geared motor rotational angle potentiometer I I, further cleaning the bottom of the hopper is provided with an infrared sensor, a cleaning bucket symmetrically arranged on top of the ultrasonic obstacle avoidance sensors, connected with a top of the cleaning bucket steering II, there are connected an upper steering servo I II, I servo steering bracket and connected by a camera.

[0005] 本发明的技术效果是:能够在室外自主移动、避障,能够实现垃圾搜寻、识别、定位、清扫全自动化,能够在高温或寒冷的天气下工作,利用清扫板的旋转能够确保将垃圾扫入清扫斗。 [0005] A technical effect of the present invention is: capable of moving autonomously outdoors, obstacle avoidance, it is possible to achieve waste search, identification, location, cleaning fully automated, capable of operating at high temperatures or cold weather, with a rotary cleaning plate can be secured to swept into the garbage cleaning bucket.

附图说明 BRIEF DESCRIPTION

[0006] 图1为本发明的结构主视图。 [0006] FIG 1 a front view of the structure of the present invention.

[0007] 图2为本发明的清扫斗定位结构示意图。 [0007] FIG cleaning bucket positioning mechanism 2 of the present invention. FIG.

[0008] 图3为本发明的倾倒机构放大结构示意图。 [0008] FIG. 3 is an enlarged pouring mechanism of the present invention, the structure of FIG.

[0009] 图4为本发明的各个执行模块方框图。 Each execution module [0009] FIG. 4 is a block diagram of the present invention.

[0010] 在图中,1、夕卜壳2、轴I 3、轴承座4、连杆I 5、电动推杆输出轴6、轴II7、电动推杆8、连杆II 9、底板10、清扫斗11、摄像头12、超声波避障传感器13、传动轴14、清扫板连接块15、转角电位器I 16、红外传感器17、减速电机I 18、清扫板19、减速电机II 20、前红外避障传感器21、前车轮22、后红外避障传感器23、后车轮24、侧插板25、插板限位块26、立支架27、减速电机III 28、小齿轮29、连杆III 30、大齿轮31、轴III 32、轴IV 33、轴V 34、固定支架35、转角电位器II 36、连接板37、角铝38、轴VI 39、舵机支架40、舵机I 41舵机II 42、垃圾 [0010] In the drawings, 1, Xi Bu shell 2, the axis I 3, the bearing seat 4, the link I 5, the output shaft of the electric push rod 6, the II7 shaft, an electric push rod 8, the link II 9, the bottom plate 10, cleaning bucket 11, the camera 12, the ultrasonic obstacle avoidance sensor 13, transmission shaft 14, the cleaning blade connector block 15, angular potentiometers I 16, the infrared sensor 17, gear motor I 18, cleaning blade 19, gear motor II 20, the front infrared avoid barrier sensor 21, front wheels 22, the rear infrared obstacle avoidance sensors 23, rear wheels 24, 25 side of the interposer, the interposer stopper 26, stand 27, gear motor III 28, pinion gear 29, the link III 30, large gear 31, shaft III 32, shaft IV 33, the axis V 34, the fixing bracket 35, rotation angle potentiometer II 36, the connecting plate 37, the angle 38 of aluminum, a shaft VI 39, steering bracket 40, steering servo II 42 I 41 ,Rubbish

具体实施方式 detailed description

[0011] 如图1、图2和图3所示,本发明是这样来实现的,它包括外壳1、轴I 2、轴承座3、连杆I 4、电动推杆输出轴5、轴II 6、电动推杆7、连杆II 8、底板9、清扫斗10、摄像头11、超声波避障传感器12、传动轴13、清扫板连接块14、转角电位器I 15、红外传感器16、减速电机I 17、清扫板18、减速电机II 19、前红外避障传感器20、前车轮21、后红外避障传感器22、后车轮23、侧插板24、插板限位块25、立支架26、减速电机III 27、小齿轮28、连杆III 29、大齿轮30、轴III 31、轴IV 32、轴V 33、固定支架34、转角电位器II 35、连接板36、角铝37、轴VI 38、舵机支架39、舵机I 40和舵机II 41,其结构特点是外壳I的底部为底板9,底板9的下表面前部和后部分别连有前车轮21和后车轮23,前车轮21和后车轮23均连有减速电机II 19,底板9的上表面前部设有前红外避障传感器20,外壳I的侧壁上连有插 [0011] As shown in FIG. 1, 2 and 3, the present invention is implemented, which comprises a housing 1, the I axis 2, bearing housing 3, the link I 4, putting electric output shaft 5, the shaft II 6, an electric push rod 7, link II 8, the bottom plate 9, the cleaning bucket 10, the camera 11, an ultrasonic obstacle avoidance sensors 12, shaft 13, connecting block 14 cleaning blade, angle potentiometer I 15, the infrared sensor 16, gear motor I 17, cleaning blade 18, gear motor II 19, the front infrared obstacle avoidance sensor 20, front wheels 21, the rear infrared obstacle avoidance sensors 22, rear wheels 23, 24 side of the interposer, the interposer stopper 25, stand 26, Geared motors III 27, pinion gear 28, the link III 29, the large gear 30, shaft III 31, IV shaft 32, the axis V 33, a fixed bracket 34, rotation angle potentiometer II 35, the connecting plate 36, an aluminum angle 37, shaft VI 38, steering gear holder 39, and steering servo 40 I II 41, whose structure is characterized by a bottom plate of the housing I is 9, the lower surface of the front portion and the rear plate 9 are respectively connected with a front wheel 21 and rear wheel 23, front wheels 21 and rear wheels 23 are connected with a gear motor II 19, the upper surface of the bottom plate 9 is provided with a front portion of the front obstacle avoidance infrared sensor 20, connected with a plug on a sidewall of the housing I 板限位块25,侧插板24连接在插板限位块25之间,位于侧插板24正下方的外壳I侧壁上还设有后红外避障传感器22,外壳I中后部连有两个立支架26,立支架26之间连有两个轴I 2,其中上方的轴I 2两端连有轴承座3,上方的轴I 2和下方的轴I 2分别连接在连杆I 4和连杆II 8的后端,位于立支架26之间前方的外壳I上还电动推杆7,轴II 6连接在电动推杆7上方的电动推杆输出轴5上,轴II 6的两点连接在连杆I 4上,连杆I 4和连杆II 8的前部连接在连杆III 29上,连杆III 29之间连有轴III 31、轴IV 32和轴V 33,连杆III 29通过连接板36与角铝37相连,角铝37和固定支架34均固定连接在清扫斗10的后侧壁上,轴VI 38的两端分别连有转角电位器II 35和小齿轮28,转角电位器II 35连接在固定支架34上,小齿轮28和位于轴V 33上的大齿轮30啮合,轴VI 38紧靠小齿轮28的一端还设有减速电机III 27 ;清扫斗10 The stopper plate 25, the side 24 is connected between the interposer card stopper 25, located on the rear side of the card 24 NOW I sidewall of the housing is also provided below the infrared sensor 22, obstacle avoidance, and even the rear portion of the housing I there are two vertical brackets 26, there are connected between the two shafts stand 26 I 2, I 2 wherein the shaft of the upper bearing housing 3 connected to both ends, the shaft and the shaft above the bottom of the I 2 I 2 are connected to the connecting rod I and the rear end of the connecting rod 4 II 8 located between the front vertical support 26 housing an electric push rod 7 also I, II 6 is connected to the shaft of electric push rod 7 above the output shaft 5 of the electric push rod, shaft II 6 connecting two points on the link I 4, I 4 and connecting rod portion of the front link 8 II connected to the link III 29, III 31 connected between the shaft rod III 29, IV 32 and the shaft axis V 33 , the link 36 III 29 through the connecting plate 37 is connected to the aluminum angle, angle aluminum brackets 37 and 34 are secured fixedly connected to the rear wall 10 of the cleaning bucket, VI 38 ends of the shaft are respectively connected with a corner and potentiometer II 35 a pinion gear 28, angle II 35 the potentiometer connected to the fixed bracket 34, a pinion gear engaged with the large gear 30 on the shaft and V 33 28, VI 38 abuts against the shaft end of the pinion gear 28 is also provided with a motor reducer III 27; the cleaning Doo 10 前部两侧通过清扫板连接块14连接清扫板18,清扫板连接块14连接在位于清扫斗10内的传动轴13上,传动轴13的上下两端分别连有减速电机I 17和转角电位器I 15,清扫斗10内底部还设有红外传感器16,清扫斗10的顶部对称设有超声波避障传感器12,清扫斗10的顶部连有舵机II 41,舵机II 41的上部连有舵机I 40,舵机I 40通过舵机支架39与摄像头11相连。 Sides of the front plate portion are connected by the cleaning block 14 is connected to the cleaning blade 18, cleaning blade connecting block 14 is connected to the drive shaft 10 located within the hopper 13 of the cleaning, both ends of the upper and lower shaft 13 are connected with a rotation angle and deceleration of the motor I 17 potential unit I 15, the bottom of the cleaning bucket 10 is also provided with an infrared sensor 16, the top 10 of the cleaning bucket provided symmetrically ultrasonic obstacle avoidance sensors 12, the top of the cleaning bucket 10 II 41 connected with a steering gear, an upper portion connected with a servo II 41 servo I 40, I 40 is connected to the steering gear 11 by a servo camera holder 39.

[0012] 本清洁机器人是由前车轮21、底板9、减速电机II 19、超声波避障传感器12、前红外避障传感器20、后红外避障传感器22构成的机器人自走系统。 [0012] The present cleaning robot is a front wheel 21, the bottom plate 9, gear motor II 19, the ultrasonic obstacle avoidance sensors 12, 20, the robot sensor 22 includes an infrared obstacle avoidance obstacle avoidance front infrared sensor self-propelled system. 由减速电机III 27、小齿轮28,连杆III 29,大齿轮30,轴V 33,固定支架34,转角电位器II 35,连接板36,轴VI 38、轴III 31、轴IV 32、连杆I 4、连杆II 8、轴I 2、轴II 6、电动推杆7、立支架26和角铝37构成的垃圾倾倒系统,由舵机I 40、舵机II 41、舵机支架39、摄像头11构成的垃圾识别定位系统,由清扫斗10、清扫板18、减速电机I 17、清扫板连接块14、转角电位器I 15、红外传感器16、传动轴13、清扫板18构成的垃圾清扫系统。 A gear motor III 27, pinion gear 28, the link III 29, the large gear 30, shaft V 33, a fixed bracket 34, rotation angle potentiometer II 35, the connecting plate 36, the shaft VI 38, shaft III 31, IV shaft 32, even lever I 4, link II 8, axes I 2, axis II 6, an electric push rod 7, the bracket 26 and the vertical angle dump system 37 composed of aluminum, a servo I 40, servo II 41, steering gear holder 39 , garbage identification positioning system camera 11 constituted by the cleaning bucket 10, the cleaning blade 18, gear motor I 17, the cleaning plate connecting block 14, angular potentiometers I 15, the infrared sensor 16, garbage shaft 13, cleaning blade 18 made of cleaning system.

[0013] 如图4所示,垃圾清扫机器人由自走系统、垃圾识别定位系统、垃圾清扫系统和垃圾倾倒系统组成。 [0013] As illustrated, a self-scavenging walking robot system, positioning system, trash identification, and scavenging system 4 composed dumping systems. 4大系统分工明确而且协调统一。 4 large systems clear division of labor and harmonization. 自走系统在整个垃圾清扫机器人工作中处于工作状态。 Self-propelled system is in working condition throughout the garbage cleaning robot work. 当摄像头11发现垃圾时,清扫机器人的垃圾定位系统进入工作状态。 When the camera 11 found trash, garbage cleaning robot positioning system into operation. 定位完毕后机器人的清扫系统进入工作状态。 After the completion of the positioning of the robot cleaning system into operation. 清扫完毕后倾倒系统进入工作状态。 After the cleaning is finished dumping the system into operation. 至此完成整个清扫过程。 This completes the entire cleaning process.

[0014] 机器人的外壳I两侧和后面都装有插板24,插板24通过固定在外壳I上的插板限位块25来限位,使插板24可以向上拉出,以方便检查或维修置于外壳I内的机器人控制电路。 [0014] I the housing sides and back of the robot 24 are provided with the interposer, the interposer 24 by the stopper 25 fixed to the casing I of the card stopper, so that card 24 can be pulled up, in order to check or repair disposed within the housing I robot control circuit.

[0015] 机器人自走系统包括前车轮21、底板9、减速电机II 19、超声波避障传感器12、前红外避障传感器20、后红外避障传感器22。 [0015] The self-propelled robot system includes a front wheel 21, the bottom plate 9, gear motor II 19, the ultrasonic sensor 12 obstacle avoidance, obstacle avoidance front infrared sensor 20, the infrared sensor 22, obstacle avoidance. 两个超声波避障传感器12并列安装在清扫斗10上方的前端,两个前红外避障传感器20安装在底板9的前方的左右两个方位,并且向外倾斜45°,加上两个后红外避障传感器22,由此构成自走系统的外部环境检测子系统。 Two ultrasonic obstacle avoidance sensor 12 mounted in parallel above the front end of the cleaning arm 10, two front obstacle avoidance infrared sensor 20 is mounted in front of the base plate 9 of the two left and right orientation, and outwardly inclined by 45 °, with the two infrared obstacle avoidance sensor 22, thereby constituting the self-propelled system external environment detection subsystem. 两个减速电机II 19通过电机支架固定在底板9上,然后通过齿轮传动带动车轮旋转,由此组成一个驱动机构。 Two reduction motors II 19 by a motor bracket on the base plate 9, and is rotated by the drive gear wheel, whereby the composition of a drive mechanism. 在底板9的前后左右四个方位上都固定有这种驱动机构,垃圾清扫机器人在这种驱动机构的驱动下实现前进、后退或者转弯避障。 On the four directions around, floor 9 are fixed to this drive mechanism, garbage cleaning robot to achieve progress in driving this drive mechanism, turn back or obstacle avoidance.

[0016]自走系统实施案例1:当安装在清扫斗10上方的两个超声波避障传感器12检测到前方有障碍时,若两个后红外传感器22没有检测到障碍物存在,则机器人向右转或者向左转的概率是相同的;若两个后红外传感器22其中一个检测到了有障碍物存在,则机器人通过控制驱动装置向另外一边转弯;若两个后红外传感器22都检测到侧边有障碍物,则机器人向后退一段距离后再根据实际情况转弯。 [0016] Self-propelled system embodiment Case 1: when two ultrasonic cleaning hopper 10 mounted above the obstacle avoidance sensor 12 detects the obstacle in front, if both the infrared sensor 22 does not detect the presence of an obstacle, the robot to the right probability turn or a left turn is the same; if both the infrared sensors 22 which detect a presence of an obstacle, the robot while turning to another by controlling the drive means; if two infrared sensor 22 are detected after the side there are obstacles, the robot according to the actual situation to turn back some distance before.

[0017]自走系统实施案例2:当左右两侧前红外传感器20的其中一侧检测到前方有障碍物时:若同时两个后红外传感器22中只有另外一侧的那个传感器检测到了障碍物或者两个都检测到了障碍物,则机器人向后退一段距离再根据实际情况转弯;若同时两个后红外传感器22中只有同一侧的那个传感器检测到了障碍物,则机器人向另外一侧转弯。 [0017] The self-propelled system embodiment Case 2: When the left and right front side where the infrared sensor detects an obstacle ahead of 20: If the infrared sensor 22 while the two additional only one side of the sensor that detected the obstacle or both are an obstacle is detected, the robot then turns back to a distance according to actual situation; while if the two infrared sensors 22, only an obstacle is detected the same side of the sensor, the robot turn to the other side.

[0018] 如图1所示,机器人垃圾清扫系统包括两个减速电机I 17,两个清扫板18,两个传动轴13,四个清扫板固定块14,两个红外传感器16及两个转角电位器I 15。 [0018] As illustrated, the robot 1 includes a scavenging system of two geared motors I 17, two cleaning blade 18, two drive shafts 13, four fixed block sweeping plate 14, two infrared sensors 16 and two corner potentiometer I 15. 减速电机I固定在清扫斗10上,传动轴13上端与减速电机I 17的输出轴固定,下端与转角电位器I 15的旋转轴固定,转角电位器I 15固定部分与清扫斗10固定。 I geared motor 10 is fixed to the cleaning bucket, the upper end of the drive shaft 13 and the gear motor output shaft 17 is fixed I, with a lower end corner of the potentiometer 15 is fixed to the rotary shaft I, I corner potentiometer 15 fixed portion 10 fixed to the cleaning bucket. 清扫板18通过两个固定在传动轴13上的固定块14固定。 Cleaning blade 18 is fixed at two fixing block is fixed on the shaft 13 through 14. 当减速电机17通电后,由减速电机17输出轴带动传动轴13旋转,从而带动清扫板18运动,同时传动轴13带动转角电位器I 15的旋钮旋转,控制中心通过检测转角电位器的旋转来控制清扫板18的运动极限位置,从而确保将垃圾扫入清扫斗内10。 When the geared motor 17 is energized, the output shaft 17 driven by gear motor 13 rotates the drive shaft, so as to drive movement of the cleaning blade 18, while the driven shaft rotational angle potentiometer 13 I of rotation of the knob 15, the control center is detected by the rotation angle potentiometer controlling movement limit position of the cleaning plate 18 to ensure that the sweep garbage into the hopper 10 purge. 安装在清扫斗10内的红外传感器16能够检测垃圾是否已扫入,若检测到已扫入,则清扫板10回归到原位,若没有检测到垃圾,则启动与左侧相同的右侧清扫系统,如此反复循环直至将垃圾扫入清扫斗10内。 Infrared sensors mounted in the cleaning of the bucket 16 can detect whether 10 has been swept into the garbage, when the sweep has been detected, the cleaning blade 10 to return to the home position is not detected when the garbage, the same right to the left to start the cleaning system, and so the cycle is repeated until the cleaning litter under the hopper 10. 垃圾被扫入清扫斗10后,机器人便寻找垃圾倾倒场所,然后启动垃圾倾倒系统将垃圾倾倒 After being swept into the garbage cleaning bucket 10, the robot will find dump sites, then the system will start dumping garbage dump

[0019] 如图1、图3所示,机器人垃圾倾倒系统包括以电动推杆7为动力的升降系统及以减速电机27为动力的倾覆系统。 [0019] As shown in FIG. 1, FIG. 3, a robot system includes a dump push rod 7 to an electric powered lift system and in order to decelerate the motor 27 powered overturning system. 现对其工作原理进行说明。 Now its working principle is explained. 由连杆I 4、立支架26、连杆II 8及连杆III 29组成一个四杆机构,四个连杆的旋转副之间通过轴两两铰接,立支架26固定在底板9上,电动推杆7的底部与一个支架铰接,支架固定在底板9上,电动推杆7的输出轴通过轴6与连杆I 4铰接。 The link I 4, Stand 26, the link and the link II 8 III 29 form a four-bar mechanism, the hinge shaft by twenty-two, vertical bracket 26 fixed to the base 9 between the four sub-link rotary electric 7 is a bottom pusher hinge bracket, the bracket 9 is fixed on the base plate, an electric push rod output shaft 7 through the shaft 6 and the link I 4 is hinged. 当电动推杆7通电后,其输出轴5通过轴6带动四杆机构运动,从而使连杆III 29上升或者下降。 When the electric push rod 7 is energized, the output shaft 5 which is driven by four kinematic shaft 6, so that the link III 29 up or down. 倾覆系统包括减速电机III 27,小齿轮28,大齿轮30,连杆III 29,轴V 33,固定支架34,转角电位器II 35,两个连接板36,两个角铝37,传动轴38。 The system comprises a geared motor overturning III 27, pinion gear 28, the large gear 30, a link III 29, the axis V 33, a fixed bracket 34, rotation angle potentiometer II 35, two webs 36, two aluminum angle 37, the drive shaft 38 . 减速电机III 27固定在连接板36上,小齿轮28固定在减速电机III 27的输出轴上,大齿轮30固定在连杆III 29上,小齿轮28与大齿轮30啮合,传动轴38 —端与减速电机III 27输出轴固定,另一端与转角电位器II 35的旋钮固定。 III geared motor 27 is fixed to the connecting plate 36, a pinion 28 fixed to the output shaft of gear motor 27 III, the large gear 30 is fixed to the link 29 III, the pinion gear 28 meshed with the large gear 30, shaft 38 - end III 27 and gear motor output shaft is fixed, the other end of the fixed angle knob 35 of potentiometer II. 转角电位器II 35连接在在支架34上,固定支架34固定在清扫斗10上。 II 35 angular potentiometer connected to the holder 34, the fixing bracket 34 is fixed on the hopper 10 purge. 连接板36 —端与连杆III 29通过轴V 33铰接,另一端固定在角铝上,角铝固定在清扫斗10上。 Connecting plate 36 - end of the link III 29 V 33 by a hinge shaft, and the other end is fixed to the aluminum angle, angle of aluminum on the bucket 10 is fixed to the cleaning. 当减速电机III 27通电后带动小齿轮28旋转,因大齿轮30固定在连杆III 29上,所以小齿轮28的旋转中心将绕着大齿轮30旋转,从而带动连接板36旋转,最终通过角铝37的作用使清扫板10发生倾斜。 When the drive gear motor is energized III 27 pinion 28 is rotated, due to the large gear 30 is fixed to the link III 29, so that the rotation center of the pinion gear 28 around the large gear 30 is rotated, so as to drive rotation of the connecting plate 36, through the final angle the cleaning action of the aluminum plate 37, 10 is tilted. 同时由于连杆III 29的上升或下降带动清扫斗10上升下降。 And because the connecting rod 29 to rise or fall III cleaning bucket 10 driven rise and fall.

[0020] 垃圾识别定位系统包括摄像头11,舵机I 40,舵机II 41,舵机支架39。 [0020] spam recognition system includes a camera 11 is positioned, servo I 40, servo II 41, steering gear holder 39.

[0021] 如图2所示,坐标系建立在摄像头11的感光芯片的中心点上。 [0021] 2, the center point coordinates based on the camera chip 11 of the photoconductor. X轴与清扫斗10的上表面的长边平行,Y轴与清扫斗10上表面的短边平行,Z轴垂直清扫斗10的上表面向下。 X-axis arm on the cleaning surface 10 parallel to the long sides, Y axes parallel to the short side, Z-axis 10 perpendicular to the upper surface of a cleaning bucket with cleaning the upper surface of the bucket 10 downwardly. 清扫斗10的上表面与地面平行。 Cleaning the upper surface of the bucket 10 is parallel to the ground. H为已知参数,是坐标原点与地面的高度,S是垃圾42与坐标原点Y轴方向的距离。 H is a known parameter, the coordinate origin is ground height, S is the origin and the garbage 42 from the Y-axis direction of the coordinate. α是摄像头11的俯视角,β是摄像头11与清扫斗10中心平面之间的夹角。 α is the angle of the camera 11 is a plan view, β is the angle 11 between the center plane 10 of the cleaning bucket camera. 当智能清扫机器人的摄像头11发现垃圾时,舵机I 40转动的角度α和舵机II 41转动的角度β即确定下来。 When the smart camera 11 of the cleaning robot found garbage, steering angle of rotation of α I 40 II 41 and steering angle of rotation β i.e. determined. 控制单元根据β值调整智能小车向垃圾一侧转动β角,使清扫斗10正对着垃圾。 The control unit is rotated an angle β to the junk Smart car side adjustment value β in accordance with the bucket 10 facing the cleaning waste. 此时清扫斗10与垃圾42在水平面内的距离为C=b*sin3 /tana。 At this time, the cleaning refuse from the hopper 10 and 42 in the horizontal plane is C = b * sin3 / tana. 控制单元将处理的结果分析并命令车体直线前进c的距离长度后停下。 The results of the control unit and the command analysis processing proceeds from the straight body length c stopped. 清扫板18启动,即可将垃圾扫入清扫斗10内。 Starting the cleaning blade 18, the cleaning can be swept into the trash hopper 10.

[0022] 摄像头定位方法:摄像头扫描一幅图像后,经过灰度化和二值化处理,再经过中值滤波、轮廓提取,得到垃圾的外形轮廓。 [0022] Camera positioning method: a camera to scan the image subjected to gradation processing and binarization, and then through the median filter, the contour extraction, to obtain the contour of the garbage. 再提取目标图像最小外接矩形。 And then extract the target image minimum bounding rectangle. S点即为矩形两条对角线的焦点。 S is the focal point of the two diagonals of the rectangle. 此技术为已成熟技术,在此不再详述。 This technology is already mature technology, not further described herein.

Claims (1)

  1. 1.一种垃圾清扫机器人,它包括外壳、轴1、轴承座、连杆1、电动推杆输出轴、轴I1、电动推杆、连杆I1、底板、清扫斗、摄像头、超声波避障传感器、传动轴、清扫板连接块、转角电位器1、红外传感器、减速电机1、清扫板、减速电机I1、前红外避障传感器、前车轮、后红外避障传感器、后车轮、侧插板、插板限位块、立支架、减速电机II1、小齿轮、连杆II1、大齿轮、轴II1、轴IV、轴V、固定支架、转角电位器I1、连接板、角铝、轴V1、舵机支架、舵机I和舵机II,其特征在于外壳的底部为底板,底板的下表面前部和后部分别连有前车轮和后车轮,前车轮和后车轮均连有减速电机II,底板的上表面前部设有前红外避障传感器,外壳的侧壁上连有插板限位块,侧插板连接在插板限位块之间,位于侧插板正下方的外壳侧壁上还设有后红外避障传感器,外壳中后部 A garbage cleaning robot, comprising a housing, a shaft, a bearing housing, a rod, an electric push rod output shaft, I1, electric push rod, link I1, floor cleaning bucket, a camera, an ultrasonic sensor obstacle avoidance , the drive shaft, the cleaning blade connection block, an angle potentiometer, an infrared sensor, a geared motor 1, the cleaning blade, gear motor I1, the front infrared obstacle avoidance sensors, front wheel, rear infrared obstacle avoidance sensors, rear wheels, side interposer, card stopper, stand, II1 geared motor, a pinion gear, a link II1, the large gear, shaft II1, IV-axis, the axis V, the fixing bracket, angle potentiometer I1, webs, aluminum angle, axis V1, rudder bracket, steering servo I and II, characterized in that the bottom of the housing bottom plate, the lower surface of the front portion and the rear plate are attached front and rear wheels, front and rear wheels are connected with a gear motor II, the upper surface of the bottom plate of the front portion of the front side wall of the housing is provided with an infrared obstacle avoidance sensors, even with a stopper interposer, the interposer is connected between the interposer-side stopper on the side wall of the housing, it is located directly below the side of the card also provided on the rear infrared obstacle avoidance sensors, rear housing 连有两个立支架,立支架的之间连有两个轴I,其中上方的轴I两端连有轴承座,上方的轴I和下方的轴I分别连接在连杆I和连杆II的后端,位于立支架之间前方的外壳上还电动推杆,轴II连接在电动推杆上方的电动推杆输出轴上,轴II的两点连接在连杆I上,连杆I和连杆II的前部连接在连杆III上,连杆III之间连有轴III和、轴IV和轴V,连杆III通过连接板与角铝相连,角铝和固定支架均固定连接在清扫斗的后侧壁上,轴VI的两端分别连有转角电位器II和小齿轮,转角电位器II连接在固定支架上,小齿轮和位于轴V上的大齿轮啮合,轴VI紧靠小齿轮的一端还设有减速电机III;清扫斗的前部两侧通过清扫板连接块连接清扫板,清扫板连接块连接在位于清扫斗内的传动轴上,传动轴的上下两端分别连有减速电机I和转角电位器I,清扫斗内底部还设有红外传感器,清扫斗的顶 Stand even two, there are two shaft I is connected between the stand bracket, wherein both ends of the shaft I is connected over the bearing housing, shaft and shaft I I above and below are respectively connected to the link I and link II the rear end, the front upright positioned between the support housing further electric push rod, the push rod axis II is connected to an output shaft of the electric motor above the push rod, shaft II is connected to the two link I, link I, and front link portion connected to the link II III, III and connected with a shaft, the shaft rod between the IV and V axis III, III rod connected by webs angle aluminum, aluminum angle and are fixedly connected to the fixing bracket cleaning bucket rear wall, the ends of the shaft are respectively connected with a corner VI potentiometer II and pinion angle II potentiometer connected to the fixed bracket, and the large gear meshing pinion on the shaft V, VI close to the shaft One end of the pinion gear is further provided with a motor reducer III; both sides of the front portion of the cleaning bucket is connected to the cleaning plate by sweeping the plate connecting piece, the connecting block connecting the cleaning blade on the drive shaft located within the cleaning bucket, the upper and lower ends respectively connected to the drive shaft I and the motor rotation angle deceleration potentiometer I, the bottom of the cleaning bucket is also provided with an infrared sensor, a cleaning container top 对称设有超声波避障传感器,清扫斗的顶部连有舵机II,舵机II的上部连有舵机I,舵机I通过舵机支架与摄像头相连。 Symmetrically arranged ultrasonic obstacle avoidance sensors, connected with a top of the cleaning bucket steering II, there are connected an upper steering servo I II, I servo steering bracket and connected by a camera.
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