CN106567353B - The sanitation robot and its control method of replaceable clearing apparatus - Google Patents
The sanitation robot and its control method of replaceable clearing apparatus Download PDFInfo
- Publication number
- CN106567353B CN106567353B CN201610987072.9A CN201610987072A CN106567353B CN 106567353 B CN106567353 B CN 106567353B CN 201610987072 A CN201610987072 A CN 201610987072A CN 106567353 B CN106567353 B CN 106567353B
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- rubbish
- clearing apparatus
- control
- chassis
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
- E01H1/00—Removing undesirable matter from roads or like surfaces, with or without moistening of the surface
- E01H1/02—Brushing apparatus, e.g. with auxiliary instruments for mechanically loosening dirt
- E01H1/04—Brushing apparatus, e.g. with auxiliary instruments for mechanically loosening dirt taking- up the sweepings, e.g. for collecting, for loading
Landscapes
- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Refuse-Collection Vehicles (AREA)
- Shovels (AREA)
Abstract
The invention discloses the sanitation robots and its control method of a kind of replaceable clearing apparatus, including chassis, mounting rack, mechanical arm, clearing apparatus, garbage shovel and transport mechanism；Mounting rack is fixed on chassis by support frame and is located above chassis；It is provided with mobile mechanism below chassis, is provided with garbage box above chassis；Turntable is provided at the top of mounting rack, the first end of mechanical arm is mounted on turntable, the second end of mechanical arm is provided with electromagnet, the clearing apparatus includes handgrip and broom, the connecting pin of clearing apparatus is provided with armature, and armature is provided with convex body, and electromagnet is provided with the groove to match with the convex body, handgrip or broom are connect with mechanical arm when cleaning, and chassis front end two sides are provided with clearing apparatus receptacle；Garbage shovel is located at the front center on chassis.The present invention can replace clearing apparatus automatically, so as to which the rubbish on greenbelt and road surface can be cleaned simultaneously, be suitable for different size of rubbish, and sweeping efficiency is high.
Description
Technical field
The present invention relates to robotic technology fields, and in particular to a kind of sanitation robot of replaceable clearing apparatus and its control
Method processed.
Background technique
It is well known that sanitationman is an arduous and noble occupation, and in order to create good living environment, Ta Menfeng
Solarization is blown, is worked from dawn to dusk, a piece of purging zone for going to sweep the fixation that they are assigned to of daily right place either exists
In the winter in hot summer or cold, they have to stand fast on the post of oneself, rugged environment and long-time, height
The work of intensity is a kind of greatly injury to the body of sanitationman.
With the development of science and technology, the sanitation robot instead of sanitationman also comes into being, presently disclosed environmental sanitation machine
People generally only has a kind of mode for clearing up rubbish, wherein relatively common has sucked type and two kinds of gripper type, both machines
There is limitation in people, the rubbish cleaning difficulty especially in the public places such as park or scenic spot, greenbelt is bigger, inhale
The sanitation robot of disc type more originally can not clear up the rubbish in greenbelt, and rubbish can not inhaled greatly very much yet, the environmental sanitation machine of clutch type
Although device people can be cleaned to the rubbish in greenbelt, efficiency is relatively low, and in such a way that hand is grabbed, the body on road surface
The lesser fines of product can not be cleared up.
Summary of the invention
For the defects in the prior art, the present invention provides sanitation robot and its control of a kind of replaceable clearing apparatus
Method, automatically replaceable clearing apparatus are suitable for different size of so as to which the rubbish on greenbelt and road surface can be cleaned simultaneously
Rubbish, and sweeping efficiency is high.
In a first aspect, a kind of sanitation robot of replaceable clearing apparatus provided by the invention, including chassis, mounting rack,
Mechanical arm, clearing apparatus, garbage shovel and transport mechanism；The mounting rack is fixed on chassis by support frame and is located at chassis
Top；It is provided with the mobile mechanism of driving motor driving below the chassis, is provided with garbage box above chassis；It is described
It is provided with turntable at the top of mounting rack and controls the servo motor of turntable rotation, the first end of the mechanical arm is mounted on turntable
On, the second end of mechanical arm is provided with electromagnet；The clearing apparatus includes handgrip and broom, and the handgrip includes crawl section
And the steering engine of control crawl section folding, the connecting pin of the clearing apparatus are provided with armature, the armature is provided with convex body, institute
It states electromagnet and is provided with the groove to match with the convex body, handgrip or broom are connect with mechanical arm when cleaning, before the chassis
End two sides are provided with the clearing apparatus receptacle for placing clearing apparatus；The garbage shovel is located at the front center on chassis.
Clearing apparatus of the invention can be with changing, and pavement garbage generally uses broom to be cleaned, when in discovery greenbelt
It when having rubbish, then needs broom being changed to handgrip, to grab the rubbish in greenbelt；Clearing apparatus and mechanical arm
Using electromagnetism ferropexy, when replacement, first broom is put into corresponding clearing apparatus receptacle, solenoid circuit is disconnected, makes to sweep
Broom is separated with mechanical arm, then mechanical arm is aligned to the handgrip being placed in clearing apparatus receptacle, and electromagnet is powered, makes
Handgrip is combined together with mechanical arm, and the automatic replacement of broom and handgrip can be completed, and is replaced convenient, fast；Meanwhile armature
It is combined together with electromagnet by convex body and groove, keeps the combination of clearing apparatus and mechanical arm more firm.By automatically more
Clearing apparatus is changed, can not only clean the rubbish on greenbelt and road surface simultaneously, is suitable for different size of rubbish, and improve
Sweeping efficiency.
Further, the transport mechanism includes hoist engine, lifting rope, hydraulic stem and scraper plate, and the hoist engine is mounted on institute
It states at the top of mounting rack, the lifting rope upper/lower terminal is connect with the output shaft of the hoist engine and garbage shovel respectively, the hydraulic stem
The scraper plate of the front side of one end fixing and mounting bracket, the hydraulic stem other end and rear side connects, and the scraper plate is used for the rubbish in garbage shovel
Rubbish is pushed into garbage box.
When cleaning ground refuse using broom, mechanical arm brandishes broom and rubbish is swept into garbage shovel, when in garbage shovel
Rubbish quantity reach certain amount after, garbage shovel and the rubbish that is collected into are promoted under scraper plate together by hoist engine, stretched
Long hydraulic stem, push scraper plate by rubbish be pushed into garbage box in, then again by scraper plate and garbage shovel be restored to original position into
The next refuse sweeping circulation of row.Using such cleaning method, either biggish rubbish or tiny rubbish can be into
Row cleaning, while the rubbish in corner can also clean up and fast speed, the efficiency cleaned is higher.
Further, the mechanical arm includes the bracket of three joint arms body and the connection arm body, and the bracket is two
A bottom plate leans against the U-lag of connection, and bracket one end is fixedly connected with the arm body, the bracket other end and is mounted on another arm body
On the output shaft of steering engine be fixedly connected.In this way, to realize the activity of mechanical arm, very flexibly.
Further, the left side, right side of the garbage shovel and rear side are provided with baffle, and the baffle upper end of rear side is by turning
Moving axis is rotatably coupled with the baffle of left and right side respectively.During the collection of rubbish and promotion, a left side for garbage shovel
The baffle of side, right side and rear side can prevent scattering of rubbish, meanwhile, when unloading rubbish to garbage box, rubbish is pushed to make the gear of rear side
Plate is pushed up and rotates around the rotation axis of upper end, enters rubbish in garbage box by the baffle of rear side, automatic after unsnatching
Return.
Further, photographic device is installed on the turntable, is provided with pressure sensor on the bottom plate of the garbage shovel.
Photographic device is installed, when turntable rotates, photographic device and mechanical arm rotate simultaneously, can carry out to target rubbish real on turntable
When observe, be provided with pressure sensor on the bottom plate of garbage shovel, can in automatic sensing garbage shovel rubbish quantity.
It further, further include host, the host is mounted in chassis, and host includes control module, locating module, storage
Storing module and communication module, the control module for acquiring information and issuing control signal, control module input terminal with it is described
Locating module, pressure sensor are connected with photographic device, control module output end and mobile mechanism's driving motor, manipulator
Arm servo motor, mechanical arm steering engine, handgrip steering engine, electro-magnet control switch, transport mechanism hoist engine and transport mechanism are hydraulic
The connection connection of bar signal, the storage module and communication module are connect with control module respectively, and storage module is used to store information,
Communication module with remote server for communicating.
It obtains locating module location information, the image information of photographic device intake and pressure sensor information and is transferred to
Control module, control module control mobile mechanism's driving motor, mechanical arm servo motor, mechanical arm steering engine, handgrip steering engine,
Electro-magnet control switch, transport mechanism hoist engine and transport mechanism hydraulic stem make corresponding movement, with complete refuse sweeping and
The intelligent control of clearing apparatus replacement, and information can also be recorded and stored by storage module, by communication module and far
Journey server communication simultaneously realizes long-range monitoring, to realize the intelligentized control method of refuse sweeping.
Further, the host further includes the communication module connecting with the control module, the communication module be used for
Remote server communication.Communication module with remote server for communicating, to realize the long-range monitoring to the sanitation robot.
Second aspect, a kind of control method of the sanitation robot of replaceable clearing apparatus provided by the invention are described clear
When sweeping device is broom and cleans the rubbish on ground, lower step is executed:
Step 1, division purging zone are multiple net regions, are numbered to net region and its coordinate storage exists
In storage module；
Step 2 obtains the coordinate information of changing coordinates and target gridding region, calculates travel route and control driving
Motor is travelled to the net region；
Step 3 obtains the image information in the coordinate grid region and is analyzed, when there is no to find target rubbish, into
Enter step 4, when finding target rubbish, enters step five；
Step 4, obtains the coordinate information of next net region, and control mobile mechanism's driving motor is travelled to next grid
Region, then return step three；
Step 5, analysis and the relative positional relationship of target rubbish, calculate at a distance from target rubbish and angle；
Step 6 controls mechanical arm servo motor and steering engine, so that mechanical arm is rotated corresponding angle and extends corresponding
Distance, target rubbish is swept into garbage shovel；
Step 7 obtains the information of pressure sensor, when pressure reaches given threshold, enters step eight, not up to sets
When threshold value, return step three；
Step 8, control transport mechanism hoist engine rotation, is promoted to blade height for garbage shovel；
Step 9, control transport mechanism hydraulic stem elongation, the rubbish in garbage shovel is pushed into the garbage box of rear side；
Step 10, control transport mechanism hoist engine rotation, garbage shovel is put back on ground, then return step three.
The sanitation robot of replaceable clearing apparatus provided by the invention can automatically carry out the net region of division one by one
It cleans, sweep-out pattern is clear, not will cause route repetition；Simultaneously in the cleaning process using broom, machine can be realized automatically
The movement of people, the identification of rubbish, the cleaning of rubbish and rubbish transmission overall process, to realize the intelligence of the sanitation robot
Change control.
Further, it after analyzing the image information of acquisition, if discovery rubbish is located in greenbelt, executes following
Step:
Step 1 controls mechanical arm servo motor and steering engine, broom is put into corresponding clearing apparatus receptacle；
Step 2 disconnects electro-magnet control switch, separates broom with mechanical arm；
Step 3 controls mechanical arm servo motor and steering engine, by the armature of the electromagnet alignment handgrip of mechanical arm；
Step 4, closing electromagnets control switch keep mechanical arm and handgrip solid by the attraction of electromagnet and armature
It is scheduled on together；
Step 5 controls mechanical arm servo motor and steering engine, makes the crawl section alignment target rubbish of handgrip, and control and grab
Hand steering engine grabs target rubbish；
Step 6 controls mechanical arm servo motor and steering engine, and the rubbish of crawl is moved on the upside of garbage box, and is controlled
Handgrip steering engine unclamps the crawl section of handgrip, and rubbish is put into garbage box.
By appeal step, it can be achieved that clearing apparatus of the present invention automatically replace and greenbelt rubbish automatic cleaning,
Replace intelligentized control method that is convenient, fast, and can be realized whole process.
The beneficial effects of the present invention are: automatically replaceable clearing apparatus, so as to can clean on greenbelt and road surface simultaneously
Rubbish, be suitable for different size of rubbish, and sweeping efficiency is high.
Detailed description of the invention
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art are briefly described.In all the appended drawings, similar element
Or part is generally identified by similar appended drawing reference.In attached drawing, each element or part might not be drawn according to actual ratio.
Fig. 1 is the structural schematic diagram of the embodiment of the present invention；
Fig. 2 is the mechanical arm of the embodiment of the present invention and the fractionation schematic diagram of clearing apparatus；
Fig. 3 is the mechanical arm attachment structure schematic diagram of the embodiment of the present invention；
Fig. 4 is the garbage shovel structural schematic diagram of the embodiment of the present invention；
Fig. 5 is the control principle drawing of the embodiment of the present invention；
Fig. 6 is the control method flow chart when embodiment of the present invention is cleaned using broom；
Fig. 7 is the control method flow chart that the embodiment of the present invention replaces handgrip and cleaning.
In attached drawing, 1 indicates chassis；2 indicate mounting rack；21 indicate support frame；3 indicate mechanical arm；31 indicate turntable；32
Indicate electromagnet；321 indicate groove；33 indicate arm body；34 indicate bracket；4 indicate clearing apparatus；41 indicate broom；42 indicate
Handgrip；421 indicate crawl section；43 indicate armature；431 indicate convex body；5 indicate garbage shovel；51 indicate baffle；61 indicate elevator
Machine；62 indicate lifting rope；63 indicate hydraulic stem；64 indicate scraper plate；7 indicate mobile mechanism；8 indicate garbage box；9 indicate camera shooting dress
It sets；10 indicate clearing apparatus hand container.
Specific embodiment
It is described in detail below in conjunction with embodiment of the attached drawing to technical solution of the present invention.Following embodiment is only used for
Clearly illustrate technical solution of the present invention, therefore be only used as example, and cannot be used as a limitation and limit protection model of the invention
It encloses.
In a first aspect, as shown in Figure 1, the embodiment of the invention provides a kind of sanitation robot of replaceable clearing apparatus,
Including chassis 1, mounting rack 2, mechanical arm 3, clearing apparatus 4, garbage shovel 5, transport mechanism and host, mounting rack 2 passes through support
Frame 21 is fixed on the front end on chassis 1 and is located at 1 top of chassis, and garbage shovel 5 is located at the front end on chassis 1, and support frame 21 is kept off in rubbish
Behind shovel 5, prevent garbage shovel 5 from shaking；Chassis 1 is arranged with the mobile mechanism 7 driven by driving motor, in order to preferably fit
Landform is answered, mobile mechanism 7 is preferably Athey wheel mobile mechanism 7, and garbage box 8 has been placed above in chassis 1, and host is mounted on chassis
In 1.
As depicted in figs. 1 and 2, it is provided with turntable 31 at the top of mounting rack 2 and controls the servo motor that turntable 31 rotates, machine
The first end of tool arm 3 is mounted on turntable 31, and the second end of mechanical arm 3 is provided with electromagnet 32；Clearing apparatus 4 includes grabbing
Hand 42 and broom 41, handgrip 42 include crawl section 421 and the steering engine for controlling the folding of crawl section 421, the connecting pin of clearing apparatus 4
It is provided with armature 43, armature 43 is provided with convex body 431, and electromagnet 32 is provided with the groove 321 to match with the convex body 431, clearly
Handgrip 42 or broom 41 are connect with mechanical arm 3 when sweeping, in addition, 1 front end two sides of chassis are provided with for placing clearing apparatus 4
Clearing apparatus receptacle 10.
Pavement garbage generally uses broom 41 to be cleaned, and when finding has rubbish in greenbelt, then needs broom 41
It is changed to handgrip 42, to grab to the rubbish in greenbelt；Clearing apparatus 4 and mechanical arm 3 are fixed using electromagnet 32,
When replacement, first broom 41 is put into corresponding clearing apparatus receptacle 10, disconnects 32 circuit of electromagnet, makes broom 41 and machinery
Arm 3 separates, then mechanical arm 3 is aligned to the handgrip 42 being placed in clearing apparatus receptacle 10, and electromagnet 32 is powered, makes
Handgrip 42 is combined together with mechanical arm 3, and the automatic replacement of broom 41 Yu handgrip 42 can be completed, and is replaced convenient, fast；Together
When, armature 43 and electromagnet 32 are combined together by convex body 431 and groove 321, make the knot of clearing apparatus 4 and mechanical arm 3
It closes more firm.By replacing clearing apparatus 4 automatically, the rubbish on greenbelt and road surface can be not only cleaned simultaneously, be suitable for not
With the rubbish of size, and improve sweeping efficiency.
As shown in figure 3, mechanical arm 3 includes the bracket 34 of three joint arms body 33 and linking arm body 33, bracket 34 is two
Bottom plate leans against the U-lag of connection, and 34 one end of bracket is fixedly connected with an arm body 33,34 other end of bracket and is mounted on another arm body
The output shaft of steering engine on 33 is fixedly connected, and is controlled mechanical arm 3 by servo motor and steering engine in this way and is horizontally rotated and up and down
Flexion can neatly brandish broom 41 and clean rubbish.
As shown in figure 4, the left side of garbage shovel 5, right side and rear side are provided with baffle 51, it can prevent rubbish from collecting and mentioning
It is scattered during rising, 51 upper end of baffle of rear side is rotationally connected with the baffle of left and right side 51 respectively by rotation axis
It connects, when unloading rubbish to garbage box 8, pushes rubbish that the baffle 51 of rear side is made to be pushed up and rotate around the rotation axis of upper end, make
Rubbish is entered in garbage box 8 by the baffle 51 of rear side, unsnatches rear self-return.
Transport mechanism includes hoist engine 61, lifting rope 62, hydraulic stem 63 and scraper plate 64, and hoist engine 61 is mounted on the top of mounting rack 2
Portion, 62 upper/lower terminal of lifting rope are connect with the output shaft of hoist engine 61 and garbage shovel 5 respectively, 63 one end fixing and mounting bracket 2 of hydraulic stem
Front side, the scraper plate 64 of 63 other end of hydraulic stem and rear side connects, and scraper plate 64 is used to the rubbish in garbage shovel 5 being pushed into dustbin
Body 8, in this manner, to realize the vertically and horizontally transmission of rubbish.
When cleaning ground refuse using broom 41, mechanical arm 3 brandishes broom 41 and rubbish is swept into garbage shovel 5, works as rubbish
After rubbish quantity in rubbish shovel 5 reaches certain amount, garbage shovel 5 and the rubbish being collected into are promoted to together by hoist engine 61
Under scraper plate 64, hydraulic stem 63 is extended, pushes scraper plate 64 that rubbish is pushed into garbage box 8, then again by scraper plate 64 and garbage shovel 5
It is restored to original position and carries out next refuse sweeping circulation.Using such cleaning method, either biggish rubbish is also
Be that tiny rubbish can be carried out cleaning, at the same the rubbish in corner can also clean up and clean fast speed, efficiency compared with
It is high.
In addition, being equipped with photographic device 9 on turntable 31, it is provided with pressure sensor on the bottom plate of garbage shovel 5, such as Fig. 5 institute
Show, host includes control module, locating module, storage module and communication module, and control module is for acquiring information and issuing control
Signal processed, control module input terminal are connect with locating module, pressure sensor and photographic device 9, control module output end and shifting
Dynamic mechanism driving-motor, mechanical arm servo motor, mechanical arm steering engine, handgrip steering engine, electro-magnet control switch, transport mechanism
Hoist engine 61 connects connection with 63 signal of transport mechanism hydraulic stem, and storage module and communication module are connect with control module respectively,
Storage module is for storing information, and communication module with remote server for communicating.By obtaining locating module location information, taking the photograph
The image information absorbed as device 9 and pressure sensor information and it is transferred to control module, control module controls mobile mechanism
Driving motor, mechanical arm servo motor, mechanical arm steering engine, handgrip steering engine, electro-magnet control switch, transport mechanism hoist engine
61 and transport mechanism hydraulic stem 63 make corresponding movement, to complete the intelligent control that refuse sweeping and clearing apparatus 4 are replaced, and
And information can also be recorded and stored by storage module, communicated by communication module with remote server and realizes long-range prison
Control, to realize the intelligentized control method of refuse sweeping.
Second aspect, as shown in fig. 6, the embodiment of the invention provides a kind of sanitation robots of replaceable clearing apparatus
Control method when clearing apparatus 4 is broom 41 and cleans the rubbish on ground, executes lower step:
Step 1, division purging zone are multiple net regions, are numbered to net region and its coordinate storage exists
In storage module；
Step 2 obtains the coordinate information of changing coordinates and target gridding region, calculates travel route and control driving
Motor is travelled to the net region；
Step 3 obtains the image information in the coordinate grid region and is analyzed, when there is no to find target rubbish, into
Enter step 4, when finding target rubbish, enters step five；
Step 4, obtains the coordinate information of next net region, and control mobile mechanism's driving motor is travelled to next grid
Region, then return step three；
Step 5, analysis and the relative positional relationship of target rubbish, calculate at a distance from target rubbish and angle；
Step 6 controls mechanical arm servo motor and steering engine, so that mechanical arm 3 is rotated corresponding angle and extends corresponding
Distance, target rubbish is swept into garbage shovel 5；
Step 7 obtains the information of pressure sensor, when pressure reaches given threshold, enters step eight, not up to sets
When threshold value, return step three；
Step 8, control transport mechanism hoist engine 61 rotate, and garbage shovel 5 is promoted to 64 height of scraper plate；
Step 9, control transport mechanism hydraulic stem 63 extend, and the rubbish in garbage shovel 5 is pushed into the garbage box 8 of rear side
In；
Step 10, control transport mechanism hoist engine 61 are rotated, garbage shovel 5 are put back on ground, then return step three.
The sanitation robot of replaceable clearing apparatus provided in an embodiment of the present invention can automatically to the net region of division by
One is cleaned, and sweep-out pattern is clear, not will cause route repetition；It, can be automatic simultaneously in the cleaning process using broom 41
The transmission overall process for realizing the movement of robot, the identification of rubbish, the cleaning of rubbish and rubbish, to realize the environmental sanitation machine
The intelligentized control method of people.
As shown in fig. 7, further, after analyzing the image information of acquisition, if discovery rubbish is located at greenbelt,
Execute following steps:
Step 1 controls mechanical arm servo motor and steering engine, broom 41 is put into corresponding clearing apparatus receptacle 10
It is interior；
Step 2 disconnects electro-magnet control switch, separates broom 41 with mechanical arm 3；
Step 3 controls mechanical arm servo motor and steering engine, and the electromagnet 32 of mechanical arm 3 is aligned to the rank of handgrip 42
Iron 43；
Step 4, closing electromagnets control switch are made mechanical arm 3 and are grabbed by the attraction of electromagnet 32 and armature 43
Hand 42 is fixed together；
Step 5 controls mechanical arm servo motor and steering engine, makes the 421 alignment target rubbish of crawl section of handgrip 42, and
Control handgrip steering engine grabs target rubbish；
Step 6 controls mechanical arm servo motor and steering engine, the rubbish of crawl is moved to 8 upside of garbage box, and control
Handgrip steering engine processed unclamps the crawl section 421 of handgrip 42, and rubbish is put into garbage box 8.
By appeal step, it can be achieved that oneself of replacement and greenbelt rubbish automatically of clearing apparatus of the embodiment of the present invention 4
Dynamic cleaning, replacement is convenient, fast, and can be realized the intelligentized control method of whole process.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme should all cover within the scope of the claims and the description of the invention.
Claims (2)
1. a kind of control method of the sanitation robot of replaceable clearing apparatus, which is characterized in that the ring of replaceable clearing apparatus
Defending robot includes chassis, mounting rack, mechanical arm, clearing apparatus, garbage shovel and transport mechanism；The mounting rack passes through support
Frame is fixed on chassis and is located above chassis；The mobile mechanism of driving motor driving, bottom are provided with below the chassis
Garbage box is provided with above disk；It is provided with turntable at the top of the mounting rack and controls the servo motor of turntable rotation, it is described
The first end of mechanical arm is mounted on turntable, and the second end of mechanical arm is provided with electromagnet；The clearing apparatus includes grabbing
Hand and broom, the handgrip include the steering engine of crawl section and the folding of control crawl section, the connecting pin setting of the clearing apparatus
There is armature, the armature is provided with convex body, and the electromagnet is provided with the groove to match with the convex body, handgrip or sweeps when cleaning
Broom is connect with mechanical arm, and the chassis front end two sides are provided with the clearing apparatus receptacle for placing clearing apparatus；It is described
Garbage shovel is located at the front center on chassis；
The transport mechanism includes hoist engine, lifting rope, hydraulic stem and scraper plate, and the hoist engine is mounted at the top of the mounting rack,
The lifting rope upper/lower terminal is connect with the output shaft of the hoist engine and garbage shovel respectively, and one end of described hydraulic stem is fixedly mounted
The scraper plate of the front side of frame, the hydraulic stem other end and rear side connects, and the scraper plate is used to the rubbish in garbage shovel being pushed into dustbin
Body；
The mechanical arm includes the bracket of three joint arms body and the connection arm body, and the bracket is that two bottom plates lean against connection
U-lag, bracket one end is fixedly connected with an arm body, the output of the bracket other end and the steering engine being mounted on another arm body
Axis is fixedly connected；
Photographic device is installed on the turntable, is provided with pressure sensor on the bottom plate of the garbage shovel；
The sanitation robot of the replaceable clearing apparatus further includes host, and the host is mounted in chassis, and host includes control
Molding block, locating module, storage module and communication module, the control module are controlled for acquiring information and issuing control signal
Module input processed is connect with the locating module, pressure sensor and photographic device, control module output end and the movement
Mechanism driving-motor, mechanical arm servo motor, mechanical arm steering engine, handgrip steering engine, electro-magnet control switch, transport mechanism volume
It raises machine to connect with transport mechanism hydraulic stem signal, the storage module and communication module are connect with control module respectively, store mould
Block is for storing information, and communication module with remote server for communicating；
When the clearing apparatus is broom and cleans the rubbish on ground, following steps are executed:
Step 1, division purging zone are multiple net regions, are numbered to net region and are storing its coordinate storage
In module；
Step 2 obtains the coordinate information of changing coordinates and target gridding region, calculates travel route and control driving motor
It travels to target gridding region；
Step 3 obtains the image information in target gridding region and is analyzed, when not having to find target rubbish, entered step
Four, when finding target rubbish, enter step five；
Step 4 obtains the coordinate information of next net region, and control mobile mechanism's driving motor is travelled to next net region,
Then return step three；
Step 5, analysis and the relative positional relationship of target rubbish, calculate at a distance from target rubbish and angle；
Step 6 controls mechanical arm servo motor and steering engine, make mechanical arm rotate corresponding angle and extend accordingly away from
From target rubbish is swept into garbage shovel；
Step 7 obtains the information of pressure sensor, when pressure reaches given threshold, enters step eight, not up to given threshold
When, return step three；
Step 8, control transport mechanism hoist engine rotation, is promoted to blade height for garbage shovel；
Step 9, control transport mechanism hydraulic stem elongation, the rubbish in garbage shovel is pushed into the garbage box of rear side；
Step 10, control transport mechanism hoist engine rotation, garbage shovel is put back on ground, then return step three.
2. the control method of the sanitation robot of replaceable clearing apparatus according to claim 1, it is characterised in that: to obtaining
After the image information taken is analyzed, if discovery rubbish is located in greenbelt, following steps are executed:
Step 1 controls mechanical arm servo motor and steering engine, broom is put into corresponding clearing apparatus receptacle；
Step 2 disconnects solenoid circuit, separates broom with mechanical arm；
Step 3 controls mechanical arm servo motor and steering engine, by the armature of the electromagnet alignment handgrip of mechanical arm；
Step 4, closing electromagnets circuit make mechanical arm be fixed together with handgrip by the attraction of electromagnet and armature；
Step 5 controls mechanical arm servo motor and steering engine, makes the crawl section alignment target rubbish of handgrip, and control handgrip rudder
Machine grabs target rubbish；
Step 6 controls mechanical arm servo motor and steering engine, the rubbish of crawl is moved on the upside of garbage box, and control handgrip
Steering engine unclamps the crawl section of handgrip, and rubbish is put into garbage box.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610987072.9A CN106567353B (en) | 2016-11-09 | 2016-11-09 | The sanitation robot and its control method of replaceable clearing apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610987072.9A CN106567353B (en) | 2016-11-09 | 2016-11-09 | The sanitation robot and its control method of replaceable clearing apparatus |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106567353A CN106567353A (en) | 2017-04-19 |
| CN106567353B true CN106567353B (en) | 2019-02-12 |
Family
ID=58540761
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610987072.9A Active CN106567353B (en) | 2016-11-09 | 2016-11-09 | The sanitation robot and its control method of replaceable clearing apparatus |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106567353B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109965779B (en) * | 2017-12-28 | 2021-03-12 | 沈阳新松机器人自动化股份有限公司 | Cleaning device and cleaning system |
| CN109106031A (en) * | 2018-08-30 | 2019-01-01 | 新我科技(广州)有限公司 | A kind of Dressing Room box and automatic cleaning method with automatic cleaning function |
| CN109488045A (en) * | 2018-08-30 | 2019-03-19 | 新我科技(广州)有限公司 | A kind of adjustable Dressing Room box of light transmission |
| CN109797690B (en) * | 2019-01-23 | 2020-12-08 | 嘉兴市大明实业有限公司 | Pasture intelligent automatic cleaning equipment |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002172583A (en) * | 2000-12-08 | 2002-06-18 | Mitsubishi Heavy Ind Ltd | Robot arm mechanism |
| CN1519434A (en) * | 2003-01-26 | 2004-08-11 | 姚实现 | New type versatile sanitation vehicle, versatile cars, excavator, and mechanical arm |
| CN201224105Y (en) * | 2008-07-25 | 2009-04-22 | 王正刚 | Manipulator for cleaning garbage |
| CN205223939U (en) * | 2015-11-24 | 2016-05-11 | 界首市粮食机械有限责任公司 | Rotatory broom of motor sweeper detachable |
| CN105881488A (en) * | 2014-12-30 | 2016-08-24 | 赵楠 | Military robot |
-
2016
- 2016-11-09 CN CN201610987072.9A patent/CN106567353B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002172583A (en) * | 2000-12-08 | 2002-06-18 | Mitsubishi Heavy Ind Ltd | Robot arm mechanism |
| CN1519434A (en) * | 2003-01-26 | 2004-08-11 | 姚实现 | New type versatile sanitation vehicle, versatile cars, excavator, and mechanical arm |
| CN201224105Y (en) * | 2008-07-25 | 2009-04-22 | 王正刚 | Manipulator for cleaning garbage |
| CN105881488A (en) * | 2014-12-30 | 2016-08-24 | 赵楠 | Military robot |
| CN205223939U (en) * | 2015-11-24 | 2016-05-11 | 界首市粮食机械有限责任公司 | Rotatory broom of motor sweeper detachable |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106567353A (en) | 2017-04-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106567353B (en) | The sanitation robot and its control method of replaceable clearing apparatus | |
| CN106553196B (en) | The sanitation robot and its control method of rubbish can be unloaded automatically | |
| CN204133378U (en) | A kind of device on intelligent sweeping with multiple cleaning mode | |
| CN112728293A (en) | Intelligent pipeline detection robot and control method thereof | |
| CN108021884A (en) | The sweeper power-off continuous of view-based access control model reorientation sweeps method, apparatus and sweeper | |
| CN110859087A (en) | Multifunctional tea picking robot | |
| CN105961166A (en) | Intelligent robot for stereo soilless culture and cultivation method | |
| CN106823314A (en) | A kind of full-automatic night of trunk-type reclaims golf robot | |
| CN107961510A (en) | Intelligent tennis ball collecting robot people and tennis collection method | |
| CN111608124A (en) | Autonomous navigation method for cleaning robot in high-speed service area | |
| CN211267728U (en) | Multifunctional tea picking robot | |
| CN107168304A (en) | A kind of grass-removing robot control method | |
| CN111719475A (en) | Tiltable adjustable sweeping disc for sanitation truck, sanitation truck and sweeping method | |
| CN106564061B (en) | Lifting type garbage transmits sanitation robot and its control method | |
| CN106223240B (en) | Cleaning car | |
| CN210100032U (en) | Airfield runway foreign matter detection and cleaning robot based on AR technology | |
| CN110593173A (en) | Novel independent multifunctional outdoor unmanned sweeper | |
| CN210612033U (en) | Unmanned automatic sweeper | |
| CN106426210B (en) | Crawler type rubbish transmits sanitation robot and its control method | |
| CN103806395A (en) | Dust absorption sweeper with disk broom anti-collision function | |
| CN206616503U (en) | A kind of cleaning car of automatic cleaning | |
| CN115034731A (en) | Unmanned autonomous restaurant tableware cleaning equipment and system | |
| CN103806396A (en) | Dust absorption sweeper with water seal dust removing function | |
| CN111248090A (en) | Excrement cleaning device for pigsty excrement cleaning system | |
| CN111226804A (en) | Pig house excrement and urine cleaning system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20201009 Address after: No.88 Pingwu Road, WuJie Town, Tongzhou District, Nantong City, Jiangsu Province, 226000 Patentee after: Nantong Meilai Industrial Intelligent Technology Co., Ltd Address before: The industrial park of Dazu County, Chongqing city in 400900 Patentee before: CHONGQING SUNFLOWER ROBOT Co.,Ltd. |
|
| TR01 | Transfer of patent right |