CN106742909A - Refuse collection robot and garbage collection method - Google Patents
Refuse collection robot and garbage collection method Download PDFInfo
- Publication number
- CN106742909A CN106742909A CN201611261448.4A CN201611261448A CN106742909A CN 106742909 A CN106742909 A CN 106742909A CN 201611261448 A CN201611261448 A CN 201611261448A CN 106742909 A CN106742909 A CN 106742909A
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- China
- Prior art keywords
- rubbish
- casing
- dustbin
- controller
- refuse collection
- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F1/00—Refuse receptacles; Accessories therefor
- B65F1/0033—Refuse receptacles; Accessories therefor specially adapted for segregated refuse collecting, e.g. receptacles with several compartments; Combination of receptacles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F1/00—Refuse receptacles; Accessories therefor
- B65F1/04—Refuse receptacles; Accessories therefor with removable inserts
- B65F1/06—Refuse receptacles; Accessories therefor with removable inserts with flexible inserts, e.g. bags or sacks
- B65F1/062—Refuse receptacles; Accessories therefor with removable inserts with flexible inserts, e.g. bags or sacks having means for storing or dispensing spare bags
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F1/00—Refuse receptacles; Accessories therefor
- B65F1/14—Other constructional features; Accessories
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F1/00—Refuse receptacles; Accessories therefor
- B65F1/14—Other constructional features; Accessories
- B65F1/16—Lids or covers
- B65F1/1623—Lids or covers with means for assisting the opening or closing thereof, e.g. springs
- B65F1/1638—Electromechanically operated lids
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F1/00—Refuse receptacles; Accessories therefor
- B65F1/0033—Refuse receptacles; Accessories therefor specially adapted for segregated refuse collecting, e.g. receptacles with several compartments; Combination of receptacles
- B65F2001/008—Means for automatically selecting the receptacle in which refuse should be placed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F2210/00—Equipment of refuse receptacles
- B65F2210/138—Identification means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F2210/00—Equipment of refuse receptacles
- B65F2210/165—Remote controls
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02W—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO WASTEWATER TREATMENT OR WASTE MANAGEMENT
- Y02W30/00—Technologies for solid waste management
- Y02W30/10—Waste collection, transportation, transfer or storage, e.g. segregated refuse collecting, electric or hybrid propulsion
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of refuse collection robot and garbage collection method, it is related to robot field, including casing, case lid is hinged with the casing, the casing lower section is provided with driving wheel, driving wheel is connected with power set and transfer, and the sidepiece of the casing is provided with laser radar and camera, microphone is additionally provided with the casing；Also include controller, sound identification module is provided with the controller, the power set, the transfer, the laser radar, the camera and the microphone electrically connect controller refuse collection robot of the present invention and garbage collection method solve conventional garbage case in-convenience in use technical problem, refuse collection robot of the present invention can automatically move to user at one's side according to phonetic order, charging can also be automatically performed, rubbish is classified, changing the work such as refuse bag simultaneously, easy to use, intelligence degree is high.
Description
Technical field
The present invention relates to robot field, more particularly, to a kind of robot that can automatically carry out refuse collection classification and
Collection method.
Background technology
Dustbin is the pith of people's daily life, while bringing convenient life to us, is also generated
Health and problem of management.Such as：In order to lose rubbish, we have to stand up to leave original position, move towards dustbin, and this is not to
The crowd being moved easily causes very big puzzlement, especially disabled person and laid-up old man, for common people,
There are many inconvenience.Some intelligent dustbins are had in the market, but also there is following defect in these intelligent dustbins：
First, needs shake the control modes such as control and just may move, inconvenient operation；
2nd, need often to change battery, or too busy to get away power supply, using upper very inconvenient；
3rd, recyclable rubbish and non-recyclable rubbish in living cannot classify, and all mix, and be unfavorable for that environment is protected
Shield；
4th, refuse bag needs to change manually, unhygienic.
The content of the invention
For disadvantages described above, first technical problem to be solved by this invention is to provide a kind of refuse collection robot,
This refuse collection robot can be moved according to verbal instructions, positioning of following the sound, and user is gone to automatically at one's side, easy to use.
Based on same inventive concept, second technical problem to be solved by this invention is to provide a kind of refuse collection side
Method, this garbage collection method can control rubbish robot to go to user automatically at one's side according to verbal instructions, while can also be automatic
Completion is classified to rubbish, is changed the work such as refuse bag.
To solve above-mentioned first technical problem, the technical scheme is that：
A kind of refuse collection robot, including casing, are hinged with case lid on the casing, the casing lower section is provided with driving
Wheel, driving wheel is connected with power set and transfer, and the sidepiece of the casing is provided with laser radar and camera, the casing
On be additionally provided with microphone；Also include controller, be provided with sound identification module in the controller, power set, described turn
The controller is electrically connected to device, the laser radar, the camera and the microphone.
Wherein, the refuse collection robot also includes the charging pile set with the casing split, is set on the casing
There is the charging inlet being adapted with the charging pile, the charging inlet is electrically connected with rechargeable battery, is provided with the controller
Electric quantity of rechargeable battery detection module.
Wherein, two interior dustbins are provided with side by side in the casing, sorting plate, institute are provided with above interior dustbin described in two
State and be fixedly connected with the middle part of sorting plate by the motor-driven sorting plate rotating shaft of sorting plate；Image is installed on the inside of the case lid
Identification module and spectrometer, described image identification module, the spectrometer and the classification board motor are electric with the controller
Connection.
Wherein, the downside of the sorting plate position corresponding with interior dustbin described in two is respectively equipped with range sensor,
The casing is provided with loudspeaker, is provided with audio player in the controller, and the range sensor and the loudspeaker are and institute
State controller electrical connection.
Wherein, the downside of the sorting plate position corresponding with interior dustbin described in two is respectively equipped with antivirus lamp.
Wherein, the sidepiece of the interior dustbin is vertically provided with the conveyer belt of annular, and the outside spacers of the conveyer belt set
There is hook；It is provided with bag axle that twines for winding refuse bag below the conveyer belt, the distance between hook described in adjacent two
Length with the refuse bag is adapted；Slide and be provided with sucker, the adsorption plane direction of the sucker in the top of the interior dustbin
The conveyer belt.
Wherein, the upper and lower ends on the inside of the conveyer belt are respectively provided with a roller, and in roller described in two is electronic rolling
Wheel, the electric roller electrically connects the controller.
Wherein, guide rail is provided with above the interior dustbin, the sucker is arranged on a sucker mounting bracket, the sucker
Mounting bracket is fixedly connected with the sliding block on the slide rail；One end of the guide rail is provided with sucker motor, the other end of the guide rail
It is provided with guide wheel, an annular driving band is surrounded with the power output shaft of the sucker motor and the guide wheel, the transmission belt
Bearing of trend is identical with the bearing of trend of the guide rail, and the sucker mounting bracket is fixed on the transmission belt, the sucker electricity
Controller described in mechatronics.
Wherein, the casing is provided with the first engaging lug, and the case lid is provided with the second engaging lug, second engaging lug
It is hinged with first engaging lug, the end of second engaging lug is hinged with connecting rod, and the connecting rod is stretched into through the casing
It is hinged with a cam in the casing, the cam is driven by motor of uncapping, the motor of uncapping electrically connects the controller.
Wherein, be provided with funnel between the opening of the sorting plate and the casing, the lower port of the funnel with described point
Class plate is adapted.
To solve above-mentioned second technical problem, the technical scheme is that：
A kind of garbage collection method, comprises the following steps：User sends phonetic order；Refuse collection robot refers to voice
Order is identified and moves to user at one's side；Open case lid and receive rubbish；Judge rubbish classification and rubbish is put into corresponding rubbish
In rubbish case；If the rubbish in dustbin reaches a certain amount of, send sound prompting user and propose rubbish；User proposes rubbish
Afterwards, refuse bag is changed by bag-loading mechanism automatically.
Wherein, the step of judging rubbish classification is as follows：By picture recognition module according to predetermined rubbish classification image to rubbish
Rubbish is identified, and rubbish is put into corresponding dustbin if described image identification module can interpolate that out the classification of rubbish
It is interior；If described image identification module can not judge the classification of rubbish, start spectrometer and the composition of rubbish be analyzed,
The classification of rubbish is judged according to analysis result, rubbish is put into corresponding dustbin.
After employing above-mentioned technical proposal, the beneficial effects of the invention are as follows：
Because refuse collection robot of the present invention includes casing, case lid is hinged with casing, driving is provided with below casing
Wheel, driving wheel is connected with power set and transfer, and the sidepiece of casing is provided with laser radar and camera, is additionally provided with casing
Microphone；Also include controller, sound identification module, power set, transfer, laser radar, shooting are provided with controller
Head and microphone electrically connect controller.When user thinks throw away rubbish, it is only necessary to verbal instructions (such as throw away rubbish are sent to dustbin
Deng), the microphone on casing receives the sound identification module being transferred in controller after voice signal, and sound identification module is known
Instruction control driving wheel operation is sent to power set and transfer from controller after other verbal instructions, while by laser radar
Automatically positioned and navigated, camera is carried out recognition of face, so as to accurately identify orientation, quickly moved to user's body
Side, so that user no longer needs to stand up to leave origin-location when thinking throw away rubbish, and does not need other controllers, a term
Sound can just control dustbin automatically to move on at one's side, greatly improve the convenience for using, especially to physical disabilities or
Laid-up old man brings very big convenience.
Also include the charging pile set with casing split due to refuse collection robot, casing is provided with mutually fits with charging pile
The charging inlet matched somebody with somebody, charging inlet is electrically connected with rechargeable battery, and electric quantity of rechargeable battery detection module is provided with controller.By charging
Battery electric quantity detection module carries out real-time detection to the electricity of rechargeable battery, when the electricity of rechargeable battery is less than certain value (such as
10%) when, dustbin can be controlled to automatically return at charging pile and is charged, and if electricity is low during being charged
When certain value (such as 5%), even if receive phonetic order dustbin will not also move, to ensure that dustbin has the electricity of abundance,
Prevent it from casting anchor on the way, and need not often change battery, power supply freely activity is left by charging after electricity, it is further to improve
The ease of use of refuse collection robot.
Due to being provided with two interior dustbins in casing side by side, sorting plate is provided with two above dustbin, in sorting plate
Portion is fixedly connected with by the motor-driven sorting plate rotating shaft of sorting plate；Picture recognition module and spectrum are installed on the inside of case lid
Instrument, picture recognition module, the spectrometer and classification board motor are electrically connected with the controller.When rubbish is thrown on sorting plate
When, the picture recognition module on case lid can be identified to rubbish, rubbish image corresponding with default different classes of rubbish
Match, to determine that rubbish is recyclable rubbish or non-recyclable rubbish, if during picture recognition module None- identified rubbish,
Controller can start spectrometer, and component of refuse is analyzed by spectrometer, so that it is determined that rubbish is belonging to recyclable rubbish also
It is not recyclable rubbish, determines that rotating sorting plate to dustbin direction in corresponding from classification board motor after the classification of rubbish turns
Axle, rubbish automatically can be slipped in corresponding in dustbin from sorting plate, it is achieved thereby that the automatic classification of rubbish, favorably
In environmental protection.
Because the downside of the sorting plate position corresponding with dustbin in two is respectively equipped with range sensor, on casing
Loudspeaker are provided with, audio player is provided with controller, range sensor and loudspeaker are electrically connected with the controller.Range sensor is used
Quantity of refuse in dustbin in detection, such as when quantity of refuse reaches the 3/4 of interior dustbin, loudspeaker can play out music, carry
The user that wakes up proposes rubbish.
Because the downside of the sorting plate position corresponding with dustbin in two is respectively equipped with antivirus lamp, antivirus lamp can kill rubbish
Bacterium in rubbish case, is conducive to keeping the health of dustbin.
The conveyer belt of annular is vertically provided with due to the sidepiece of interior dustbin, the outside spacers of conveyer belt are provided with hook；Pass
The distance between bag axle that twines being provided with below band for winding refuse bag, two adjacent hooks are sent mutually to be fitted with the length of refuse bag
Match somebody with somebody；The top of interior dustbin is slided and is provided with sucker, and the adsorption plane of sucker is towards conveyer belt.When a roll of refuse bag is newly changed, by people
The hangers of first refuse bag of this volume refuse bag is hung over conveyer belt on the hook of interior dustbin side by work, and conveyer belt turns
Dynamic above to carry refuse bag, when first refuse bag is completely pulled out of, second hangers of refuse bag can automatically hang over next
On hook, sucker moves past to again return to the opposite side of interior dustbin after holding refuse bag, so as to refuse bag be strutted；When first
After individual refuse bag has been expired, manually refuse bag is taken out, conveyer belt can drive following refuse bag to come up automatically, then will by sucker
Refuse bag is strutted, and so on such that it is able to realized from the work for moving refuse bag, convenient to use, and health.
Because casing is provided with the first engaging lug, case lid is provided with the second engaging lug being hinged with the first engaging lug, the
The end of two engaging lugs is hinged with connecting rod, and connecting rod is hinged with a cam, and cam is driven by motor of uncapping, motor of uncapping electrical connection control
Device processed.Motor of uncapping is rotated under the control of the controller, and the automatic switch of case lid is realized by cam driven connecting rod, is further carried
The ease of use of this refuse collection robot high.
Because garbage collection method of the present invention comprises the following steps, refuse collection robot is identified simultaneously to phonetic order
Move to user at one's side；Open case lid and receive rubbish；Judge rubbish classification and put into corresponding dustbin rubbish；If rubbish
When rubbish in case reaches a certain amount of, send sound prompting user and propose rubbish；After user proposes rubbish, by bag-loading mechanism
It is automatic to change refuse bag.So as to garbage collection method of the present invention can control rubbish robot to go to user automatically according to verbal instructions
At one's side, rubbish is classified, the work such as refuse bag are changed while can also be automatically performed.
In sum, refuse collection robot of the present invention and garbage collection method solve conventional garbage case in-convenience in use
Technical problem, refuse collection robot of the present invention can automatically move to user at one's side according to phonetic order, while can also
Charging be enough automatically performed, rubbish is classified, changing the work such as refuse bag, easy to use, intelligence degree is high.
Brief description of the drawings
Fig. 1 is the structural representation one of refuse collection robot of the present invention；
Fig. 2 is the structural representation two of refuse collection robot of the present invention；
Fig. 3 is the structural representation three of refuse collection robot of the present invention；
Fig. 4 is the structural representation four of refuse collection robot of the present invention；
Fig. 5 is the structural representation five of refuse collection robot of the present invention；
Fig. 6 is the A portions enlarged drawing of Fig. 5；
Fig. 7 is the structural representation of sorting plate in Fig. 1；
Fig. 8 is the present invention looks up structural representation of Fig. 7；
Fig. 9 is the flow chart of garbage collection method of the present invention；
Figure 10 is the flow chart of the refuse classification judgement of garbage collection method of the present invention；
In figure：10th, casing, 12, escape groove, the 14, first engaging lug, 16, opening, 18, dividing plate, 20, case lid, 22, second
Engaging lug, 24, connecting rod, 26, cam, the 30, first hinge, the 32, second hinge, 40, microphone, 42, loudspeaker, 50, driving wheel,
52nd, universal wheel, 60, twine a bag axle, 62, conveyer belt, 620, hook, 64, electric roller, 70, sucker mounting bracket, 700, groove, 72,
Sucker, 74, guide rail, 76, sliding block, 77, guide wheel, 78, sucker motor, 79, transmission belt, 80, sorting plate, 800, connecting plate, 8000,
Axis hole, 82, sorting plate rotating shaft, 84, classification board motor, 90, funnel, 100, charging inlet, 110, range sensor, 112, antivirus
Lamp, 120, laser radar, 122, binocular camera, 130, picture recognition module, 132, spectrometer, 140, interior dustbin.
Specific embodiment
With reference to the accompanying drawings and examples, the present invention is expanded on further.
The orientation when orientation being related in this specification is by refuse collection robot normal work of the present invention is defined, no
Orientation when limiting its storage and transporting, only represents relative position relationship, and absolute position relationship is not represented.
As Fig. 1 and Fig. 2 jointly shown in, a kind of refuse collection robot, including the open square box 10 in upper end, casing 10
Upper end be hinged with square case lid 20, the structure of casing and case lid is not limited to square in actual applications certainly, may be used also
Being circular or other polygons etc..Two driving wheels 50 are provided with below the front side of casing 10 (towards the side of user), two drive
Driving wheel 50 is connected with power set and transfer (not shown), due to control wheel movement and turn to device be very into
In ripe prior art, therefore the concrete structure no longer to power set and transfer is described in detail in this manual.
The lower section of the rear side of casing 10 is provided with two driven pulleys, and present embodiment preferably two driven pulleys are universal wheel 52, and universal wheel 52 can make
Obtain the movement of this dustbin and get up more flexible.
As Fig. 1 and Fig. 2 jointly shown in, the front side of casing 10 lower section is provided with an opening 16, and laser thunder is provided with opening 16
Up to 120, laser radar 120 is used to realize autonomous positioning and the navigation of dustbin.The front side top of casing 10 is provided with camera, takes the photograph
It is used to carry out the planning and recognition of face in path in room as head, the preferred camera of present embodiment is binocular camera 122, double
Mesh camera 122 can realize three-dimensional imaging, and the picture of shooting is more life-like and clear.
As Fig. 1 and Fig. 2 jointly shown in, the front and rear both sides of casing 10 and a microphone 40, case are each side installed
One microphone 40 is also installed, this five microphones 40 form microphone array, for receiving phonetic order, have on lid 20
Beneficial to dustbin follow the sound distinguishing position.Because the rear side side plate of casing 10 is can to open side plate, in order to more intuitively show rubbish
The internal structure of case, therefore back side panel and the microphone on back side panel are not drawn in figure.
As shown in figure 1, refuse collection robot also includes a charging pile (not shown), charging pile and the split of casing 10
Set, the lower section of the rear side of casing 10 is provided with charging inlet 100, and charging inlet 100 is adapted with the interface on charging pile, charging
Mouth 100 is electrically connected with charging manager and rechargeable battery (not shown), and when dustbin not enough power supply, dustbin can be automatic
Return to charging pile position, charging inlet 100 is docked with charging pile and charged.
As Fig. 1 and Fig. 7 jointly shown in, be provided with two interior dustbins 140 in casing 10 side by side, two interior dustbins 140 it
Between be vertically provided with dividing plate 18, dividing plate 18 is slightly higher than in two and leaves certain space between dustbin 140, and the upper end of casing 10.
The top of dustbin 140 is provided with sorting plate 80 in two, and sorting plate 80 is rectangular slab, and the position at the both sides center of sorting plate 80 is hung down respectively
Straight to be provided with a connecting plate 800, connecting plate 800 is triangular structure, and the end of two connecting plates 800 is respectively provided with an axis hole 8000, one
Sorting plate rotating shaft 82 is connected to one through two axis holes 8000 and with connecting plate 800, and sorting plate rotating shaft 82 is located at dividing plate 18
Surface, and be arranged in parallel with dividing plate 18, one end of sorting plate rotating shaft 82 and the pto of classification board motor 84
Connection, classification board motor 84 is arranged on the upper end of dividing plate 18.Connecting plate 800 is designed as triangle will not when sorting plate 80 is rotated
Interference is produced with other parts.
As Fig. 1 and Fig. 2 jointly shown in, the inner side of case lid 20 is provided with picture recognition module 130 and spectrometer 132, works as rubbish
After rubbish is thrown on sorting plate 80, picture recognition module 130 and spectrometer 132 can be identified to rubbish, to determine that rubbish is
Recyclable rubbish still not recyclable rubbish, board motor 84 of then classifying drives sorting plate 80 to corresponding interior 140 turns of dustbin
It is dynamic, so as to rubbish is thrown into corresponding interior dustbin 140.
It is jointly shown with Fig. 8 as shown in Figure 1, Figure 2, the downside of sorting plate 80, i.e., towards the side of interior dustbin 140, in two
The corresponding position of dustbin 140 is respectively equipped with range sensor 110, and range sensor 110 is used to detect in interior dustbin 140
Rubbish position, with determine the need for change refuse bag.The left and right sides of casing 10 is respectively provided with a loudspeaker 42, when need change
Loudspeaker 42 can play music during refuse bag, to remind user to propose rubbish, change refuse bag.
As Fig. 1 and Fig. 8 jointly shown in, the downside of sorting plate 80 position corresponding with dustbin in two 140 is respectively equipped with
Antivirus lamp 112, present embodiment preferably kill virus lamp 112 for ultraviolet kill virus lamp, the bacterium in dustbin can be killed, be conducive to protect
Hold the health of dustbin.
As Fig. 1 and Fig. 4 jointly shown in, the sidepiece of interior dustbin 140 is vertically provided with the conveyer belt 62 of annular, conveyer belt 62
Outside spacers are provided with multiple hooks 620.The upper and lower ends of the inner side of conveyer belt 62 are respectively provided with a roller, and the roller positioned at lower end is electricity
Dynamic roller 64, for driving conveyer belt 62 to rotate.The wheel shaft of two rollers is vertically fixed on dividing plate 18.Conveyer belt 62 is in
It is provided with below the side of dustbin 140 and twines bag axle 60, twine bag axle 60 for winding refuse bag, is twined bag axle 60 and be also vertically fixed on dividing plate
On 18, the roller with conveyer belt 62 be arranged in parallel.Adjacent two on conveyer belt 62 link up with the distance between 620 and refuse bag
Length be adapted, that is, the hangers for going up a refuse bag is hooked on hook 620 above, then the hangers of next refuse bag
Can just be hooked on underlying hook 620.The position corresponding with conveyer belt 62 of interior dustbin 140 is provided with opening, opens
The width of mouth is adapted with the width of conveyer belt 62, it is ensured that refuse bag can be by support to interior dustbin 140.
As Fig. 4, Fig. 5 and Fig. 6 jointly shown in, the both sides of the top of interior dustbin 140 are respectively provided with a guide rail 74, two guide rails 74
It is arranged in parallel, and bearing of trend is identical with the bearing of trend of sorting plate rotating shaft 82 (referring to Fig. 1).Vertically it is provided between two guide rails 74
One sucker mounting bracket 70, the both sides of sucker mounting bracket 70 are separately fixed on the sliding block 76 of two guide rails 74, the court of sucker mounting bracket 70
Sucker 72 is installed to the side of conveyer belt 62, sucker 72 is provided with two, is arranged side by side, the adsorption plane of two suckers 72 is towards biography
Send band 62.One end of guide rail 74 is provided with sucker motor 78, the power output shaft of sucker motor 78 straight down, guide rail 74 it is another
End is provided with guide wheel 77, and the wheel shaft of guide wheel 77 is parallel with the power output shaft of sucker motor 78 and in same perpendicular, inhales
The power output shaft end of coil motor 78 is provided with a belt wheel, is surrounded with the transmission belt of an annular on the belt wheel and guide wheel 77 jointly
79, the bearing of trend of transmission belt 79 is identical with the bearing of trend of guide rail 74.The both sides of correspondence transmission belt 79 on sucker mounting bracket 70
The position in portion is respectively provided with a groove 700, and the both sides of transmission belt 79 pass through from two grooves 700 respectively, sucker mounting bracket 70 with
Transmission belt 79 in a groove 700 is fixedly connected, and the transmission belt 79 in another groove 700 can be in the groove 700
Slide.When sucker motor 78 is rotated, transmission belt 79 can just drive sucker mounting bracket 70 to be slided along guide rail 74, so that inhaling
Disk 72 is slidably mounted on the top of interior dustbin 140.Sucker 72 can be slided under the driving of sucker motor 78 towards conveyer belt 62,
And the part that the refuse bag hung on hook 620 is not provided with hangers is held, and hold posterior sucker motor 78 and invert, the sorption rubbish of sucker 72
Rubbish bag is slided to the direction away from conveyer belt 62, so as to refuse bag be strutted in interior dustbin 140.
Two sections of the above is the detailed description carried out with the corresponding automatic bag feeding mechanism of interior dustbin, because two sets from
Dynamic bag-loading mechanism structure is identical, therefore another set of no longer describes herein.
As shown in figure 1, sucker motor 78, classification board motor 84 and conveyer belt 62 are arranged at the homonymy of casing 10.
As Fig. 1 and Fig. 3 jointly shown in, the upper end center position that casing 10 is provided with the side side plate of conveyer belt 62 is provided with to downward
The escape groove 12 stretched, escape groove 12 is inside and outside the side plate.Two are respectively provided on two sides with positioned at the upper end of escape groove 12
One engaging lug 14, two first engaging lugs 14 are vertically arranged with the side side plate.The edge of the homonymy of case lid 20 is provided with two second connections
Ear 22, two second engaging lugs 22 stretch out case lid 20, and positioned at the inner side of two first engaging lugs 14.Second engaging lug 22 is near case lid
The position at 20 edges is hinged with the first engaging lug 14 by the first hinge 30, and the second engaging lug 22 is hinged away from the position of case lid 20
There is a connecting rod 24, the end of connecting rod 24 is extend into the inner side of casing 10 by escape groove 12, and is hinged with a cam 26, this cam
26 is the disk cam of water-drop-shaped, and connecting rod 24 is hinged with the small head end of cam 26, and the stub end of cam 26 is uncapped motor installed in one
On the power output shaft of (not shown), the automatically open and close of case lid 20 is realized by the rotation of motor of uncapping.
As Fig. 1 and Fig. 2 jointly shown in, funnel 90, funnel are connected between the upper end open of sorting plate 80 and casing 10
90 lower ending opening is adapted with the shape and size of sorting plate 80, to ensure that rubbish can be thrown on sorting plate 80, prevents
Rubbish is non-classified just automatically to be fallen into dustbin from the edge of sorting plate 80.
As Fig. 1 and Fig. 2 jointly shown in, refuse collection robot of the present invention also include controller, laser radar 120, binocular
Camera 122, microphone 40, picture recognition module 130, spectrometer 132, classification board motor 84, range sensor 110, loudspeaker
42nd, electric roller 64, sucker motor 78, uncap motor and for control the power set and transfer of driving wheel with control
Device is electrically connected.Program controling module, sound identification module, electric quantity of rechargeable battery detection module and audio is provided with controller to play
Device.
As shown in Figure 1, Figure 2, shown in Fig. 9 and Figure 10, based on the garbage collection method that above-mentioned refuse collection robot is carried out, including
Following steps：
User sends phonetic order；
Refuse collection robot is identified to phonetic order and moves to user at one's side；
Open case lid and receive rubbish；
Judge rubbish classification and put into corresponding dustbin rubbish；
If the rubbish in dustbin reaches a certain amount of, send sound prompting user and propose rubbish；
After user proposes rubbish, refuse bag is changed by bag-loading mechanism automatically.
Specific programme-control flow is as follows：
The first step, program starts.
Second step, when user sends wake-up word, i.e. phonetic order, carries out speech recognition, if identification does not pass through, program
Terminate, wait user to re-emit instruction；If being identified by, into the 3rd step.
3rd step, information control power set and transfer work according to laser radar 120 and binocular camera 122
Make, driving wheel is rotated and shifts to user.
4th step, controls motor operation of uncapping, and opens case lid 20, and user throws away onto sorting plate 80 rubbish；
5th step, carries out rubbish identification, is judged according to default refuse classification image by picture recognition module, if can
To judge, then classification board motor 84 is started according to the result for judging and put into recyclable rubbish case recyclable rubbish, can not
Rubbish is reclaimed to put into not recyclable dustbin；
If picture recognition module cannot judge rubbish classification, start spectrometer and component of refuse is analyzed, so that really
The classification for determining rubbish puts into corresponding dustbin rubbish.
6th step, when the rubbish in dustbin reaches a certain amount of (such as close to 3/4), the audio player meeting in controller
Music is played, is spread out of by loudspeaker, remind user to change the refuse bag in dustbin, the refuse bag that user will be equipped with rubbish is proposed
Afterwards, electric roller 64 drives conveyer belt 62 to rotate, and takes next refuse bag to the position corresponding with sucker, sucker motor 78
Control sucker shifts to refuse bag, and after holding refuse bag, the reversion control return of sucker 72 of sucker motor 78, so as to refuse bag be supportted
Open, complete the work of automatic bag feeding.
7th step, EP (end of program).
The name (such as the first engaging lug and the second engaging lug) with sequence number being related in this specification is intended merely to area
Point technical characteristic, does not represent position relationship between each feature, assemble sequence and sequence of movement etc..
The present invention is not limited to above-mentioned specific embodiment, one of ordinary skill in the art from above-mentioned design,
Without performing creative labour, a variety of conversion made are within the scope of the present invention.
Claims (12)
1. refuse collection robot, including casing, is hinged with case lid on the casing, the casing lower section is provided with driving wheel, institute
State driving wheel and be connected with power set and transfer, it is characterised in that
The sidepiece of the casing is provided with laser radar and camera, and microphone is additionally provided with the casing；
Also include controller, be provided with sound identification module in the controller, it is the power set, the transfer, described
Laser radar, the camera and the microphone electrically connect the controller.
2. refuse collection robot according to claim 1, it is characterised in that the refuse collection robot also include with
The charging pile that the casing split is set, the casing is provided with the charging inlet being adapted with the charging pile, the charging
Interface is electrically connected with rechargeable battery, and electric quantity of rechargeable battery detection module is provided with the controller.
3. refuse collection robot according to claim 1, it is characterised in that is provided with two interior rubbish side by side in the casing
Rubbish case, is provided with sorting plate above interior dustbin described in two, be fixedly connected with the middle part of the sorting plate and driven by classification board motor
Dynamic sorting plate rotating shaft；Picture recognition module and spectrometer be installed on the inside of the case lid, it is described image identification module, described
Spectrometer and the classification board motor are electrically connected with the controller.
4. refuse collection robot according to claim 3, it is characterised in that the downside of the sorting plate is interior with described in two
The corresponding position of dustbin is respectively equipped with range sensor, and the casing is provided with loudspeaker, audio is provided with the controller
Player, the range sensor and the loudspeaker are electrically connected with the controller.
5. refuse collection robot according to claim 3, it is characterised in that the downside of the sorting plate is interior with described in two
The corresponding position of dustbin is respectively equipped with antivirus lamp.
6. refuse collection robot according to claim 3, it is characterised in that the sidepiece of the interior dustbin is vertically arranged
There is the conveyer belt of annular, the outside spacers of the conveyer belt are provided with hook；It is provided with for winding rubbish below the conveyer belt
Bag twines a bag axle, and the distance between hook is adapted with the length of the refuse bag described in adjacent two；The interior dustbin
Top is slided and is provided with sucker, and the adsorption plane of the sucker is towards the conveyer belt.
7. refuse collection robot according to claim 6, it is characterised in that the upper and lower ends on the inside of the conveyer belt are each
A roller is provided with, in roller described in two is electric roller, the electric roller electrically connects the controller.
8. refuse collection robot according to claim 6, it is characterised in that be provided with above the interior dustbin and led
Rail, the sucker is arranged on a sucker mounting bracket, and the sucker mounting bracket is fixedly connected with the sliding block on the slide rail；It is described
One end of guide rail is provided with sucker motor, and the other end of the guide rail is provided with guide wheel, the power output shaft of the sucker motor and institute
State and be surrounded with guide wheel an annular driving band, the bearing of trend of the transmission belt is identical with the bearing of trend of the guide rail, described
Sucker mounting bracket is fixed on the transmission belt, and the sucker motor electrically connects the controller.
9. the refuse collection robot according to claim 3 to 8 any claim, it is characterised in that on the casing
The first engaging lug is provided with, the case lid is provided with the second engaging lug, and second engaging lug is hinged with first engaging lug, institute
The end for stating the second engaging lug is hinged with connecting rod, and the connecting rod is extend into the casing and cam hinge through the casing
Connect, the cam is driven by motor of uncapping, the motor of uncapping electrically connects the controller.
10. refuse collection robot according to claim 9, it is characterised in that the sorting plate is opened with the casing
Funnel is provided between mouthful, the lower port of the funnel is adapted with the sorting plate.
11. garbage collection methods, it is characterised in that comprise the following steps：
User sends phonetic order；
Refuse collection robot is identified to phonetic order and moves to user at one's side；
Open case lid and receive rubbish；
Judge rubbish classification and put into corresponding dustbin rubbish；
If the rubbish in dustbin reaches a certain amount of, send sound prompting user and propose rubbish；
After user proposes rubbish, refuse bag is changed by bag-loading mechanism automatically.
12. garbage collection methods as claimed in claim 11, it is characterised in that the step of judging rubbish classification is as follows：
Rubbish is identified according to predetermined rubbish classification image by picture recognition module,
Rubbish is put into corresponding dustbin if described image identification module can interpolate that out the classification of rubbish；
If described image identification module can not judge the classification of rubbish, start spectrometer and the composition of rubbish is divided
Analysis, the classification of rubbish is judged according to analysis result, and rubbish is put into corresponding dustbin.
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| CN201611261448.4A CN106742909B (en) | 2016-12-30 | 2016-12-30 | Garbage collection robot and garbage collection method |
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| CN201611261448.4A CN106742909B (en) | 2016-12-30 | 2016-12-30 | Garbage collection robot and garbage collection method |
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