CN107974984A - A kind of moveable intelligent garbage recovery vehicle - Google Patents
A kind of moveable intelligent garbage recovery vehicle Download PDFInfo
- Publication number
- CN107974984A CN107974984A CN201711464073.6A CN201711464073A CN107974984A CN 107974984 A CN107974984 A CN 107974984A CN 201711464073 A CN201711464073 A CN 201711464073A CN 107974984 A CN107974984 A CN 107974984A
- Authority
- CN
- China
- Prior art keywords
- fixing bracket
- manipulator
- recovery vehicle
- intelligent garbage
- rubbish
- 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.)
- Pending
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
-
- 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
- E01H1/042—Brushing apparatus, e.g. with auxiliary instruments for mechanically loosening dirt taking- up the sweepings, e.g. for collecting, for loading the loading means being an endless belt or an auger
Abstract
The present invention relates to a kind of moveable intelligent garbage recovery vehicle, walking mechanism is installed on below fixing bracket, and recovering mechanism is installed on fixing bracket, including storage bucket, manipulator, transport mechanism and sensing device；Storage bucket is installed in fixing bracket, and manipulator is installed on one end below fixing bracket, and rubbish input terminal and the manipulator of transport mechanism join, rubbish output terminal and storage bucket handing-over；Sensing device includes ultrasonic sensor, infrared ray sensor and wheel speed sensors, and ultrasonic sensor and infrared ray sensor are installed on fixing bracket by signal transmitting and receiving bar, and wheel speed sensors are arranged on driving wheel side in walking mechanism.The present invention is with car for bucket, trolley is by the way of crawler travel, automatic detection pedestrian whether there is the needs of throw away rubbish, automatic positioning runs in front of pedestrian and takes over rubbish in pedestrian's hand, with the presence or absence of trouble large volume shaped solid rubbish is thrown away in the range of automatic identification, recovery vehicle, the effective rate of utilization of dustbin is greatly improved.
Description
Technical field
The present invention relates to a kind of garbage collection equipment, is specially a kind of moveable intelligent garbage recovery vehicle.
Background technology
At present, known dustbin T-shaped is buckled and beneath electronic scale pouring weight realizes that the overload of dustbin is beaten by four
Bag.When someone close to when, infrared inductor bright light realize uncap.But it is all passive " connect that many traditional dustbins, which define,
Receipts person ", is not equipped with identifying, recycle and positioning the function of walking, even if realizing automatic lid closing/opening, there is also delay, " connects not
The situation of standard ", the effective rate of utilization of dustbin are low.
The content of the invention
It is static " passive " form for dustbin in the prior art, it is impossible to which the deficiencies of actively receiving rubbish, the present invention will
Solve the problems, such as that it is " active " to be to provide one kindization dustbin " passive ", can identify, recycles and position walking, actively receive rubbish
A kind of moveable intelligent garbage recovery vehicle of rubbish.
In order to solve the above technical problems, the technical solution adopted by the present invention is：
A kind of moveable intelligent garbage recovery vehicle of the present invention, has by walking mechanism, fixing bracket and recovering mechanism
The walking dolly of composition, wherein, walking mechanism is installed on below fixing bracket, and recovering mechanism is installed on fixing bracket, including
Store bucket, manipulator, transport mechanism and sensing device；Storage bucket is installed in fixing bracket, and manipulator is installed on fixed branch
One end below frame, rubbish input terminal and the manipulator of transport mechanism join, rubbish output terminal and storage bucket handing-over；Sensing device
Including ultrasonic sensor, infrared ray sensor and wheel speed sensors, ultrasonic sensor and infrared ray sensor pass through letter
Number transmitting-receiving bar is installed on fixing bracket, and wheel speed sensors are arranged on driving wheel side in walking mechanism.
Storage bucket includes inner wall, outer wall and elastic cover, and inner and outer wall is the sky with Semi round bottom placed vertically
Heart semi-cylindrical, inner and outer wall are staggered installation of with one heart, and wherein inner wall rotational installation forms closing when outer wall inboard, closure
Tubbiness；Elastic cover is installed on tubbiness and stores bucket upper end, is opened under weight effect, when no weight closes automatically.
Store bucket built-in infrared line sensor.
The opening of refuse bag is rolled up equipped with elastic telescopic, is positioned over storage bucket upper end, elasticity is triggered when inner wall rotates
Volume inwardly pop-up is shunk, is disengaged by storage bucket upper end, the flexible volume of refuse bag opening is in deflated state.
Transport mechanism has motor and conveyer belt, is mounted as a whole on trolley afterbody fixing bracket, the input terminal of conveyer belt
Equipped with card slot and supporting plate, wherein card slot is embedded in conveyer belt, and supporting plate is installed on conveyer belt, below card slot.
The card slot uses elastic cover structure, and elastic cover infrared sensor is equipped with the outside of elastic cover.
The manipulator is installed on trolley one end fixing bracket, the card slot of corresponding transport mechanism, in manipulator front end
Equipped with vacuum cup.
The signal transmitting and receiving bar upper end for one can 360 ° of steerings swivel mounts, ultrasonic sensor is installed on swivel mount
End, infrared ray sensor are installed on the center section of swivel mount, four orientation loudspeakers are additionally provided with the lower part of swivel mount.
The invention has the advantages that and advantage：
1. for the present invention with car for bucket, trolley is automatic to detect pedestrian with the presence or absence of throw away rubbish by the way of crawler travel
Need, automatic positioning, which is run in front of pedestrian, takes over rubbish in pedestrian's hand, whether there is in the range of automatic identification, recovery vehicle and throws away trouble
Large volume shaped solid rubbish, greatly improves the effective rate of utilization of dustbin.
Brief description of the drawings
Fig. 1 is the multifunctional garbage collection system structure diagram of the present invention；
Fig. 2 is conveyer belt of the present invention and robot manipulator structure schematic diagram；
Fig. 3 is storage barrel structure schematic diagram in the present invention；
Fig. 4 is storage bucket closed mode schematic diagram in the present invention.
Wherein, 1 is crawler belt driven wheel, and 2 be crawler belt driving wheel, and 3 be motor, and 4 be fixing bracket, and 5 be conveyer belt, and 6 be outer
Wall, 7 be inner wall, and 8 be four orientation loudspeakers, is 9 ultrasonic sensors, and 10 be infrared ray sensor, and 11 be the first elastic force door, 12
It is manipulator for wheel speed sensors, 13,14 be card slot, and 15 be fixing bracket, and 16 be supporting plate, and 17 be signal transmitting and receiving bar, and 18 be bullet
Power lid, 19 be signal transmitting and receiving bar.
Embodiment
With reference to Figure of description, the present invention is further elaborated.
As shown in Figure 1, 2, a kind of moveable intelligent garbage recovery vehicle of the present invention, has by walking mechanism, fixed branch
The trolley of frame 4 and recovering mechanism composition, wherein, walking mechanism is installed on the lower section of fixing bracket 4, and recovering mechanism is installed on fixed branch
On frame 4, including storage bucket, manipulator 13, transport mechanism and sensing device；Storage bucket is installed in fixing bracket 4, manipulator
4 lower section one end of fixing bracket is installed on, rubbish input terminal and the manipulator of transport mechanism join, rubbish output terminal and storage bucket
Handing-over；Sensing device includes ultrasonic sensor 9, infrared ray sensor 10 and wheel speed sensors 12,9 He of ultrasonic sensor
Infrared ray sensor 10 is installed on fixing bracket 4 by signal transmitting and receiving bar 17, and wheel speed sensors are arranged in walking mechanism actively
Take turns side.Wheel speed sensors use the product of He Hua automotive electronics Co., Ltd, model 57475-SAA- in the present embodiment
003。
Transport mechanism has motor 3 and conveyer belt 5, is mounted as a whole on trolley afterbody fixing bracket 4, the rubbish of conveyer belt 5
Rubbish input terminal is equipped with card slot 14 and supporting plate 16, and wherein card slot 14 is embedded in conveyer belt, and supporting plate 16 is installed on conveyer belt, card slot
14 lower section.In the present embodiment, conveyer belt 5 includes vertical portion and horizontal component, is driven by motor, card slot 14 is embedded at transmission
Vertical portion lower part in band.
Manipulator 13 is installed on trolley one end fixing bracket 4, the card slot 14 of corresponding transport mechanism, before manipulator 13
End is equipped with vacuum cup.Card slot 14 uses elastic force door (i.e. the second elastic force door) structure, and elastic force door is equipped with the second elastic force outer side of door
Infrared sensor.The one-dimensional manipulator with adsorption function is used in the present embodiment.When manipulator 13 is stretched out or retracted, equal second
Pass through elastic force door and the card slot infrared sensor arranged on the second elastic force outer side of door.
19 upper end of signal transmitting and receiving bar for one can 360 ° of steerings swivel mounts, ultrasonic sensor 9 is installed on swivel mount upper end,
Infrared ray sensor 10 is installed on the center section of swivel mount, and four orientation loudspeakers 8 are additionally provided with the lower part of swivel mount.This implementation
In example, ultrasonic sensor 9 is using the product of Shanghai Zhi Nuo Electronic Science and Technology Co., Ltd.s, model ZNUC4000-30GM-
E6R2-V15；) infrared ray sensor 10 using Shenzhen Wei Chuan bosom friend Electronics Co., Ltd. product, model WT2000MM-.
As shown in figure 3, storage bucket includes inner wall 6, outer wall 7 and elastic cover 18, inner wall 6 and outer wall 7 are vertical placement
The hollow semi-cylinders shape bottom of with, inner wall 6 and outer wall 7 is concentric is staggered installation of, wherein inner wall 6 is rotatablely installed inboard in outer wall 7,
Storage bucket is formed during closure, as shown in Figure 4；Elastic cover 18, which is installed on, stores bucket upper end, is opened under weight effect, no weight
Closed automatically during thing.Store bucket upper end to roll up equipped with elastic telescopic, the opening of refuse bag is placed on elastic telescopic volume.
In the present embodiment, inner wall 6 and outer wall 7 are made of the glass of hollow semi-cylindrical, and inside and outside staggeredly synthesis one is complete
Enclosure space；Elastic telescopic volume increase range sensor (can be achieved) using ultrasonic wave or infrared ray sensor, pass through
Sensing of the range sensor to object, while signal is transmitted to the motor of swing mechanism, realize expanding-contracting action.
Walking mechanism is supported by 14 crawler belt driven wheels 1 and 4 crawler belt driving wheels 2, and crawler belt driving wheel 2 is by crawler belt motor 3
Driving, and realize that 4 crawler belt main wheels rotate at the same speed in the same direction according to the wheel speed sensors 12 installed in 2 shaft end of crawler belt driving wheel, root
According to the instruction of the output of control device, the operating status of control crawler belt motor 3 is allowed to rotating or stopping, and driving is advanced, turned
Curved, retrogressing, turns and is realized by difference rotating speed (having 4 wheel speed sensors).Set between two groups of crawler belts of walking mechanism double-deck
Clamping plate is pressed, bilayer pressure clamping plate interlayer, for increasing load-carrying, avoids the unbalance overturning of the overweight trolley of one-dimensional manipulator with weightening block.
18 and first elastic force door 11 of elastic cover is petal design, and the root of more hemp nettle valves is fixed on same circumference, flower
Gather into closed state to the center of circle under natural conditions in the tip of valve.Have object by when, petal tip is scattered, then again automatic poly-
Hold together.
The course of work of moveable intelligent garbage recovery vehicle of the invention is as follows：
Trolley transmits mesh using four orientation loudspeakers 8 on signal transmitting and receiving bar 19 and ultrasonic sensor 9 to control device
Signal is marked, by control device positioning to target object, information starts motor 3 after treatment；
Motor 3 drive all around 4 crawler belt driving wheels 2 drive crawler belt driven wheels 1 to rotate；The feedback of wheel speed sensors 12 4
The rotating speed of a 1 crawler belt driving wheel 2, motor 3 to rotating speed and turn to adjustment in real time, realize front and rear row and the rotary head of car；
The infrared ray of pedestrian can be captured by infrared sensor 10, and control device handles infrared image, works as needs
When receiving rubbish, manipulator can start mechanical flashlight machine after the completion of trolley home row is walked, and manipulator 13 passes through card to extension
Groove 1, the card slot infrared sensor arranged on the second elastic force outer side of door send position signal, and control device control machinery hand 13 reaches suitable
Work as position, since angle is to good, manipulator 13 may turn on vacuum cup after reaching appropriate location, firmly recycle object
Body；
Manipulator 13 bounces back, and by same card slot 14, card slot infrared sensor sends position signal, control device again
The vacuum cup of 13 front end of control machinery hand stops, and discharges rubbish band, drops on supporting plate 16；
Conveyer belt 5 starts, and drives supporting plate 16 that rubbish band is passed up to vehicle structure framework upper, then horizontal transmission is extremely
Store above bucket, fallen to by gravity through elastic cover 18 in storage bucket, complete a rubbish storage process.
Trolley storage bucket outer wall 6 and inner wall 7 can pass through motor control switch manual unlocking.7 phase of outer wall 6 and inner wall during closing
Embedding, coincidence both during opening, exposes half space of planes fetched.There is full load and sends out a warning in storage bucket, outer wall 6 and inner wall 7
Also can automatic reclosing, while trolley can stop other work.When taking rubbish band, inner wall 6 rotates, and triggering elastic shrinkage rolls up inside bullet
Go out, disengaged by storage bucket upper end, flexible volume is in deflated state, and refuse bag opening is tightened, convenient to take out.
It is dual fixed that the present invention receives ultrasonic wave progress by four orientation loudspeaker emission sound sources, by ultrasonic sensor
Position.It is thick using geometrical relationship as long as probably measuring the time delay between the microphone in sound-source signal and microphone array
Approximation calculates the position of sound source.Since the positioning walking of trolley also can be corrected slowly, the position of trolley sound source when walking propulsion
Can be more and more accurate.In addition, the voice signal of speech chip (being built in loudspeaker) pickup is easily affected by environment, so to sound
Sound signal is pre-processed.By the processing of signal condition unit, enable the requirement for meeting system.The present invention takes two-stage
Amplifying circuit, is mainly used to the obtained ultra-weak electronic signal of speech chip being amplified.The present invention is with car for bucket, and car is using shoe
With the mode walked, weightening block is connect under chassis, above connects all multiple sensor apparatus and intelligence storage bucket, whether automatic detection pedestrian deposits
In the needs of throw away rubbish, automatic positioning runs in front of pedestrian and takes over rubbish in pedestrian's hand, is in the range of automatic identification, recovery vehicle
It is no there are solid refuse, greatly improve the effective rate of utilization of dustbin.
Claims (8)
- A kind of 1. moveable intelligent garbage recovery vehicle, it is characterised in that：With by walking mechanism, fixing bracket and recycling machine The walking dolly of structure composition, wherein, walking mechanism is installed on below fixing bracket, and recovering mechanism is installed on fixing bracket, bag Include storage bucket, manipulator, transport mechanism and sensing device；Storage bucket is installed in fixing bracket, and manipulator is installed on fixation One end below stent, rubbish input terminal and the manipulator of transport mechanism join, rubbish output terminal and storage bucket handing-over；Sensing dress Put and pass through including ultrasonic sensor, infrared ray sensor and wheel speed sensors, ultrasonic sensor and infrared ray sensor Signal transmitting and receiving bar is installed on fixing bracket, and wheel speed sensors are arranged on driving wheel side in walking mechanism.
- 2. the moveable intelligent garbage recovery vehicle as described in claim 1, it is characterised in that：Storing bucket includes inner wall, outer Wall and elastic cover, inner and outer wall are the hollow semi-cylinders shape with Semi round bottom placed vertically, and inner and outer wall is concentric It is staggered installation of, wherein inner wall rotational installation forms the tubbiness of closing when outer wall inboard, closure；Elastic cover is installed on tubbiness and receives Receive a barrel upper end, opened under weight effect, when no weight closes automatically.
- 3. the moveable intelligent garbage recovery vehicle as described in claim 2, it is characterised in that：Bucket built-in infrared line is stored to pass Sensor.
- 4. the moveable intelligent garbage recovery vehicle as described in claim 3, it is characterised in that：The opening of refuse bag is equipped with Elastic telescopic is rolled up, and is positioned over storage bucket upper end, the inwardly pop-up of elastic shrinkage volume is triggered when inner wall rotates, by storage bucket upper end Portion disengages, and the flexible volume of refuse bag opening is in deflated state.
- 5. the moveable intelligent garbage recovery vehicle as described in claim 1, it is characterised in that：Transport mechanism have motor and Conveyer belt, is mounted as a whole on trolley afterbody fixing bracket, and the input terminal of conveyer belt is equipped with card slot and supporting plate, and wherein card slot is embedded In conveyer belt, supporting plate is installed on conveyer belt, below card slot.
- 6. the moveable intelligent garbage recovery vehicle as described in claim 5, it is characterised in that：The card slot uses elastic cover Structure, is equipped with elastic cover infrared sensor on the outside of elastic cover.
- 7. the moveable intelligent garbage recovery vehicle as described in claim 1, it is characterised in that：The manipulator is installed on small On car one end fixing bracket, the card slot of corresponding transport mechanism, vacuum cup is equipped with manipulator front end.
- 8. the moveable intelligent garbage recovery vehicle as described in claim 1, it is characterised in that：The signal transmitting and receiving bar upper end For one can 360 ° of steerings swivel mounts, ultrasonic sensor is installed on swivel mount upper end, and infrared ray sensor is installed on swivel mount Center section, four orientation loudspeakers are additionally provided with the lower part of swivel mount.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711464073.6A CN107974984A (en) | 2017-12-28 | 2017-12-28 | A kind of moveable intelligent garbage recovery vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711464073.6A CN107974984A (en) | 2017-12-28 | 2017-12-28 | A kind of moveable intelligent garbage recovery vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107974984A true CN107974984A (en) | 2018-05-01 |
Family
ID=62005273
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711464073.6A Pending CN107974984A (en) | 2017-12-28 | 2017-12-28 | A kind of moveable intelligent garbage recovery vehicle |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2011236007A (en) * | 2010-05-11 | 2011-11-24 | Hiroko Kusumi | Garbage bag holding device in dust box |
| CN103879700A (en) * | 2014-03-31 | 2014-06-25 | 无锡艾科瑞思产品设计与研究有限公司 | Garbage can fast and convenient to use |
| CN203833052U (en) * | 2014-03-31 | 2014-09-17 | 无锡艾科瑞思产品设计与研究有限公司 | Convenient waste bin |
| CN204541962U (en) * | 2015-01-05 | 2015-08-12 | 张健 | A kind of automatic cleaning machine people |
| CN105668081A (en) * | 2016-03-30 | 2016-06-15 | 广东工业大学 | Convenient-sealing garbage can |
| CN105711873A (en) * | 2016-03-10 | 2016-06-29 | 浙江大学 | Automatic garage packaging method and automatic garage packaging machine |
| CN207919456U (en) * | 2017-12-28 | 2018-09-28 | 沈阳建筑大学 | Moveable intelligent garbage recovery vehicle |
-
2017
- 2017-12-28 CN CN201711464073.6A patent/CN107974984A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2011236007A (en) * | 2010-05-11 | 2011-11-24 | Hiroko Kusumi | Garbage bag holding device in dust box |
| CN103879700A (en) * | 2014-03-31 | 2014-06-25 | 无锡艾科瑞思产品设计与研究有限公司 | Garbage can fast and convenient to use |
| CN203833052U (en) * | 2014-03-31 | 2014-09-17 | 无锡艾科瑞思产品设计与研究有限公司 | Convenient waste bin |
| CN204541962U (en) * | 2015-01-05 | 2015-08-12 | 张健 | A kind of automatic cleaning machine people |
| CN105711873A (en) * | 2016-03-10 | 2016-06-29 | 浙江大学 | Automatic garage packaging method and automatic garage packaging machine |
| CN105668081A (en) * | 2016-03-30 | 2016-06-15 | 广东工业大学 | Convenient-sealing garbage can |
| CN207919456U (en) * | 2017-12-28 | 2018-09-28 | 沈阳建筑大学 | Moveable intelligent garbage recovery vehicle |
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