CN108824278A - A kind of intelligent environment protection robot - Google Patents
A kind of intelligent environment protection robot Download PDFInfo
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- CN108824278A CN108824278A CN201810604173.2A CN201810604173A CN108824278A CN 108824278 A CN108824278 A CN 108824278A CN 201810604173 A CN201810604173 A CN 201810604173A CN 108824278 A CN108824278 A CN 108824278A
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- Prior art keywords
- robot
- control unit
- master board
- module
- garbage reclamation
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- 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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
Abstract
The present invention relates to a kind of intelligent environment protection robots.The robot head control unit shown for realizing human body sensing and information that is connect including master board and with the master board, garbage reclamation unit, intelligent sound recognition unit, speaker unit；The garbage reclamation unit includes the transmission cache module connecting with master board, and the N number of garbage reclamation storehouse connecting with the transmission cache module；The intelligent sound recognition unit includes the intelligent sound identification module connecting with master board, and the MIC microphone array linked with the intelligent sound identification module.Intelligent environment protection robot of the present invention has multiple voice identifying system, while expansible increase walking, pickup and intelligent garbage identifying system；Different role object and appearance can be set according to user demand.
Description
Technical field
The present invention relates to a kind of intelligent environment protection robots, can be applied to public place, tourist attractions, enterprises and institutions, can
It realizes intelligent garbage classification, collects rubbish automatically.
Background technique
Environmental protection is related to the significant problem of human survival and development, at present in public places, only with some simple
And the dustbin that can not classify automatically.
Known technology missing：
1, can not classify automatically；
2, rubbish can not be identified；
3, it can not collect automatically.
Summary of the invention
The purpose of the present invention is to provide a kind of intelligent environment protection robot, which knows with multiple voice
Other system, while expansible increase walking, pickup and intelligent garbage identifying system.
To achieve the above object, the technical scheme is that：A kind of intelligent environment protection robot, including master board and with
The master board connection the robot head control unit shown for realizing human body sensing and information, garbage reclamation unit,
Intelligent sound recognition unit, speaker unit；The garbage reclamation unit includes the transmission cache module connecting with master board, with
And the N number of garbage reclamation storehouse being connect with the transmission cache module；The intelligent sound recognition unit includes connecting with master board
Intelligent sound identification module, and the MIC microphone array linked with the intelligent sound identification module.
In an embodiment of the present invention, the robot head control unit includes the human body sensing connecting with master board
Module, display module.
In an embodiment of the present invention, which can be realized the garbage classification function of intelligent sound interaction, specific real
It is now as follows：
（1）It is close that robot head control unit incudes someone, directly wakes up entire robot, and send language by speaker unit
The rubbish type that sound information query user need to launch, while voice messaging is shown by display module；
（2）If intelligent sound recognition unit identifies the rubbish type signal that user launches, rubbish is opened by master board and is returned
The garbage reclamation storehouse of the corresponding rubbish type of unit is received, so as to user's garbage throwing；
（3）After user's garbage throwing, whether robot head control unit induction manpower leaves, if so, delay predetermined time,
Close garbage reclamation storehouse；If it is not, continuing waiting for, until manpower leaves；
（4）After user's garbage throwing leaves, robot head control unit induction human body is left, and sends language by speaker unit
Message breath thanks to user, while showing voice messaging by display module.
It in an embodiment of the present invention, further include the robot ambulation control unit being connect with the master board, machinery
Hand control unit, GPS；The robot ambulation control unit includes the robot ambulation control panel connecting with master board, with
And deceleration device, velocity sensor, first or so the turbin generators being connect with the robot ambulation control panel；The manipulator control
Unit includes the manipulator control plate connecting with master board, and connect with the manipulator control plate gravity sensitive module,
Second or so turbin generator；The robot head control unit includes the robot head control panel connecting with master board, with
And display module, head motor, the camera module, obstacle recognition module, human body being connect with the robot head control panel
Induction module.
In an embodiment of the present invention, which can be realized the function of collecting rubbish automatically, be implemented as follows：
（1）Robot starting controls robot by robot ambulation control unit and cruises, meanwhile, pass through speaker unit
It sends voice messaging to inquire whether the user needs to carry out rubbish dispensing, and voice messaging is shown by display module；
（2）If intelligent sound recognition unit has recognized user and called the robot preset name, robot stops waiting, and
Into reception garbage disposal process；If it is not, then robot ambulation control unit control robot continues to cruise, step is executed（3）；
（3）Ground is shot by the camera module of robot head control unit, shooting image is then transferred to main control
Plate judges whether there is rubbish by master board；If so, then starting garbage reclamation process；If nothing thens follow the steps（4）；
（4）Judge whether robot battery electricity is sufficient, if sufficient, continues to cruise；If inadequate, charging is returned.
In an embodiment of the present invention, the step（1）In, the realization process that robot cruises is as follows：
（1.1）Robot starts cruise mode, sets cruising speed and cruise route；
（1.2）Start barrier detection and pedestrian's detecting flow process；
（1.3）Judge whether current robot travel speed is equal to cruising speed, if it is not, by robot ambulation control unit into
Row accelerates, until reaching cruising speed；
（1.4）The cruise route control robot that robot ambulation control unit is set according to master board cruises.
In an embodiment of the present invention, the step（1.2）In, robot carries out barrier detection and pedestrian's detecting flow process
Realization process it is as follows：
（1.2.1）Break the barriers identification module, human body induction module of robot head control unit judges whether there is barrier
Or pedestrian, if so, executing step（1.2.2）；
（1.2.2）Judge whether that barrier can be carried out or pedestrian evades, if so, robot deceleration is evaded, if evading
After success, the cruise route control robot that robot ambulation control unit is set according to master board continues to cruise, if evading
Failure, thens follow the steps（1.2.3）；If it is not, executing step（1.2.3）；
（1.2.3）Robot ambulation control unit controls robot and stops waiting；Whether disturbance in judgement object or pedestrian release, if
It is that the cruise route control robot that then robot ambulation control unit is set according to master board continues to cruise；If it is not, then weighing
Step is executed again（1.2.3）.
In an embodiment of the present invention, the step（2）In, the realization process for receiving garbage disposal process is as follows：
（2.1）Manipulator control unit controls robot mechanical arm, prepares to receive article；
（2.2）Voice messaging is sent by speaker unit at this time and informs that rubbish is placed in robotic on hand by user, is led to simultaneously
It crosses display module and shows voice messaging；If not detecting article in robot mechanical arm, repeatedly step（2.2）；Otherwise, it executes
Step（2.3）；
（2.3）The identification module or voice being arranged by the camera module of robot head control unit, robot mechanical arm
Article identification is realized in interaction, and opens the corresponding garbage reclamation storehouse of garbage reclamation unit；
（2.4）Article recycling is completed, voice messaging is sent by speaker unit and thanks to user, while language is shown by display module
Message breath.
In an embodiment of the present invention, the step（3）In, the realization process of garbage reclamation process is as follows：
（3.1）Manipulator control unit controls robot mechanical arm, prepares to pick up ground refuse；
（3.2）Object is realized by the identification module that the camera module of robot head control unit, robot mechanical arm are arranged
Product identification, and open the corresponding garbage reclamation storehouse of garbage reclamation unit.
Compared to the prior art, the invention has the advantages that：
One, robot of the present invention has the function of the garbage classification of intelligent sound interaction：
1, robot have intelligent voice system, can be carried out speech recognition with interact；
2, robot is according to different keywords, such as " recyclable, harmful, not recyclable, plastics, glass, metal, life rubbish
Rubbish etc. ", the garbage reclamation storehouse progress rubbish to automatically open different are collected；
3, in the case of not identifying keyword correctly in off working state and, garbage reclamation storehouse is in close state；
4, garbage reclamation storehouse has human body induction function and time-delay closing function, automatic to close after manpower leaves the regular hour
Close garbage reclamation storehouse；
Two, robot of the present invention has the function of the garbage classification of intelligent sound interaction：
1, robot have intelligent voice system, can be carried out speech recognition with interact；
2, robot has walking function；
3, robot has automatic discovery, identification and picks up function；
4, robot has automating sorting function.
Detailed description of the invention
Fig. 1 is garbage classification machine people's functional block diagram of the intelligent sound interaction of an example of the invention.
Fig. 2 is garbage classification machine people's garbage classification flow chart of the intelligent sound interaction of an example of the invention.
Fig. 3 is the service humanoid robot functional block diagram for collecting rubbish automatically of another example of the present invention.
Fig. 4 is that the service humanoid robot for collecting rubbish automatically of another example of the present invention collects rubbish flow chart automatically.
Fig. 5 is the service humanoid robot cruise flow chart for collecting rubbish automatically of another example of the present invention.
Fig. 6 be another example of the present invention collect the service type robot barrier object of rubbish automatically or pedestrian evades process
Figure.
Fig. 7 is that the service humanoid robot for collecting rubbish automatically of another example of the present invention receives garbage disposal flow chart.
Fig. 8 is the service humanoid robot pavement garbage recycling process diagram for collecting rubbish automatically of another example of the present invention.
Specific embodiment
With reference to the accompanying drawing, technical solution of the present invention is specifically described.
As shown in Figure 1, the present invention provides a kind of intelligent environment protection robot, the rubbish of the artificial intelligent sound interaction of the machine
Sorting machine people, including master board and the robot shown for realizing human body sensing and information being connect with the master board
Head control unit, garbage reclamation unit, intelligent sound recognition unit, speaker unit；The garbage reclamation unit includes and master
The transmission cache module of control panel connection, and the N number of garbage reclamation storehouse being connect with the transmission cache module；The intelligent sound
Recognition unit includes the intelligent sound identification module connecting with master board, and linked with the intelligent sound identification module
MIC microphone array.The robot head control unit includes the human body induction module connecting with master board, display mould
Block.
As shown in Fig. 2, the robot can be realized the garbage classification function of intelligent sound interaction, it is implemented as follows：
（1）It is close that robot head control unit incudes someone, directly wakes up entire robot, and send language by speaker unit
The rubbish type that sound information query user need to launch, while voice messaging is shown by display module；
（2）If intelligent sound recognition unit identifies the rubbish type signal that user launches, rubbish is opened by master board and is returned
The garbage reclamation storehouse of the corresponding rubbish type of unit is received, so as to user's garbage throwing；
（3）After user's garbage throwing, whether robot head control unit induction manpower leaves, if so, delay predetermined time,
Close garbage reclamation storehouse；If it is not, continuing waiting for, until manpower leaves；
（4）After user's garbage throwing leaves, robot head control unit induction human body is left, and sends language by speaker unit
Message breath thanks to user, while showing voice messaging by display module.
As shown in figure 3, the machine artificially collects the service of rubbish automatically the present invention provides a kind of intelligent environment protection robot
Humanoid robot, including master board and the robot head shown for realizing human body sensing and information being connect with the master board
Portion's control unit, garbage reclamation unit, intelligent sound recognition unit, speaker unit；The garbage reclamation unit includes and master control
The transmission cache module of making sheet connection, and the N number of garbage reclamation storehouse being connect with the transmission cache module；The intelligent sound is known
Other unit includes the intelligent sound identification module connecting with master board, and the MIC linked with the intelligent sound identification module
Microphone array.It further include the robot ambulation control unit being connect with the master board, manipulator control unit, GPS；Institute
Stating robot ambulation control unit includes the robot ambulation control panel connecting with master board, and with the robot ambulation control
Deceleration device, the velocity sensor, first or so turbin generators of making sheet connection；The manipulator control unit includes and master board
The manipulator control plate of connection, and connect with the manipulator control plate gravity sensitive module, second or so turbin generators；It is described
Robot head control unit includes the robot head control panel connecting with master board, and is controlled with the robot head
Display module, the head motor, camera module, obstacle recognition module, human body induction module of plate connection.
As shown in figure 4, the robot can be realized the function of collecting rubbish automatically, it is implemented as follows：
（1）Robot starting controls robot by robot ambulation control unit and cruises, meanwhile, pass through speaker unit
It sends voice messaging to inquire whether the user needs to carry out rubbish dispensing, and voice messaging is shown by display module；
（2）If intelligent sound recognition unit has recognized user and called the robot preset name, robot stops waiting, and
Into reception garbage disposal process；If it is not, then robot ambulation control unit control robot continues to cruise, step is executed（3）；
（3）Ground is shot by the camera module of robot head control unit, shooting image is then transferred to main control
Plate judges whether there is rubbish by master board；If so, then starting garbage reclamation process；If nothing thens follow the steps（4）；
（4）Judge whether robot battery electricity is sufficient, if sufficient, continues to cruise；If inadequate, charging is returned.
As shown in figure 5, the step（1）In, the realization process that robot cruises is as follows：
（1.1）Robot starts cruise mode, sets cruising speed and cruise route；
（1.2）Start barrier detection and pedestrian's detecting flow process；
（1.3）Judge whether current robot travel speed is equal to cruising speed, if it is not, by robot ambulation control unit into
Row accelerates, until reaching cruising speed；
（1.4）The cruise route control robot that robot ambulation control unit is set according to master board cruises.
As shown in fig. 6, the step（1.2）In, robot carries out the realization of barrier detection and pedestrian's detecting flow process
Journey is as follows：
（1.2.1）Break the barriers identification module, human body induction module of robot head control unit judges whether there is barrier
Or pedestrian, if so, executing step（1.2.2）；
（1.2.2）Judge whether that barrier can be carried out or pedestrian evades, if so, robot deceleration is evaded, if evading
After success, the cruise route control robot that robot ambulation control unit is set according to master board continues to cruise, if evading
Failure, thens follow the steps（1.2.3）；If it is not, executing step（1.2.3）；
（1.2.3）Robot ambulation control unit controls robot and stops waiting；Whether disturbance in judgement object or pedestrian release, if
It is that the cruise route control robot that then robot ambulation control unit is set according to master board continues to cruise；If it is not, then weighing
Step is executed again（1.2.3）.
As shown in fig. 7, the step（2）In, the realization process for receiving garbage disposal process is as follows：
（2.1）Manipulator control unit controls robot mechanical arm, prepares to receive article；
（2.2）Voice messaging is sent by speaker unit at this time and informs that rubbish is placed in robotic on hand by user, is led to simultaneously
It crosses display module and shows voice messaging；If not detecting article in robot mechanical arm, repeatedly step（2.2）；Otherwise, it executes
Step（2.3）
（2.3）The identification module or voice being arranged by the camera module of robot head control unit, robot mechanical arm
Article identification is realized in interaction, and opens the corresponding garbage reclamation storehouse of garbage reclamation unit；
（2.4）Article recycling is completed, voice messaging is sent by speaker unit and thanks to user, while language is shown by display module
Message breath.
As shown in figure 8, the step（3）In, the realization process of garbage reclamation process is as follows：
（3.1）Manipulator control unit controls robot mechanical arm, prepares to pick up ground refuse；
（3.2）Object is realized by the identification module that the camera module of robot head control unit, robot mechanical arm are arranged
Product identification, and open the corresponding garbage reclamation storehouse of garbage reclamation unit.
Intelligent environment protection robot of the present invention is divided into two classes：
One, the garbage classification machine people of intelligent sound interaction
1, this column of microphone, carry out voice input that can be multidirectional are built-in with；
2, built-in intelligence speech recognition and interactive system have identification voice, intonation, semanteme and carry out interactive voice etc. with people
Function；
3, built-in transmission system opens corresponding garbage reclamation storehouse after robot recognizes corresponding keyword；
4, built-in buffer system reduces the noise of trash repository switch, lifting system reliability；
5, built-in human body sensing system, when people is in certain distance, system will do it voice broadcast salutatory and garbage classification
Prompt word；After collecting rubbish, at a distance, garbage reclamation storehouse is automatically closed in manpower；After people leaves a certain distance, it is
System will do it voice broadcast and thank to word.
6, built-in delay system, late release garbage reclamation storehouse；
7, display module can be added（Scalable touch function）；
Two, the service humanoid robot of rubbish is collected automatically
1, this column of microphone, carry out voice input that can be multidirectional are built-in with；
2, built-in intelligence speech recognition and interactive system have identification voice, intonation, semanteme and carry out interactive voice etc. with people
Function；
3, built-in transmission system and pedestrian's identifying system, after receiving voice messaging, can automatically walk to needing garbage reclamation to take
Before the people of business；
4, built-in timing cruise and rubbish identifying system can be right at a fixed time according to the route of built-in map and setting
Cruised and identified the rubbish on ground in fixed region；
5, built-in intelligence garbage classification device carries out rubbish automatic identification and classification：
a）It is identified and is classified according to the specific garbage classification information on article, two dimension specifically can be used in specific garbage classification information
Code, bar code and other class indications；
b）The information such as the appearance according to article are identified and are classified；
c）The classification of voice prompting article；
6, it after recyclable rubbish is put in storage, carries out crushing/compression processing automatically, promotes the utilization rate of recovery bin；
7, built-in electricity identification, auto-returned charges when battery capacity drops to certain；
8, display module can be added（Scalable touch function）
9, user interaction module is added, user is by scanning the two-dimensional code, and after online registration ID, each correct placement rubbish can be obtained
Environmental protecting commonweal integral centainly is obtained, public-spirited enterprise offers the corresponding amount of money to charity according to integral, to charity.
10, built-in city/scenic spot area, provides digital map navigation for tourist and function of asking the way；It can be shared by two dimensional code and be led
Navigate information/map.
The above are preferred embodiments of the present invention, all any changes made according to the technical solution of the present invention, and generated function is made
When with range without departing from technical solution of the present invention, all belong to the scope of protection of the present invention.
Claims (9)
1. a kind of intelligent environment protection robot, which is characterized in that connect including master board and with the master board for realizing
Robot head control unit that human body sensing and information are shown, garbage reclamation unit, intelligent sound recognition unit, loudspeaking list
Member；The garbage reclamation unit includes the transmission cache module connecting with master board, and connect with the transmission cache module
N number of garbage reclamation storehouse；The intelligent sound recognition unit includes the intelligent sound identification module connecting with master board, and
The MIC microphone array linked with the intelligent sound identification module.
2. a kind of intelligent environment protection robot according to claim 1, which is characterized in that the robot head control unit
Including human body induction module, the display module being connect with master board.
3. a kind of intelligent environment protection robot according to claim 1 or 2, which is characterized in that the robot can be realized intelligence
The garbage classification function of energy voice interface, is implemented as follows：
（1）It is close that robot head control unit incudes someone, directly wakes up entire robot, and send language by speaker unit
The rubbish type that sound information query user need to launch, while voice messaging is shown by display module；
（2）If intelligent sound recognition unit identifies the rubbish type signal that user launches, rubbish is opened by master board and is returned
The garbage reclamation storehouse of the corresponding rubbish type of unit is received, so as to user's garbage throwing；
（3）After user's garbage throwing, whether robot head control unit induction manpower leaves, if so, delay predetermined time,
Close garbage reclamation storehouse；If it is not, continuing waiting for, until manpower leaves；
（4）After user's garbage throwing leaves, robot head control unit induction human body is left, and sends language by speaker unit
Message breath thanks to user, while showing voice messaging by display module.
4. a kind of intelligent environment protection robot according to claim 1, which is characterized in that further include connecting with the master board
The robot ambulation control unit that connects, manipulator control unit, GPS；The robot ambulation control unit includes and main control
The robot ambulation control panel of plate connection, and the deceleration device, the velocity sensor, that are connect with the robot ambulation control panel
One or so turbin generator；The manipulator control unit includes the manipulator control plate connecting with master board, and with the machinery
The gravity sensitive module of manual making sheet connection, second or so turbin generators；The robot head control unit includes and main control
The robot head control panel of plate connection, and the display module, the head motor, camera shooting that are connect with the robot head control panel
Head module, obstacle recognition module, human body induction module.
5. a kind of intelligent environment protection robot according to claim 4, which is characterized in that the robot can be realized automatic receipts
The function of taking rubbish, is implemented as follows：
（1）Robot starting controls robot by robot ambulation control unit and cruises, meanwhile, pass through speaker unit
It sends voice messaging to inquire whether the user needs to carry out rubbish dispensing, and voice messaging is shown by display module；
（2）If intelligent sound recognition unit has recognized user and called the robot preset name, robot stops waiting, and
Into reception garbage disposal process；If it is not, then robot ambulation control unit control robot continues to cruise, step is executed（3）；
（3）Ground is shot by the camera module of robot head control unit, shooting image is then transferred to main control
Plate judges whether there is rubbish by master board；If so, then starting garbage reclamation process；If nothing thens follow the steps（4）；
（4）Judge whether robot battery electricity is sufficient, if sufficient, continues to cruise；If inadequate, charging is returned.
6. a kind of intelligent environment protection robot according to claim 5, which is characterized in that the step（1）In, robot into
The realization process of row cruise is as follows：
（1.1）Robot starts cruise mode, sets cruising speed and cruise route；
（1.2）Start barrier detection and pedestrian's detecting flow process；
（1.3）Judge whether current robot travel speed is equal to cruising speed, if it is not, by robot ambulation control unit into
Row accelerates, until reaching cruising speed；
（1.4）The cruise route control robot that robot ambulation control unit is set according to master board cruises.
7. a kind of intelligent environment protection robot according to claim 6, which is characterized in that the step（1.2）In, robot
It carries out barrier detection and the realization process of pedestrian's detecting flow process is as follows：
（1.2.1）Break the barriers identification module, human body induction module of robot head control unit judges whether there is barrier
Or pedestrian, if so, executing step（1.2.2）；
（1.2.2）Judge whether that barrier can be carried out or pedestrian evades, if so, robot deceleration is evaded, if evading
After success, the cruise route control robot that robot ambulation control unit is set according to master board continues to cruise, if evading
Failure, thens follow the steps（1.2.3）；If it is not, executing step（1.2.3）；
（1.2.3）Robot ambulation control unit controls robot and stops waiting；Whether disturbance in judgement object or pedestrian release, if
It is that the cruise route control robot that then robot ambulation control unit is set according to master board continues to cruise；If it is not, then weighing
Step is executed again（1.2.3）.
8. a kind of intelligent environment protection robot according to claim 5, which is characterized in that the step（2）In, receive rubbish
The realization process of process flow is as follows：
（2.1）Manipulator control unit controls robot mechanical arm, prepares to receive article；
（2.2）Voice messaging is sent by speaker unit at this time and informs that rubbish is placed in robotic on hand by user, is led to simultaneously
It crosses display module and shows voice messaging；If not detecting article in robot mechanical arm, repeatedly step（2.2）；Otherwise, it executes
Step（2.3）；
（2.3）The identification module or voice being arranged by the camera module of robot head control unit, robot mechanical arm
Article identification is realized in interaction, and opens the corresponding garbage reclamation storehouse of garbage reclamation unit；
（2.4）Article recycling is completed, voice messaging is sent by speaker unit and thanks to user, while language is shown by display module
Message breath.
9. a kind of intelligent environment protection robot according to claim 5, which is characterized in that the step（3）In, garbage reclamation
The realization process of process is as follows：
（3.1）Manipulator control unit controls robot mechanical arm, prepares to pick up ground refuse；
（3.2）Object is realized by the identification module that the camera module of robot head control unit, robot mechanical arm are arranged
Product identification, and open the corresponding garbage reclamation storehouse of garbage reclamation unit.
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| CN109440699A (en) * | 2018-12-07 | 2019-03-08 | 长沙中联重科环境产业有限公司 | Environmental sanitation is intelligently clean to sweep Work robot control system and cleaning machine |
| CN109816123A (en) * | 2019-01-24 | 2019-05-28 | 四川奇奥超洁环保科技有限公司 | Intelligent scrap concrete background system |
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| CN110282288A (en) * | 2019-07-22 | 2019-09-27 | 深圳绎趣智能科技有限公司 | A kind of intelligent sound garbage classification device and classification method |
| CN110924340A (en) * | 2019-11-25 | 2020-03-27 | 武汉思睿博特自动化系统有限公司 | Mobile robot system for intelligently picking up garbage and implementation method |
| CN111090305A (en) * | 2019-11-27 | 2020-05-01 | 新华蓝海(北京)人工智能技术有限公司 | 3D intelligent tax service equipment |
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