CN108858226A - A kind of tableware intelligence recycling machine people of Multi-sensor Fusion SLAM technology - Google Patents
A kind of tableware intelligence recycling machine people of Multi-sensor Fusion SLAM technology Download PDFInfo
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- CN108858226A CN108858226A CN201810800112.3A CN201810800112A CN108858226A CN 108858226 A CN108858226 A CN 108858226A CN 201810800112 A CN201810800112 A CN 201810800112A CN 108858226 A CN108858226 A CN 108858226A
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- 230000004927 fusion Effects 0.000 title claims abstract description 35
- 238000004064 recycling Methods 0.000 title claims abstract description 23
- 238000005516 engineering process Methods 0.000 title claims abstract description 16
- 230000007246 mechanism Effects 0.000 claims abstract description 35
- 239000002699 waste material Substances 0.000 claims abstract description 35
- 238000010276 construction Methods 0.000 claims abstract description 24
- 238000011084 recovery Methods 0.000 claims abstract description 20
- 238000005259 measurement Methods 0.000 claims abstract description 16
- 230000000007 visual effect Effects 0.000 claims abstract description 16
- 230000008878 coupling Effects 0.000 claims description 7
- 238000010168 coupling process Methods 0.000 claims description 7
- 238000005859 coupling reaction Methods 0.000 claims description 7
- 230000009471 action Effects 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 description 9
- 230000006872 improvement Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 230000033001 locomotion Effects 0.000 description 5
- 230000008569 process Effects 0.000 description 4
- 230000001133 acceleration Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 235000012054 meals Nutrition 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000000151 deposition Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000009510 drug design Methods 0.000 description 1
- 235000013305 food Nutrition 0.000 description 1
- 235000011389 fruit/vegetable juice Nutrition 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of tableware intelligence recycling machine people of Multi-sensor Fusion SLAM technology, SLAM system including robot body, Multi-sensor Fusion, robot body includes chassis, support construction, Waste recovery mechanism, tableware recovering mechanism, and chassis is equipped with walking component；Robot body is equipped with the SLAM system of the Multi-sensor Fusion with laser radar sensor, inertia measurement sensor, visual sensor and host computer.Laser radar sensor, visual sensor, inertia measurement sensor can be transmitted to the information detected the SLAM system on the machine of being positioned in an up, it is made decisions by SLAM system, control tableware intelligence recycling machine people carries out map structuring, positioning, navigation and dynamic obstacle avoidance；Meanwhile be set to the Waste recovery mechanism on robot body, tableware recovering mechanism can facilitate eater place tableware.The present invention is recycled for tableware.
Description
Technical field
The present invention relates to intelligence manufacture robot field, the tableware intelligence of especially a kind of Multi-sensor Fusion SLAM technology
Recycling machine people.
Background technique
SLAM (simultaneous localization and mapping) refers to the moving object of carry sensors,
Itself is positioned during the motion, while constructing the process of its ambient enviroment in a suitable form.Mobile robot is wanted
Really move towards to apply, a key function is independent navigation, and realizes that the core technology of mobile robot autonomous navigation is
SLAM, avoidance and autonomous path planning.By more than 20 years research efforts, people were successfully realized a variety of SLAM methods,
From ground mobile robot SLAM, the aerial, water surface, underwater and amphibious environment SLAM are developed to；From the small ring in interior of beginning
Develop to the outdoor overall situation of the thousands of kilometers of city sizes of today in border；From the initial method based on laser sensing, till now
View-based access control model and multisensor method.The SLAM system real time of Multi-sensor Fusion is strong, cost performance is low and robustness is high
Deng being study now one popular direction.
In large-scale Technology Park, colleges and universities and the manpower-intensive types regions such as industry plant area are manufactured, often construction has large-scale dining
Dining room, area is substantially all more than thousands of square meters.The characteristics of such environment is densely populated and mobility is big.In order to ensure food
Hall neat and tidy, generally marks off independent tableware recovery zone using more traditional method at present, and fixed placement tableware returns
Receiving apparatus walks to recovery zone by eater and places tableware, then recycled by waiter is unified.Due to dining region area compared with
Greatly, farther out, and often crowded a large amount of eaters are lined up walking distance for tableware recovery zone, and not only health is difficult to ensure, but also
Inefficiency.
There are the robot for passing dish, the robot for cleaning in the robot that existing dining room of serving the meals uses, but without special
Door for tableware recycling robot, it is a kind of can autonomous for tableware recycling robot by widespread demand.
Summary of the invention
The technical problem to be solved by the present invention is to：Existing tableware recyclable device can not planned trajectory and autonomous, cannot
Human-computer interaction is carried out, tableware removal process is cumbersome.
The solution that the present invention solves its technical problem is：A kind of tableware intelligence of Multi-sensor Fusion SLAM technology is provided
Energy recycling machine people, the SLAM system including robot body, Multi-sensor Fusion, the robot body include chassis, set
Support construction above chassis, the Waste recovery mechanism above chassis, the tableware recovering mechanism above chassis, institute
Waste recovery mechanism and tableware recovering mechanism is stated to connect by support construction with chassis；The robot body, which is equipped with to have, to swash
The SLAM system of the Multi-sensor Fusion of optical radar sensor, inertia measurement sensor, visual sensor and host computer, laser thunder
It is set on the chassis up to sensor, inertia measurement sensor and host computer, visual sensor is set in the support construction
Side, the chassis are equipped with the walking component controlled by the SLAM system of the Multi-sensor Fusion.
As a further improvement of the above technical scheme, the support construction includes spaced first bottom from the bottom to top
Plate, the second bottom plate, third bottom plate, the 4th bottom plate, support construction further include connecting rod, the first bottom plate, the second bottom plate, third bottom
Plate, the 4th bottom plate pass through connecting rod and are fixed in the chassis.
As a further improvement of the above technical scheme, the chassis is case shape component, and the walking component includes setting
Universal wheel below chassis, two motor in chassis, two driving wheels in chassis, two coaxial drives
The lower end of driving wheel passes through chassis and the lower end of universal wheel and is total to horizontal plane；Shaft coupling, motor are equipped between motor and driving wheel
Shaft linked by the transmission shaft of shaft coupling and driving wheel.
As a further improvement of the above technical scheme, the tableware recovering mechanism includes fixed tote, mobile tote, institute
It states fixed tote to be set between third bottom plate and the 4th bottom plate, fixed tote is fixed in third bottom plate；Set on the second bottom plate and
There are two mobile totes between three bottom plates, is respectively arranged on side before and after the second bottom plate, and the second bottom plate is equipped with sliding rail, is sensed more
The electric pushrod of the SLAM system control of device fusion, the second bottom plate are flexibly connected with mobile tote by sliding rail, electric pushrod
Both ends are connect with the second bottom plate, mobile tote respectively, when so that electric pushrod extending, the movement set on the front/rear side of the second bottom plate
Tote can opposite second bottom plate forward/move afterwards.
As a further improvement of the above technical scheme, it is additionally provided on the robot body by the Multi-sensor Fusion
The control of SLAM system loudspeaker, microphone, switch, the loudspeaker, microphone, switch, visual sensor are set to the
On four bottom plates, visual sensor is set on the left of the 4th bottom plate；The laser radar sensor is set on the left of the chassis, described used
Property measurement sensor be set on the right side of the chassis, the host computer is set in chassis, and battery is additionally provided in chassis.
As a further improvement of the above technical scheme, in a rectangular parallelepiped shape, fixed tote includes level to the fixed tote
Symmetrically arranged two tray boxes of face projection centre and two Lunch boxs；Two mobile tote horizontal plane projection centres are symmetrical
Setting, mobile tote includes bowl box, chopstick box, Spoon box.
As a further improvement of the above technical scheme, the Waste recovery mechanism be set to the first bottom plate and the second bottom plate it
Between, the Waste recovery mechanism includes that top is equipped with the ash can of waste material entrance, above ash can：
Sliding slot, fixed block, horizontally disposed fixing axle, fixed block are set in connecting rod,
Sliding slot is connect by fixing axle with fixed block, and the entrance of sliding slot is set on the outside of the support construction, the outlet of sliding slot
With waste material entrance close to；
The bottom of the ash can and the first bottom plate are clamped.
As a further improvement of the above technical scheme, the fixing axle is equipped with bearing and torsional spring, is fixed in sliding slot
Fixing axle is flexibly connected with fixed block by bearing, and the torsional spring both ends are connect with sliding slot, fixed block respectively, so that sliding slot goes out
Mouthful under the action of torsional spring with waste material entrance close to；One sliding slot, two fixing axles, two be respectively arranged on consolidating for fixed both ends of the shaft
Determine block to close old to be shedding mechanism component, there are two the shedding mechanism components, is respectively arranged on support construction left and right sides；The connection
At least four, bar；The ash can include block, the case lid above block, be respectively arranged on side before and after block two one or two
Hand, the waste material entrance are set on the case lid, and case lid and block are clamped, and block and two handles are affixed.
The beneficial effects of the invention are as follows：The present invention has laser radar sensor, inertia measurement sensor, view by setting
The SLAM system of the Multi-sensor Fusion of sensor and host computer is felt on movable machine human body, and laser radar senses
Device, visual sensor, inertia measurement sensor can detect obstacle information, image information, robot motion's brief acceleration and angle
Velocity information, image information, the information that will test are transmitted to the SLAM system on the machine of being positioned in an up, are made certainly by SLAM system
Plan, control tableware intelligence recycling machine people carry out map structuring, positioning, navigation and dynamic obstacle avoidance, make tableware intelligence recycling machine
People can go to dining area to recycle tableware under dynamic crowded environment, in a manner of autonomous cruise；Meanwhile being set to robot sheet
Waste recovery mechanism, tableware recovering mechanism on body can facilitate eater to place tableware.The present invention has rational design, and system function is strong
Greatly, it is convenient to install and use, it is possible to reduce employment service person in large area dining room reduces cost of labor, and also can avoid eater
It collides and pollution clothes, and then promotes restaurant service quality and reduce Restaurant Operation cost.The present invention is recycled for tableware.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described.Obviously, described attached drawing is a part of the embodiments of the present invention, rather than is all implemented
Example, those skilled in the art without creative efforts, can also be obtained according to these attached drawings other designs
Scheme and attached drawing.
Fig. 1 is structural schematic diagram of the invention；
Fig. 2 is the main view of embodiment；
Fig. 3 is the left view of embodiment；
Fig. 4 is the attached view of embodiment；
Fig. 5 is the walking component diagram of embodiment；
Fig. 6 is the second structural diagram of base plate of embodiment；
Fig. 7 is the enlarged partial sectional view of Fig. 3；
Fig. 8 is the mobile tote structural schematic diagram of embodiment；
Fig. 9 is the fixation tote structural schematic diagram of embodiment.
Specific embodiment
It is carried out below with reference to technical effect of the embodiment and attached drawing to design of the invention, specific structure and generation clear
Chu is fully described by, to be completely understood by the purpose of the present invention, feature and effect.Obviously, described embodiment is this hair
Bright a part of the embodiment, rather than whole embodiments, based on the embodiment of the present invention, those skilled in the art are not being paid
Other embodiments obtained, belong to the scope of protection of the invention under the premise of creative work.In addition, be previously mentioned in text
All connection/connection relationships not singly refer to that component directly connects, and referring to can be added deduct according to specific implementation situation by adding
Few couple auxiliary, to form more preferably coupling structure.Each technical characteristic in the invention, in not conflicting conflict
Under the premise of can be with combination of interactions.
Referring to figs. 1 to Fig. 9, this is one embodiment of the present of invention, specifically：A kind of Multi-sensor Fusion SLAM technology
Tableware intelligence recycling machine people, the SLAM system including robot body, Multi-sensor Fusion, the robot body includes bottom
Disk 19, the support construction above chassis 19, the Waste recovery mechanism above chassis 19, the meal above chassis 19
Have recovering mechanism, the Waste recovery mechanism and tableware recovering mechanism to connect by support construction with chassis 19；The robot
Ontology be equipped with laser radar sensor 17, inertia measurement sensor 18, visual sensor 1 and host computer 24 more sensings
The SLAM system of device fusion, laser radar sensor 17, inertia measurement sensor 18 and host computer 24 are set to the chassis 19
On, visual sensor 1 is set on the upside of the support construction, and the chassis 19 is equipped with the SLAM system by the Multi-sensor Fusion
The walking component of system control.There is laser radar sensor 17, inertia measurement sensor 18,1 and of visual sensor by setting
The SLAM system of the Multi-sensor Fusion of host computer 24 is on movable machine human body, laser radar sensor 17, vision
Sensor 1, inertia measurement sensor 18 can detect obstacle information, image information, robot motion's brief acceleration and angular speed
Information, image information, the information that will test are transmitted to the SLAM system on the machine of being positioned in an up 24, are made decisions by SLAM system,
It controls tableware intelligence recycling machine people and carries out map structuring, positioning, navigation and dynamic obstacle avoidance, reaching tableware recyclable device can be autonomous
Mobile purpose；Meanwhile be set to the Waste recovery mechanism on robot body, tableware recovering mechanism can facilitate eater to place
Tableware.
It is further used as preferred embodiment, the support construction includes spaced first bottom plate from the bottom to top
16, the second bottom plate 10, third bottom plate 8, the 4th bottom plate 5, support construction further include connecting rod 6, the first bottom plate 16, the second bottom plate
10, third bottom plate 8, the 4th bottom plate 5 are fixed in the chassis 19 by connecting rod 6.Support construction is vertical layer structure, energy
Make robot body steadily of centre of gravity, is conducive to keep stablizing in robot moving process, meanwhile, support construction point multilayer is arranged,
It can increase and deposit space for placing tableware.
It is further used as preferred embodiment, the chassis 19 is case shape component, and the walking component includes being set to
Universal wheel 20, two motor 23 in chassis, two driving wheels 21 in chassis of 19 lower section of chassis, two altogether
The lower end of the driving wheel 21 of axis passes through chassis 19 and the lower end of universal wheel 20 and is total to horizontal plane；It is set between motor 23 and driving wheel 21
There is shaft coupling 22, the shaft of motor 23 is linked by the transmission shaft of shaft coupling 22 and driving wheel 21.Two motor 23 are independent
It is controlled by the SLAM system of Multi-sensor Fusion, two driving wheels 21 are respectively driven by independent motor 23, make two driving wheels
21 can be rotated with different linear velocities, and the cooperation realization of universal wheel 20 flexibly turns to.
It is further used as preferred embodiment, the tableware recovering mechanism includes fixing tote 7, mobile tote 9, described
Fixed tote 7 is set between third bottom plate 8 and the 4th bottom plate 5, and fixed tote 7 is fixed in third bottom plate 8；Set on the second bottom plate 10
There are two mobile totes 9 between third bottom plate 8, is respectively arranged on 10 front and back side of the second bottom plate, and the second bottom plate 10, which is equipped with, to be slided
Rail 25, the electric pushrod 26 controlled by the SLAM system of Multi-sensor Fusion, the second bottom plate 10 pass through sliding rail 25 with mobile tote 9
It being flexibly connected, the both ends of electric pushrod 26 are connect with the second bottom plate 10, mobile tote 9 respectively, when so that electric pushrod 26 extending,
Set on the front/rear side of the second bottom plate 10 mobile tote 9 can opposite second bottom plate 10 forward/move afterwards.Fixed tote 7 is held in the palm with mobile
The setting of case 9 makes tableware intelligence recycling machine people adapt to various places, and independent fixed tote 7 and mobile tote 9, are closed mutually
Reason can store more tablewares using space for placing tableware is deposited.
It is further used as preferred embodiment, is additionally provided on the robot body by the Multi-sensor Fusion
Loudspeaker 2, the microphone 4, switch 3 of SLAM system control, the loudspeaker 2, microphone 4, switch 3, visual sensor 1 are all provided with
In on the 4th bottom plate 5, visual sensor 1 is set to 5 left side of the 4th bottom plate；The laser radar sensor 17 is set to the chassis 19
Left side, the inertia measurement sensor 18 are set to 19 right side of chassis, and the host computer 24 is set in chassis 19, in chassis 19
It is additionally provided with battery 35.The information measured is transmitted to the SLAM system on the machine of being positioned in an up 24 by laser radar sensor 17, by
SLAM system, which makes decisions, controls robot progress map structuring, positioning, navigation and dynamic obstacle avoidance；Inertia measurement sensor 18 can
To measure acceleration and angular speed information in robot motion, the data of acquisition input SLAM system, and the data provided can
Preferably serve the positioning of robot；There is intelligent power detection function in battery 35, when robot detects not enough power supply,
Robot retains current working condition, while going to juice point to charge automatically, and original place is moved to after fully charged
Working condition before recovery is devoted oneself to work again；Visual sensor 1 comes into the image information captured in SLAM system, structure
Build out ambient enviroment map；The SLAM system of Multi-sensor Fusion has default mode and intelligent mode both of which, default mode
Middle robot stops carry out tableware recycling in one minute after travelling one meter of distance along fixed track, and robot can in intelligent mode
Carry out intelligent operation with the information heard in the process of moving according to microphone 4, by loudspeaker 2 can stop for a long time and with
Eater carries out Intelligent dialogue, such as tells funny stories, broadcasts weather and reciting news.
It is further used as preferred embodiment, in a rectangular parallelepiped shape, fixed tote 7 includes horizontal plane to the fixed tote 7
Symmetrically arranged two tray boxes 34 of projection centre and two Lunch boxs 33；Two mobile 9 horizontal plane projection centres of tote
It is symmetrical arranged, mobile tote 9 includes bowl box 32, chopstick box 31, Spoon box 30.Classify and places tableware and can increase depositing for tableware
High-volume, waiter can also be facilitated to recycle tableware；The cutlery box of center symmetric setting makes no matter eater is located at tableware intelligently recycling
The relative position of the front or behind of robot, cutlery box is all consistent, and eater can be facilitated to form a habit, will not be because of place
Position is different and tableware is misplaced position.
Be further used as preferred embodiment, the Waste recovery mechanism be set to the first bottom plate 16 and the second bottom plate 10 it
Between, the Waste recovery mechanism includes that top is equipped with the ash can of waste material entrance 35, above ash can：
Sliding slot 12, fixed block 11, horizontally disposed fixing axle 28, fixed block 11 are set in connecting rod 6, and sliding slot 12 passes through solid
Dead axle 28 is connect with fixed block 11, and the entrance of sliding slot 12 is set on the outside of the support construction, the outlet of sliding slot 12 and waste material entrance
35 close to；
The bottom of the ash can and the first bottom plate 16 are clamped.Eater pours waste material into sliding slot, by waste material entrance 35
Pour into ash can；It is connected by a snap ash can and can consolidate and be placed on the first bottom plate 16, can also be taken out from the first bottom plate 16
Clear away waste.
It is further used as preferred embodiment, the fixing axle is equipped with bearing 29 and torsional spring 27, is fixed in sliding slot 12
Fixing axle 28 and fixed block 11 be flexibly connected by bearing 29,27 both ends of torsional spring connect with sliding slot 12, fixed block 11 respectively
Connect so that the outlet of sliding slot 12 under the action of torsional spring 27 with waste material entrance 35 close to；One sliding slot, 12, two fixing axles 28,
It is shedding mechanism component that two fixed blocks 11 for being respectively arranged on 28 both ends of fixing axle, which close old, and there are two the shedding mechanism components,
It is respectively arranged on support construction left and right sides；The connecting rod 6 at least four；The ash can includes block 15, is set to block 15
The case lid 13 of top, two handles 14 for being respectively arranged on 15 front and back side of block, the waste material entrance 35 are set on the case lid 13,
Case lid 13 and block 15 are clamped, and block 15 and two handles 14 are affixed.When waiter handles waste material, waiter can
Handle 14 is pulled with two to mention upwards, while sliding slot 12 is flipped up under force, take ash can away convenient for service；Torsional spring
27 setting makes sliding slot 12 that can will not smoothly slide into ash can because of the weight moment of waste material, waste material；The case lid 13 of ash can be beaten
It opens, facilitates waiter's clear away waste.
Better embodiment of the invention is illustrated above, but the invention is not limited to the implementation
Example, those skilled in the art can also make various equivalent modifications on the premise of without prejudice to spirit of the invention or replace
It changes, these equivalent variation or replacement are all included in the scope defined by the claims of the present application.
Claims (8)
1. a kind of tableware intelligence recycling machine people of Multi-sensor Fusion SLAM technology, including robot body, multisensor melt
The SLAM system of conjunction, it is characterised in that：The robot body includes chassis (19), the support knot above chassis (19)
Structure, the Waste recovery mechanism being set to above chassis (19), the tableware recovering mechanism being set to above chassis (19), the waste recovery
Mechanism and tableware recovering mechanism are connect by support construction with chassis (19)；The robot body, which is equipped with, has laser radar
The SLAM system of the Multi-sensor Fusion of sensor (17), inertia measurement sensor (18), visual sensor (1) and host computer (24)
System, laser radar sensor (17), inertia measurement sensor (18) and host computer (24) are set on the chassis (19), vision
Sensor (1) is set on the upside of the support construction, and the chassis (19) is equipped with the SLAM system by the Multi-sensor Fusion
The walking component of control.
2. a kind of tableware intelligence recycling machine people of Multi-sensor Fusion SLAM technology according to claim 1, feature
It is：The support construction include from the bottom to top spaced first bottom plate (16), the second bottom plate (10), third bottom plate (8),
4th bottom plate (5), support construction further include connecting rod (6), the first bottom plate (16), the second bottom plate (10), third bottom plate (8),
Four bottom plates (5) are fixed in the chassis (19) by connecting rod (6).
3. a kind of tableware intelligence recycling machine people of Multi-sensor Fusion SLAM technology according to claim 1, feature
It is：The chassis (19) is case shape component, and the walking component includes the universal wheel (20) being set to below chassis (19), sets
Under two motor (23) in chassis, two driving wheels (21) in chassis, two coaxial driving wheels (21)
The lower end across chassis (19) and universal wheel (20) is held to be total to horizontal plane；Shaft coupling is equipped between motor (23) and driving wheel (21)
(22), the shaft of motor (23) is linked by the transmission shaft of shaft coupling (22) and driving wheel (21).
4. a kind of tableware intelligence recycling machine people of Multi-sensor Fusion SLAM technology according to claim 2, feature
It is：The tableware recovering mechanism includes fixed tote (7), mobile tote (9), and the fixed tote (7) is set to third bottom plate
(8) between the 4th bottom plate (5), fixed tote (7) are fixed in third bottom plate (8)；Set on the second bottom plate (10) and third bottom plate
(8) there are two the mobile totes (9) between, is respectively arranged on side before and after the second bottom plate (10), and the second bottom plate (10) is equipped with sliding rail
(25), the electric pushrod (26) controlled by the SLAM system of Multi-sensor Fusion, the second bottom plate (10) pass through with mobile tote (9)
Sliding rail (25) is flexibly connected, and the both ends of electric pushrod (26) are connect with the second bottom plate (10), mobile tote (9) respectively, so that electric
When dynamic push rod (26) elongation, be set to the second bottom plate (10) front/rear side mobile tote (9) can opposite second bottom plate (10) forward/
After move.
5. a kind of tableware intelligence recycling machine people of Multi-sensor Fusion SLAM technology according to claim 3 or 4, special
Sign is：The loudspeaker (2) controlled by the SLAM system of the Multi-sensor Fusion, Mike are additionally provided on the robot body
Wind (4), switch (3), the loudspeaker (2), microphone (4), switch (3), visual sensor (1) are set to the 4th bottom plate (5)
On, visual sensor (1) is set on the left of the 4th bottom plate (5)；It is left that the laser radar sensor (17) is set to the chassis (19)
Side, the inertia measurement sensor (18) are set on the right side of the chassis (19), and the host computer (24) is set in chassis (19), bottom
Battery (35) are additionally provided in disk (19).
6. a kind of tableware intelligence recycling machine people of Multi-sensor Fusion SLAM technology according to claim 4, feature
It is：In a rectangular parallelepiped shape, fixed tote (7) include symmetrically arranged two supports of horizontal plane projection centre to the fixed tote (7)
Tray salver (34) and two Lunch boxs (33)；Two mobile tote (9) horizontal plane projection centres are symmetrical arranged, mobile tote
It (9) include bowl box (32), chopstick box (31), Spoon box (30).
7. a kind of tableware intelligence recycling machine people of Multi-sensor Fusion SLAM technology according to claim 2, feature
It is：The Waste recovery mechanism is set between the first bottom plate (16) and the second bottom plate (10), and the Waste recovery mechanism includes
Top is equipped with the ash can of waste material entrance (35), above ash can：
Sliding slot (12), fixed block (11), horizontally disposed fixing axle (28), fixed block (11) are set on connecting rod (6), sliding slot
(12) it is connect by fixing axle (28) with fixed block (11), the entrance of sliding slot (12) is set on the outside of the support construction, sliding slot
(12) outlet and waste material entrance (35) close to；
The bottom of the ash can and the first bottom plate (16) are clamped.
8. a kind of tableware intelligence recycling machine people of Multi-sensor Fusion SLAM technology according to claim 7, feature
It is：The fixing axle is equipped with bearing (29) and torsional spring (27), is fixed in the fixing axle (28) and fixed block of sliding slot (12)
(11) it is flexibly connected by bearing (29), torsional spring (27) both ends are connect with sliding slot (12), fixed block (11) respectively, so that sliding
The outlet of slot (12) under the action of torsional spring (27) with waste material entrance (35) close to；One sliding slot (12), two fixing axles (28),
Two fixed blocks (11) for being respectively arranged on fixing axle (28) both ends are collectively referred to as shedding mechanism component, and the shedding mechanism component has two
It is a, it is respectively arranged on support construction left and right sides；The connecting rod (6) at least four；The ash can includes block (15), is set to
Case lid (13) above block (15), two handles (14) for being respectively arranged on side before and after block (15), the waste material entrance (35)
On the case lid (13), case lid (13) and block (15) are clamped, and block (15) and two handles (14) are affixed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810800112.3A CN108858226A (en) | 2018-07-20 | 2018-07-20 | A kind of tableware intelligence recycling machine people of Multi-sensor Fusion SLAM technology |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810800112.3A CN108858226A (en) | 2018-07-20 | 2018-07-20 | A kind of tableware intelligence recycling machine people of Multi-sensor Fusion SLAM technology |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108858226A true CN108858226A (en) | 2018-11-23 |
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| CN110443943A (en) * | 2019-07-24 | 2019-11-12 | 湖南工业职业技术学院 | Integrated circular tableware recovery box and tableware recovery system |
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| CN109465675A (en) * | 2018-12-07 | 2019-03-15 | 广东机电职业技术学院 | A kind of mobile machine failure diagnosing machinery people towards intelligence manufacture field |
| CN109465675B (en) * | 2018-12-07 | 2024-04-26 | 广东机电职业技术学院 | Mobile machine tool fault diagnosis robot oriented to intelligent manufacturing field |
| CN109605379A (en) * | 2019-01-21 | 2019-04-12 | 深圳微智天下科技有限公司 | Robot based on laser radar SLAM and vision VSLAM |
| CN110443943A (en) * | 2019-07-24 | 2019-11-12 | 湖南工业职业技术学院 | Integrated circular tableware recovery box and tableware recovery system |
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