CN108861244A - A kind of refuse of building clears robot assembly and its control system - Google Patents
A kind of refuse of building clears robot assembly and its control system Download PDFInfo
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- CN108861244A CN108861244A CN201810470507.1A CN201810470507A CN108861244A CN 108861244 A CN108861244 A CN 108861244A CN 201810470507 A CN201810470507 A CN 201810470507A CN 108861244 A CN108861244 A CN 108861244A
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- refuse
- clears
- robot
- building
- robot assembly
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F3/00—Vehicles particularly adapted for collecting refuse
Abstract
The present invention relates to robotic technology field, in particular a kind of refuse of building clears robot assembly and its control system, and building of the invention clear robot system and are divided into three component parts：Receive control part in the elevator of subscriber signal real-time control machine people control elevator lifting, record user's household information sends and requests the cell phone application application terminal for clearing signal, is responsible for clearing the robot terminal of work, using cell phone application using the terminal as user and interconnection, made cell phone application is specially to carry out information exchange with elevator terminal.The trolley information response that the floor information and elevator terminal of user are fed back can be come out in cell phone application.Such as floor where trolley, trolley working condition, floor where user, family number where user.This not only ensures trolleies can be at someone's beck and call, and facilitates the state that resident understands trolley at any time.
Description
Technical field
The present invention relates to robotic technology field, specially a kind of refuse of building clears robot assembly and its control system
System.
Background technique
With the increase of Chinese population quantity, the increase of urban population density is lived to accommodate more people, of today to occupy
The people the more build the more high in building, and some has been even more than 32 floors.Although being equipped with elevator in floor, it can not deny, how clearly
It manages daily house refuse and has become worry in the minds of many high-storey residents.There are some residents even in order to which oneself facilitates province
Rubbish is directly thrown and is handled outside window by thing, so that causing the damage that can not be retrieved to other people properties or life security.
Nowadays throwing object in high sky has become the outstanding problem that our cells are faced, and throwing object in high sky phenomenon has seriously affected resident's
Living environment even life security.Although being publicized on TV constantly, the alarm sounds continuously on newspaper, profound, blood one by one in reality
Dripping lesson bulletin common people, but still the great attention of part law and the thin people of moral consciousness can not be caused.Then high
Empty parabolic, is seen everywhere, greatly to mop, waddy, as low as water-sprinkling, throw out cigarette butt, paper scrap without care etc., in consideration of it, it is proposed that a kind of building
Space refuse collection robot assembly and its control system.
Summary of the invention
The purpose of the present invention is to provide a kind of refuse of building to clear robot assembly and its control system, above-mentioned to solve
The problem of being proposed in background technique.
To achieve the above object, the present invention provides the following technical solutions：
A kind of refuse of building clears robot assembly, including robot frame, and the top and bottom of the robot frame are symmetrical
Equipped with several vehicle body bearing plates, arm of force component is equipped on the vehicle body bearing plate at top, the arm of force component is equipped with rubbish
Rubbish clears basket, and the walking mechanism of control box and the robot frame surrounding is equipped on the vehicle body bearing plate of bottom.
Preferably, the arm of force component includes the preceding free bearing for being mounted on the front end of the vehicle body load-bearing plate surface, is mounted on
The rear free bearing of the rear end of the vehicle body load-bearing plate surface, the two preceding lever arms for being mounted on the preceding free bearing and being parallel to each other,
Be mounted on it is described after on free bearing and be obliquely installed electric pushrod, be mounted on it is described after it is on free bearing and mutual with the preceding lever arm
The hanger of lever arm and the preceding lever arm and the rear lever arm top after parallel two.
Preferably, the bottom end of the preceding lever arm and the preceding free bearing are hinged, it is described after lever arm bottom end and it is described after
Free bearing is hinged, and the top of the top of the preceding lever arm and the rear lever arm is hinged with the both ends of the hanger respectively.
Preferably, the electric pushrod, the electric pushrod include gear box, the setting of gear box surface side-by-side parallel
Motor and cylinder body, and be embedded in the cylinder interior and the push rod that is slidably connected with the cylinder body.
Preferably, the bottom end of the gear box and the rear free bearing are hinged, the top of the push rod and the preceding lever arm
Top it is hinged.
Preferably, the walking mechanism includes the Mecanum wheel and peace positioned at robot frame two sides four corners
Decelerating motor on the vehicle body bearing plate, the decelerating motor and the Mecanum wheel correspond, each described
The Mecanum wheel of the output shaft of decelerating motor corresponding thereto is coaxially connected.
Preferably, the refuse collection basket includes the steel wire ring of basket body and basket body top two sidewalls, the steel wire ring
Quantity be at least four, and the basket body is erected in the hanger by steel wire ring.
Preferably, master controller, large capacity motor drive module, gyroscope, Intelligent tracing mould are equipped in the control box
Block, infrared distance sensor and pyroelectric sensor.
Preferably, the gyroscope is connected to the input port of the master controller by A/D converter, and the intelligence is sought
Mark module, the infrared distance sensor and the pyroelectric sensor are connect with the I/O interface signal of the master controller,
The output port that the master controller passes through is connect with the input end signal of the large capacity motor drive module.
A kind of refuse of building clears the control system of robot, it is characterised in that：Including elevator controlling terminal and user hand
Machine clears APP, and the elevator controlling terminal clears APP by wireless network with user mobile phone respectively and master controller signal connects
It connects.
Compared with prior art, beneficial effects of the present invention are as follows：
1, the present invention passes through movable parallelogram bearing bar of the electric pushrod as power.By telescopic rod as structure
The arm of force, electric telescopic rod operating time degree generate variation, and the diagonal edge lengths for being equivalent to parallelogram generate variation, at this moment put down
Row quadrangle form changes, and the height change of parallelogram, lateral length also change, and simply pushes four
The movement of side shape, that clears that the lateral bearing bar of robot is displaced rises or falls variation, and then reaches collecting garbage
Purpose.When power push-rod elongation, the upper end for being fixed on parallelogram lever, which is advanced, to be pushed, and entire frame is pushed to transport downwards
It is dynamic to lift garbage recovery device；When the power push-rod of elongation state shortens, parallelogram lever will be pulled to move upwards,
Thereby realize the push of rubbish.
2, the present invention considers that the space in residential building and in elevator is relatively narrow narrow, and normal trolley can not be in corridor
It turns to, therefore we have selected universal wheel（Mecanum wheel）Wheel as trolley.Universal wheel can allow trolley extremely narrow
Area in carry out free movement, without the similar thing inadequate and in stays because of space, also, Mecanum occurs
Wheel can be with transverse shifting, and this avoid rubbish since there is a situation where rubbish to fly away from for car body rotation.
3, present invention employs the drive forms of intelligent control, perfect trolley can be helped to determine using Intelligent tracing module
Route, detects barrier and detecting distance by infrared distance sensor, detects human body signal by pyroelectric sensor, leads to
Stabilization and balance that gyroscope keeps robot are crossed, small garage is driven by main controller controls large capacity motor drive module
Rubbish is walked and pushed, perfectly solves the problems, such as the daily house refuse of high-rise cleaning.
4, the present invention is by elevator end, mobile phone terminal, and robot body closely connects, and organically is completed building and cleared
Work.Building clear robot with the outstanding ability to shuttle between corridor, in single floor, the structure of robot itself
Task can be completed, but faces multiple floors, needs to complete the task of specific floor up and down by elevator.Allow elevator and machine
Device people is connected in the same local area network, and the two just establishes connection in this way, and user taps start button, and mobile phone will undertake it
Robot, elevator and the Trinitarian linkage of cell phone client are realized in the work of terminal.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is the structural schematic diagram of walking mechanism in the present invention；
Fig. 3 is the structural schematic diagram of arm of force component in the present invention；
Fig. 4 is the structural schematic diagram of refuse collection basket in the present invention；
Fig. 5 is the structural schematic diagram of electric pushrod in the present invention；
Fig. 6 is the module diagram controlled inside box in the present invention；
Fig. 7 is the control system module diagram that refuse of building clears robot in the present invention.
In figure：1, robot frame；2, vehicle body bearing plate；3, walking mechanism；30, Mecanum wheel；31, decelerating motor；
4, box is controlled；40, master controller；41, large capacity motor drive module；42, gyroscope；43, Intelligent tracing module；44, infrared
Distance measuring sensor；45, pyroelectric sensor；5, arm of force component；50, rear free bearing；51, preceding free bearing；52, hanger；53, electronic to push away
Bar；530, gear box；531, motor；532, cylinder body；533, push rod；54, preceding lever arm；55, rear lever arm；6, refuse collection
Basket；60, basket body；61, steel wire ring.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Fig. 1-7 is please referred to, the present invention provides a kind of technical solution：
A kind of refuse of building clears robot assembly, including robot frame 1, and the top and bottom of the robot frame 1 are right
Claim to be equipped with several vehicle body bearing plates 2, arm of force component 5 is equipped on the vehicle body bearing plate 2 at top, arm of force component 5 includes peace
Mounted in the front end on 2 surface of vehicle body bearing plate preceding free bearing 51, be mounted on 2 surface of vehicle body bearing plate rear end rear hinge
Seat 50, be mounted on the preceding free bearing 51 and two be parallel to each other preceding lever arms 54, be mounted on it is described after on free bearing 50 and incline
The electric pushrod 53 that is tiltedly arranged, be mounted on it is described after on free bearing 50 and activity after be parallel to each other with the preceding lever arm 54 two
The hanger 52 of arm 55 and the preceding lever arm 54 and rear 55 top of lever arm, electric pushrod 53, the electric pushrod 53
Including gear box 530, the motor 531 and cylinder body 532 of 530 surface side-by-side parallel of the gear box setting, and be embedded described
The push rod 533 cylinder body 532 inside and be slidably connected with the cylinder body 532, the bottom end of gear box 530 and the rear free bearing 50 are cut with scissors
It connects, the top of the push rod 533 and the top of the preceding lever arm 54 are hinged.
In the present embodiment, the kind of drive of gear and worm and gear is used inside gear box 530, is installed in cylinder body 532
There is lead screw, the feed screw nut of 53 one end of lead screw and push rod is threadedly coupled, and motor 531 drives feed screw nut after The gear deceleration.?
The rotation motion of motor 531 is in line movement, completes putter action using 531 positive and negative rotation of motor, the snail on 531 gear of motor
Bar drives worm gear rotation, moves axially the minor leading screw in worm gear, drives gag lever post accordingly to move axially by connecting plate, until
When required stroke, by adjusting limited block depression stroke switch circuit breaking, motor shuts down.
The arm of force component 5 is equipped with refuse collection basket 6, and refuse collection basket 6 includes 60 top of basket body 60 and the basket body
The steel wire ring 61 of two sidewalls, the quantity of the steel wire ring 61 is at least four, and the basket body 60 is erected at by steel wire ring 61
In the hanger 52.
The walking mechanism of control box 4 and 1 surrounding of the robot frame is equipped on the vehicle body bearing plate 2 of bottom
3, control box 4 is interior to be equipped with master controller 40, large capacity motor drive module 41, gyroscope 42, Intelligent tracing module 43, infrared survey
Away from sensor 44 and pyroelectric sensor 45, gyroscope 42 is connected to the input terminal of the master controller 40 by A/D converter
Mouthful, the Intelligent tracing module 43, the infrared distance sensor 44 and the pyroelectric sensor 45 with the main control
The I/O interface signal of device 40 connects, the output port and the large capacity motor drive module 41 that the master controller 40 passes through
Input end signal connection.
In the present embodiment, master controller 40 uses X3-RCU robot controller, uses ST Microelectronics new one
It is designed for the STM32F407 family chip of M4 kernel, interface very abundant, compact, performance be powerful and power consumption
It is extremely low.The controller speed of service is up to 168MHz, maximum processing capability up to 210DMIPS, and integrated DSP and
FPU（FPU Float Point Unit）, can easily cope with the operation application of various complexity.2.4 inches of high definition touchings of completely new upgrading
Screen and 8MB ultra-high capacity storage are touched, good operating experience is brought, the requirement of all kinds of contests can be fully met.On software,
Using RoboExp3.X, graphic programming and C Programming with Pascal Language are supported.In downloading, this controller is breakthroughly using removable
The mode that equipment is stored as program allows to download application program and removes driver erroneous for installation from, built in cooperation
USB2.0 interface completes downloading application program in a very short period of time.Using upper, this controller built-in analog end
Mouthful, compass, the practicabilities test function such as motor and storing data modification, user do not need to write downloading program and can be carried out
Some simple test operations.
In the present embodiment, large capacity motor drive module 41 uses BE-3712 large capacity motor drive module, Width funtion
Input.Input voltage range is：7.4V to 12.6V；High-current output.The maximum output electric current of single channel can achieve 10A；
Acceleration is big, and controllability is good；Compatible 3.3V/5V signal level；Support the high-frequency signal control of 6.7KHZ.
In the present embodiment, it is intelligence that Intelligent tracing module 43, which uses Intelligent tracing module V2.0, Intelligent tracing module V2.0,
The upgrade version of the module that tracks V2.Detect black line, the work for the type that tracks.New edition Intelligent tracing module removes original IIC interface
Outside, high-speed serial communication interface is increased newly, and volume is smaller, gentlier.New edition Intelligent tracing module is to keypress function weight in module
New definition, it is easy to operate by mistake when avoiding by key.With seven kinds of colors it can be selected that the color per sensor all the way is all can be with
Change, more convenient operation simple using making.Module is built-in to be equipped with scanning Current terrestrial state and current references is arranged automatically
Function, can also read back per current reading all the way with setting per reference value all the way.It is attached with buzzer, is debugged more square
Just.Reasonable per sensor placement all the way, operation is simpler, using more convenient.It can be applied to all types of large sizes to track project
Among.
In the present embodiment, the model LDM301 of infrared distance sensor 44, the infrared distance sensor utilized is launched
A branch of infrared light forms the process of a reflection after being irradiated to object, is reflected into sensor and is followed by the collection of letters number, then utilizes
Ccd image processing receives the data of transmitting with received time difference.The distance of object is calculated after signal processor processes.This
It not only can be used in natural surface, it can also be used to add reflecting plate.Far measuring distance, very high frequency response are suitable for severe
Industrial environment in.
In the present embodiment, the model RD-624 of pyroelectric sensor 45, it is internal by optical filter, it is field-effect tube, infrared
The components such as induction source (pyroelectricity element), biasing resistor, EMI capacitor composition, the main function of optical filter are only to allow wave
The infrared ray (IR wavelength that human body issues) grown at 10 μm or so passes through, and light, sunlight and other radiation are filtered,
To inhibit extraneous interference.Infrared induction source is usually made of two pyroelectricity elements in series or in parallel, the two heat are released
The electrode of electric device is on the contrary, the warm that ambient background radiation to the almost effect having the same of two pyroelectricity elements generates, it
Release effect is cancelled out each other, and output signal is close to zero.Once human infrared radiation passes through part in someone's intrusion detection region
Mirror focusing, and received by pyroelectricity element, due to angle difference, the heat that two panels pyroelectricity element receives is different, and heat is released
Electric flux is also different, cannot be completely counterbalanced by, the output control signal after processing circuit processes.The same piezoelectric effect of pyroelectric effect
It is similar, the phenomenon that referring to the variation due to temperature and cause plane of crystal charge.Pyroelectric infrared sensor is by ceramic oxide
Or piezolectric crystal unit composition, it is made into electrode on two surfaces of element, temperature has the variation of △ T in sensor monitoring range
When, pyroelectric effect can generate charge △ Q on two electrodes, i.e., generate a faint voltage △ V between electrodes.Due to
Its output impedance is high, has a field-effect tube to carry out impedance transformation in the sensor.Charge caused by pyroelectric effect
△ Q can by the ion in air in conjunction with and disappear, i.e., when ambient temperature-stable is constant, △ T=O, sensor is without output.
In the present embodiment, the battery being additionally provided in box 4 for powering for robot is controlled, battery uses NI-MH
SC3500mAh nickel-metal hydride battery.
Walking mechanism 3 includes being located at the Mecanum wheel 30 of the 1 two sides four corners of robot frame and being mounted on institute
The decelerating motor 31 on vehicle body bearing plate 2 is stated, the decelerating motor 31 is corresponded with the Mecanum wheel 30, each described
The Mecanum wheel 30 of the output shaft of decelerating motor 31 corresponding thereto is coaxially connected, and there are many centre wheels of Mecanum wheel 30
The wheel steering force of a part is transformed into a wheel normal direction by the wheel shaft positioned at wheel periphery, these angled periphery wheel shafts
Above power.The final synthesis in direction and speed by respective wheel, these power generates a conjunction on the direction of any requirement
Force vector is to ensure that this platform can move freely through on the direction of final resultant force vector, without changing wheel itself
Direction.Diagonally distribute many small sticks on its wheel rim, therefore wheel can be with horizontal sliding.The bus of small roller is very special
Very, when wheel is around fixed wheel arbor rotation, the envelope of each small roller is cylindrical surface, so the wheel can be continuously
Rolls forward.Mecanum wheel is compact-sized, and movement is a kind of very successful omni-directional wheel flexibly.There are 4 this novel wheels
It is combined, it can be with more flexible convenient realization all-around mobile function.
A kind of refuse of building clears the control system of robot, it is characterised in that：Including elevator controlling terminal and user hand
Machine clears APP, and the elevator controlling terminal clears APP by wireless network with user mobile phone respectively and 40 signal of master controller connects
It connects.
In the present embodiment, elevator controlling terminal also uses X3-RCU controller to carry out simulant elevator controlling terminal, passes through
Sdio connection wifi module, and by wireless network connection to data logger server, data logger server receives and feedback
The signal that the needs for clearing APP transmission from user mobile phone are cleared and removed refuse, then pass through another wifi module to master controller 40
Send instruction.
The building of the present embodiment clear robot system and are divided into three component parts：Receive subscriber signal real-time control machine
People controls control part in the elevator of elevator lifting, record user's household information sends request and clears the cell phone application application of signal eventually
It holds, be responsible for clearing the robot terminal of work.
After resident sends " clearing " request with cell phone application, the request of clearing comprising resident's floor information room number information is led to
Cross internet and be sent in elevator and control end, controlled in elevator end combine it is received use APP information, analysis elevator at present where floor
In situation, building resident immediately using elevator situation, clear working condition locating for floor situation where robot and robot, carry out
Comprehensive analysis, after meeting the condition of clearing, elevator lifting floor welding robot to where clearing robot starts to clear work, machine
After people advances into elevator, floor where elevator lifting to request user, opening elevator door clears robot and goes to user's rubbish
It clears basket position and lifts refuse collection basket and start to clear and remove refuse for resident doorway, support refuse collection basket clears robot seating
The elevator that end control is controlled in elevator drops to rubbish centralized processing floor, walks out elevator and advances to and clears system rubbish collection device
Place（It is another set of to clear device）, refuse collection basket is placed into and is cleared on system rubbish collection device, while picking up one and emptying
Refuse collection basket, multiplied by sit elevator rise to user's floor, walk out elevator and advance to refuse collection basket user set-down location, put down
Refuse collection basket, following robot combination system situation and own situation selection go back charging wait either carry out it is next
Clear task.
The refuse of building of the present embodiment clears robot assembly when in use, user with mobile phone clear APP by wifi to
Elevator controlling terminal sends request, and the wifi module in elevator controlling terminal will receive request, and user place floor,
Family number is sent in the master controller 40 for clearing robot, is cleared after robot receives information, will be gone to floor where resident,
Building resident throws away rubbish inside the basket body 60 for being placed on robot, is sent out by master controller 40 to large capacity motor drive module 41
It loses one's life order, makes decelerating motor 31 that each Mecanum wheel 30 be driven to rotate, the walking of robot is realized, on the way of transport of refuse
In, perfect trolley can be helped to determine route using Intelligent tracing module 43, barrier is detected by infrared distance sensor 44
And detecting distance, human body signal is detected by pyroelectric sensor 45, keeps stablizing for robot peaceful by gyroscope 42
Weighing apparatus is protracted after reaching designated place by the push rod 533 of electric pushrod 53, is changed using lever arm 54 before changing and rear activity
The working method of the diagonal of a parallelogram formed between arm 55, the diagonal edge lengths for being equivalent to parallelogram generate change
Change, at this moment parallelogram shape changes, and the height change of parallelogram, lateral length also change, letter
Single promotion quadrangle movement, that clears that the hanger 52 of robot is displaced rises or falls variation, currently reaches farthest
When end, while reaching least significant end, refuse collection basket 6 touches ground, and robot retreats at this time, extracts hanger 52 out, can be realized
The placement of refuse collection basket 6.
The basic principles, main features and advantages of the present invention have been shown and described above.The technology of the industry
For personnel it should be appreciated that the present invention is not limited to the above embodiments, described in the above embodiment and specification is only the present invention
Preference, be not intended to limit the invention, without departing from the spirit and scope of the present invention, the present invention also has various
Changes and improvements, these changes and improvements all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by institute
Attached claims and its equivalent thereof.
Claims (10)
1. a kind of refuse of building clears robot assembly, including robot frame（1）, it is characterised in that：The robot frame
（1）Top and bottom be symmetrically arranged with several vehicle body bearing plates（2）, the vehicle body bearing plate at top（2）It is equipped with the arm of force
Component（5）, the arm of force component（5）It is equipped with refuse collection basket（6）, the vehicle body bearing plate in bottom（2）It is equipped with control
Box processed（4）And the robot frame（1）The walking mechanism of surrounding（3）.
2. refuse of building according to claim 1 clears robot assembly, it is characterised in that：The arm of force component（5）Packet
It includes and is mounted on the vehicle body bearing plate（2）The preceding free bearing of the front end on surface（51）, be mounted on the vehicle body bearing plate（2）Surface
The rear free bearing of rear end（50）, be mounted on the preceding free bearing（51）Two preceding lever arms that are upper and being parallel to each other（54）, be mounted on institute
State rear free bearing（50）Electric pushrod that is upper and being obliquely installed（53）, be mounted on it is described after free bearing（50）It is upper and with the preceding lever arm
（54）Lever arm after two to be parallel to each other（55）And the preceding lever arm（54）With the rear lever arm（55）The extension on top
Arm（52）.
3. refuse of building according to claim 2 clears robot assembly, it is characterised in that：The preceding lever arm（54）'s
Bottom end and the preceding free bearing（51）Hingedly, the rear lever arm（55）Bottom end and it is described after free bearing（50）Hingedly, described preceding living
Swing arm（54）Top and it is described after lever arm（55）Top respectively with the hanger（52）Both ends it is hinged.
4. refuse of building according to claim 3 clears robot assembly, it is characterised in that：The electric pushrod（53）,
The electric pushrod（53）Including gear box（530）, the gear box（530）The motor of surface side-by-side parallel setting（531）With
Cylinder body（532）, and be embedded in the cylinder body（532）It is internal and with the cylinder body（532）The push rod being slidably connected（533）.
5. refuse of building according to claim 4 clears robot assembly, it is characterised in that：The gear box（530）'s
Bottom end and the rear free bearing（50）Hingedly, the push rod（533）Top and the preceding lever arm（54）Top it is hinged.
6. refuse of building according to claim 5 clears robot assembly, it is characterised in that：The walking mechanism（3）Packet
It includes and is located at the robot frame（1）The Mecanum wheel of two sides four corners（30）And it is mounted on the vehicle body bearing plate（2）
On decelerating motor（31）, the decelerating motor（31）With the Mecanum wheel（30）It corresponds, each deceleration electricity
Machine（31）Output shaft Mecanum wheel corresponding thereto（30）It is coaxially connected.
7. refuse of building according to claim 6 clears robot assembly, it is characterised in that：The refuse collection basket（6）
Including basket body（60）With the basket body（60）The steel wire ring of top two sidewalls（61）, the steel wire ring（61）Quantity be at least four
It is a, and the basket body（60）Pass through steel wire ring（61）It is erected at the hanger（52）On.
8. refuse of building according to claim 7 clears robot assembly, it is characterised in that：The control box（4）Inside set
There is master controller（40）, large capacity motor drive module（41）, gyroscope（42）, Intelligent tracing module（43）, infrared distance measurement pass
Sensor（44）And pyroelectric sensor（45）.
9. refuse of building according to claim 8 clears robot assembly, it is characterised in that：The gyroscope（42）Pass through
A/D converter is connected to the master controller（40）Input port, the Intelligent tracing module（43）, the infrared distance measurement passes
Sensor（44）With the pyroelectric sensor（45）With the master controller（40）I/O interface signal connection, the master control
Device processed（40）By output port and the large capacity motor drive module（41）Input end signal connection.
10. the control system that a kind of refuse of building clears robot, it is characterised in that：Including elevator controlling terminal and user mobile phone
APP is cleared, the elevator controlling terminal clears APP and master controller with user mobile phone respectively by wireless network（40）Signal connects
It connects.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810470507.1A CN108861244B (en) | 2018-05-17 | 2018-05-17 | Building rubbish clearance robot assembly and control system thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810470507.1A CN108861244B (en) | 2018-05-17 | 2018-05-17 | Building rubbish clearance robot assembly and control system thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108861244A true CN108861244A (en) | 2018-11-23 |
| CN108861244B CN108861244B (en) | 2021-06-22 |
Family
ID=64333544
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810470507.1A Expired - Fee Related CN108861244B (en) | 2018-05-17 | 2018-05-17 | Building rubbish clearance robot assembly and control system thereof |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020237966A1 (en) * | 2019-05-30 | 2020-12-03 | 日立楼宇技术（广州）有限公司 | Building control method, apparatus, device, and system, and storage medium |
| CN114132665A (en) * | 2021-12-02 | 2022-03-04 | 安徽江田环卫设备股份有限公司 | Automatic discernment snatchs intelligent mechanical arm's refuse transport vechicle |
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| EP1041016A1 (en) * | 1999-03-30 | 2000-10-04 | MEWA Textil-Service AG & Co Management oHG | Containment device for contaminated wipes |
| CN204774875U (en) * | 2015-07-27 | 2015-11-18 | 湖南汽车工程职业学院 | Electric lift car |
| CN105129291A (en) * | 2015-09-23 | 2015-12-09 | 上海龙澄专用车辆有限公司 | Barreled garbage carrier |
| CN108025869A (en) * | 2015-10-26 | 2018-05-11 | 三菱电机株式会社 | Waste collection system, elevator and waste gathering method |
| CN206307172U (en) * | 2016-12-30 | 2017-07-07 | 西南石油大学 | Comprehensive transport vehicle and conveying arrangement |
| CN107117417A (en) * | 2017-07-04 | 2017-09-01 | 合肥择浚电气设备有限公司 | A kind of automatic collecting cart of corridor garbage |
| CN207081986U (en) * | 2017-07-04 | 2018-03-09 | 许纶煌 | Self-navigation mobile dustbin |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2020237966A1 (en) * | 2019-05-30 | 2020-12-03 | 日立楼宇技术（广州）有限公司 | Building control method, apparatus, device, and system, and storage medium |
| CN114132665A (en) * | 2021-12-02 | 2022-03-04 | 安徽江田环卫设备股份有限公司 | Automatic discernment snatchs intelligent mechanical arm's refuse transport vechicle |
| CN114132665B (en) * | 2021-12-02 | 2023-09-22 | 安徽江田环卫设备股份有限公司 | Garbage truck with automatic identification snatchs intelligent arm |
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