CN108910355A - A kind of intelligent garbage recyclable device and control method - Google Patents
A kind of intelligent garbage recyclable device and control method Download PDFInfo
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- CN108910355A CN108910355A CN201810967480.7A CN201810967480A CN108910355A CN 108910355 A CN108910355 A CN 108910355A CN 201810967480 A CN201810967480 A CN 201810967480A CN 108910355 A CN108910355 A CN 108910355A
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- 230000004888 barrier function Effects 0.000 claims abstract description 13
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- 238000010168 coupling process Methods 0.000 claims description 9
- 238000005859 coupling reaction Methods 0.000 claims description 9
- 238000012545 processing Methods 0.000 claims description 9
- 230000005611 electricity Effects 0.000 claims description 5
- 238000006243 chemical reaction Methods 0.000 claims description 2
- 239000011551 heat transfer agent Substances 0.000 claims description 2
- 238000005070 sampling Methods 0.000 claims description 2
- 230000008569 process Effects 0.000 abstract description 5
- 230000007613 environmental effect Effects 0.000 abstract description 3
- 238000011084 recovery Methods 0.000 description 14
- 238000001514 detection method Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000002452 interceptive effect Effects 0.000 description 4
- 238000004891 communication Methods 0.000 description 3
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- 230000004807 localization Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000003321 amplification Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
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- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 230000005693 optoelectronics Effects 0.000 description 1
- 238000004886 process control Methods 0.000 description 1
- 238000004064 recycling Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 208000029257 vision disease Diseases 0.000 description 1
Classifications
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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
- B65F1/00—Refuse receptacles; Accessories therefor
- B65F1/14—Other constructional features; Accessories
- B65F1/1468—Means for facilitating the transport of the receptacle, e.g. wheels, rolls
- B65F1/1473—Receptacles having wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F1/00—Refuse receptacles; Accessories therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F1/00—Refuse receptacles; Accessories therefor
- B65F1/14—Other constructional features; Accessories
- B65F1/16—Lids or covers
- B65F1/1623—Lids or covers with means for assisting the opening or closing thereof, e.g. springs
- B65F1/1638—Electromechanically operated lids
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F2210/00—Equipment of refuse receptacles
- B65F2210/168—Sensing means
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Abstract
The present invention relates to a kind of intelligent garbage recyclable device and control methods, belong to Smart Home technical field, which includes ladle body, walking mechanism, connection structure and controller circuitry；The ladle body includes shell (5) and top cover (3), the top cover (3) is fastened on the top of shell (5) and forms cavity inside shell (5), the inner cylinder of storage rubbish is provided in the cavity, the bottom of shell (5) is arranged on pedestal (15), is additionally provided with speech recognition module on the top cover (3)；The controller circuitry setting is in the inside of pedestal (15), and the controller circuitry is for receiving order and controlling the corresponding actions that recyclable device makes garbage reclamation.The present invention combines the working method of voice control using long-range control, improves the influence in moving process vulnerable to outside environmental elements such as noise, barrier, other human factors, causes device mobile according to user's planning mode.
Description
Technical field
The invention belongs to smart home field, it is related to a kind of intelligent garbage recyclable device and control method.
Background technique
Develop with advances in technology, intelligence has been deep into our life.In life, we want to throw away rubbish
When rubbish, garbage recovery device not necessarily just at one's side but be generally fixed to indoor a certain corner, it would be desirable to find rubbish
Recyclable device and the position for going to garbage recovery device, this results in great inconvenience.The intelligence of household will be use
Family provides preferably experience, promotes convenience, comfort and safety.In addition, for there is not rare bodies in life
The disabled person of defect, they have handicapped, and some there are vision disorders, have plenty of sounding or dysacousis, these are all given
They live and cause greatly to perplex, and throwing away rubbish for them may all be an extremely difficult thing.Voice control or bluetooth
Control is exactly that certain command signal is issued by user, and device receives the signal of sending, carries out processing transmission to the signal
To controller, controller control device, which is made a response, meets user demand.User need to only issue command adapted thereto, and no matter device is in room
It inside can anywhere meet user's real-time requirement and make certain movement, control mode is simple, convenient.People is looked for the side of device
Formula is converted to the mode that device looks for people, greatly improves the efficiency that product uses, provides richer intelligence for people's lives
Product can be changed, had very important significance to the quality of the life for improving and optimizing physical disabilities.
Man-machine interactive garbage recovery device belongs to a kind of special intellect service robot, is done according to user's real-time requirement
The convenience of people's life not only can be improved in the intelligent garbage bin of corresponding actions out, but also meets the environmental requirement of country.But
Shortcomings exist in the prior art：
Such as the multi-functional intelligent bucket of one kind disclosed in publication No. CN107140351A, including dustbin ontology and it is laid on ground
Track on face, the pre-buried permanent magnet in the both ends of track；Dustbin ontology is placed in orbit；Dustbin ontology includes bucket
Lid, staving and bottom plate；Pass through the folding of servo driving bung；Dustbin is driven to advance by direct current generator, the right front of bottom plate
A position detecting module is respectively mounted with left back；The front end two sides of bottom plate are mounted on a path detection module；The top of bung
End is equipped with human detection module and phonetic order module；The front and dead astern of staving are respectively mounted a supersonic sensing
Device；Inner wall of barrel mounting distance detection module；Main control module is installed, the control centre as intelligent garbage bin on bottom plate.It should
Design scheme is more demanding to external condition, and intelligent bucket walking movement is very limited, larger using difficulty in average family.
The for another example remote controlled intelligent garbage bin of one kind disclosed in publication No. CN106516506A, including power module,
Control module, auditory localization module, speech recognition module, obstacle avoidance module, infrared detection module, fingerprint identification module, automatic cover-turning module and motor drive
Dynamic model block, speech recognition module link control module, auditory localization module include the microphone array and signal that sound pick-up is constituted
The signal of processing is sent into control module by processing unit, signal processing unit, and control module links motor drive module, control electricity
The working condition of machine, obstacle avoidance module connect single-chip microcontroller, and infrared detection module, fingerprint identification module and automatic cover-turning module are separately connected control module, red
Outer detection module is detected for human body signal, and control module control automatic cover-turning module is opened after detecting human body signal
Dustbin cover.Its obstacle avoidance module is using diffusing reflection formula optoelectronic switch, and which is light is weaker or blocking surfaces light
In the case that albedo is poor, it is difficult to realize accurate avoidance.
Summary of the invention
In view of this, the purpose of the present invention is to provide one kind to be automatically positioned, it is able to achieve automatic obstacle-avoiding, registration
Intelligent garbage recyclable device and control method.
In order to achieve the above objectives, the present invention provides the following technical solutions：
A kind of intelligent garbage recyclable device, the recyclable device include ladle body, walking mechanism, connection structure and controller electricity
Road；
The ladle body includes shell 5 and top cover 3, and the top cover 3 is fastened on the top of shell 5 and is formed inside shell 5
Cavity is provided with the inner cylinder of storage rubbish in the cavity, and the bottom of shell 5 is arranged on pedestal 15, on the top cover 3
It is additionally provided with speech recognition module；
The walking mechanism includes left driving wheel 16, right driving wheel 6, directive wheel, universal wheel 9 and direct current generator, the row
The bottom that the pedestal 15 is arranged in mechanism is walked, the direct current generator output shaft is connected to left driving wheel 16 and right driving wheel 6, left
Driving wheel 16 and right driving wheel 6 are connected on pedestal 15 by right angle frame, and directive wheel and universal wheel 9 are separately positioned on pedestal 15
Front and back end, directive wheel and universal wheel 9 are used to control the conduct direction of recyclable device；
The bindiny mechanism include stepper motor 7, yielding coupling 14, screw rod 12 and connecting rod 11, the stepper motor 7
Output end is connected to yielding coupling 14, and 14 upper end of yielding coupling is connected to the screw rod 12, and the upper end of connecting rod 11 connects
It is connected to the edge of top cover 3, lower end is connected with screw rod 12；
The inside of pedestal 15 is arranged in the controller circuitry, and the controller circuitry is for receiving order and controlling recycling
Device makes the corresponding actions of garbage reclamation.
Further, the controller circuitry includes microcontroller 21, sensor module 18, motor drive module 25 and path
Planning module 26, the sensor module 18 include speech recognition module 18a and laser ranging module 18b, the sensor die
Block 18, motor drive module 25 and path planning module 26 are respectively connected to the microcontroller 21, and microcontroller 21 is according to institute
The heat transfer agent for stating sensor module 18 controls the motor drive module 25 and path planning module 26 executes the corresponding command.
Further, microphone of the speech recognition module comprising sequential connection, amplification biasing circuit, A/D conversion circuit,
Digital sampling circuitry, DSP numerical value processing module and digital audio coding module, the microphone is arranged on top cover 3, for examining
The phonetic order that user issues is surveyed, the digital audio encoding module is used for will be after the encoding speech information of microphone input
It is transmitted to microcontroller 21.
Further, the laser ranging module 18b includes three laser distance sensors, is separately positioned on recyclable device
At left and right sides of ladle body and front, laser ranging module 18b be used to detect the barrier on recyclable device and three directions it
Between distance.
Further, the controller circuitry also includes power module 20, bluetooth module 23 and display module 22, power module
20, bluetooth module 23 and display module 22 are connected to the microcontroller 21, the bluetooth module 23 for recyclable device with
Wireless connection between mobile terminal, display module 22 are used to show the working condition of recyclable device, and the power module 20 exists
Recyclable device bottom margin is additionally provided with battery charging interface.
Further, the quantity of the direct current generator is 2, for respectively driving device left driving wheel 16 and right driving wheel 6, motor
Drive module 25 controls two direct current generators, and directive wheel and 9 line direction of universal wheel and left driving wheel 16 and right driving respectively
6 line directions are taken turns to be mutually perpendicular to.
A kind of control method of intelligent garbage recyclable device, this method comprise the following steps：
S1：It plans final path length, meets：
F (n)=h (n)+g (n)
Wherein, f (n) is final path length, and g (n) is known length of the start node to device present node, and h (n) is
Estimated length of the device present node to specified node；
S2：Present node is added in node table to be processed, if node table to be processed is not empty, node table to be processed
In find out the smallest node of f (n) value；
S3：Determine whether the node is specified node, if so, output optimal path f (n) value；
If the node is not specified node, which is moved on in processed node table, all phases of the node are traversed
Whether neighbors simultaneously judges these adjacent nodes in node table to be processed and processed node table；
If the node traversed in node table to be processed, calculates f (n) value of each adjacent node, and filters out
The node of minimum f (n) value；
If the node traversed is in processed node table, and f (n) value calculated at this time is than the f in processed node table
(n) value is small, then updates f (n) value, and the node is moved to node table to be processed from processed node table；
If the node traversed calculates the f (n) of the node not in node table to be processed and not in processed node table
Value, is added in node table to be processed；
S4：Judge whether node table to be processed is sky, repeats step S2, until obtaining optimal path.
Further, in step S1, device present node meets to the estimated length of specified node：
H (n)=D* (abs (a.x-b.x)+abs (a.y-b.y))
Wherein, D indicates the length that a mobile lattice are walked, and a indicates that present node coordinate, b indicate specified node coordinate.
Further, in step S1, device present node meets to the estimated length of specified node：
Hd=Dd* [min (abs (a.x-b.x), abs (b.y-m.y))]
Hs=Ds* [max (abs (a.x-b.x), abs (a.y-m.y))
- min (abs (a.x-b.x), abs (a.y-m.y))]
H (n)=hd+hs
Wherein, a indicates that present node coordinate, b indicate that specified node coordinate, Ds are the unit length of straight line walking, and Dd is
The unit length of diagonal line walking.
Further, in step S1, device present node meets to the estimated length of specified node：
H (n)=D*sqrt ((a.x-b.x) (a.x-b.x)+(a.y-b.y) (a.y-b.y))
Wherein, D indicates the length that a mobile lattice are walked, and a indicates that present node coordinate, b indicate specified node coordinate.
The beneficial effects of the present invention are：
(1) innovation mode of voice control is combined using long-range control, accuracy is high.The present invention is combined using long-range control
The working method of voice control, improve in moving process vulnerable to outside environmental elements for example noise, barrier, other it is artificial because
The influence of element causes device mobile according to user's planning mode.
(2) device adjust automatically moving direction realizes avoidance, high reliablity.Three front of ladle body, the left and right sides
To laser range sensor is placed with, the timely adjustment direction in moving process effectively prevents garbage recovery device and is moving
Bump against during dynamic with people or object, ensure that the reliability and security of device.
(3) by the way of a variety of uncap, can voice control also can use mobile terminal control device automatic lid closing/opening
Bung can also be opened manually with user, mode of uncapping multiplicity.
(4) mobile using the move mode of wheel, speed is fast, and movement flexibly, can timely respond to user demand.
Detailed description of the invention
In order to keep the purpose of the present invention, technical scheme and beneficial effects clearer, the present invention provides following attached drawing and carries out
Explanation：
Fig. 1 is recyclable device structural schematic diagram of the present invention；
Fig. 2 is recyclable device another side of the present invention structural schematic diagram；
Fig. 3 is recyclable device controller circuitry schematic diagram of the present invention；
Fig. 4 is speech recognition module schematic diagram of the present invention；
Fig. 5 is automatic obstacle-avoiding schematic diagram of the present invention；
Fig. 6 is that recyclable device of the present invention manually controls flow chart；
Fig. 7 is recyclable device automatic control flow chart figure of the present invention.
Specific embodiment
Below in conjunction with attached drawing, a preferred embodiment of the present invention will be described in detail.
As shown in Figure 1, a kind of man-machine interactive garbage recovery device of the invention, including ladle body, walking mechanism, connection knot
Structure, controller circuitry and mobile terminal 24 (such as mobile phone)；Ladle body includes shell 5 and top cover 3, and shell 5 and top cover 3, which fasten, to be formed
Cavity, the inside of cavity are equipped with the inner cylinder for storing rubbish, and top cover places microphone for voice recognition；Walking mechanism packet
Two direct current generators for including the left driving wheel 16 that pedestal 15 is set and right driving wheel 6 and being connected with driving wheel, left driving
Direct current generator 17 and right driving direct current generator 10, directive wheel, universal wheel 9, the output shaft of direct current generator and left driving wheel 16 and the right side
Driving wheel 6 connects, and left driving wheel 16 and right driving wheel 6 are connected by right angle frame with pedestal 15, and pedestal 15 is fixed on ladle body bottom
Portion.Two driving wheels, directive wheel and universal wheel 9 are symmetric, and 90 ° of uniform intervals.
As shown in Fig. 2, bindiny mechanism include stepper motor 7 connect with stepper motor 7 yielding coupling 14, screw rod 12,
Connecting rod 11,11 upper end of connecting rod are connected with 3 edge of top cover, and lower end is connected with screw rod 12；Controller circuitry is mounted on pedestal 15, should
Controller circuitry is electrically connected with connection structure and each motor respectively, controller circuitry control two driving wheels starting with stop
Only and it is left driving direct current generator 17 and it is right driving direct current generator 10 revolving speed and steering so that garbage recovery device is according to rule
Route is drawn to advance.Controller circuitry controls left driving direct current generator 17 and the rotation of right driving direct current generator 10, left driving direct current
Machine 17 and right driving direct current generator 10 control corresponding driving wheel speed respectively, keep garbage recovery device mobile according to programme path,
To realize automatic positioning and the automatic obstacle-avoiding of garbage recovery device；Mobile terminal 24 and controller circuitry are established wireless communication and are connected
It connects, mobile terminal 24 is used to send control instruction to controller circuitry, to realize the long-range control to garbage recovery device.
As shown in figure 3, controller circuitry includes：Sensor module 18, motor drive module 25, microcontroller 21, bluetooth
Module 23, display module 22, automatic path planning module 26 and power module 20.
Sensor module 18 includes speech recognition module 18a and laser ranging module 18b；The speech recognition module is
DSP speech recognition module, the microphone including being located at top cover, the phonetic order issued for detecting user；Laser ranging mould
Block includes that three laser sensors are respectively distributed to the front, left, right of ladle body 4,8,13 in figure, for detecting and obstacle
The distance between object realizes avoidance.
Motor drive module 25 works for driving motor, the motor drive module 25 and direct current generator and stepping electricity
Machine connection.
Microcontroller 21, for receiving and handling transmitted by the data collected of sensor module 18 and mobile terminal 24
Control instruction, control the start and stop of driving wheel and the revolving speed of direct current generator and steering, the microcontroller 21 respectively with
Sensor module 18, driving wheel and motor drive module 25 connect.
Bluetooth module 23 receives the signal that mobile terminal issues for establishing wireless communication connection with mobile terminal 24.
Display module 22 should for debugging whether stage real-time displaying device detects voice corresponding with corresponding function
Display module 22 is electrically connected with microcontroller 21.
Path planning module 26 comprising laser range sensor connects with microcontroller, direct current generator, returns for rubbish
Receiving apparatus intelligent barrier avoiding.
Power module 20, for being powered to modules.The bottom margin of garbage recovery device ladle body 5 is provided with electricity
Automatic charging may be implemented in pond charging interface, device.
A kind of walking road of the man-machine interactive garbage recovery device controlled in the present invention with speech recognition and mobile terminal
Diameter planning algorithm：Man-machine interactive garbage recovery device at work, need to realize long-range control, avoidance, automatic charging and
Automatically open and be closed the functions such as bung.The present invention realizes device using two kinds of control modes of voice control and Bluetooth control remote
Process control function controls driving wheel by laser range sensor measuring device at a distance from barrier and realizes barrier avoiding function,
Opening and closing bung function is completed by driving stepper motor.Specific implementation is as follows：
(1) remote control function：Long-range control function is realized using two kinds of control modes of DSP voice control and Bluetooth control
Can, DSP voice control mode is as shown in figure 4, the voice signal of microphone acquisition is converted after amplifier circuit by A/D
Device is converted to digital signal, then carries out digital sample, then carry out numerical value processing by DSP, obtains matching with user instruction
Digital audio encoding, that is, instruction encoding, realize DSP voice control.Bluetooth module and mobile terminal establish wireless communication connection,
And send and receive signal, realize Bluetooth control.
(2) barrier avoiding function：Barrier avoiding function is realized using laser range sensor, and laser range sensor is for measuring rubbish
Recyclable device is at a distance from barrier；Laser range sensor is connect with control unit, garbage reclamation of the control unit to measurement
Device is compared at a distance from barrier with reference distance, and according to the direction of advance of comparison result automatic regulating apparatus.
As shown in figure 5, A is starting point, B is terminal.When laser range sensor detected in the path of walking device with
Distance between barrier simultaneously feeds back to control unit, and the distance that control unit compares laser sensor measurement, which is less than or equal to, to be set
When definite value (0.15 meter), control unit drives wheel 90 ° of avoiding obstacles to the right.
(3) automatically open and be closed bung：After being moved to designated position, driving stepper motor rotation band dynamic elasticity shaft coupling
Device and screw rod rotate, and connecting rod will move down on screw rod, and connecting rod drives garbage recovery device bung Unscrew bung.Delay
About 1-2 minutes, driving stepper motor rotation drove yielding coupling and screw rod to rotate, and connecting rod will up move on screw rod, even
Bar drives the rotating closed bung of garbage recovery device bung.
According to the demand of system function, this system software section includes automatic control mode, manual control mode etc..
Manual control mode：As shown in fig. 6, system initialization, user is sent out by voice or bluetooth manual control mode
Out instruction as to the left, to the right, forward, backward, open bung, closure bung, microcontroller carries out processing drive to signal is received
Dynamic motor action requires if user is also not implemented, will steps be repeated alternatively until and meet user's requirement.
Automatic control mode：As shown in fig. 7, system initialization, is automatically controlled using voice automatic control mode or bluetooth
Mode, user issue enabled instruction, and microcontroller carries out processing driving motor movement to signal is received, and make the mobile specific bit of device
It sets, if not up to designated position, user issues enabled instruction again and repeats above-mentioned movement until being moved to designated position.It is moved to
Behind designated position, microcontroller controls driving motor and opens bung, and delay recloses bung in 1-2 minutes, if user is also not implemented
Meet user's requirement it is required that will steps be repeated alternatively until.After completing above-mentioned movement, device returns to designated position and charges.
As shown in figure 5, the present invention also proposes that a kind of control method of intelligent garbage recyclable device, control thinking are：Rubbish
For rubbish recyclable device during advance, measuring device is at a distance from barrier for laser range sensor (4,8,13), microcontroller
21 are compared the distance measured with reference distance, if measurement distance is greater than reference distance, device is moved on；If surveying
Span is from being less than or equal to reference distance, then device adjust automatically direction of advance.
Specific adjust automatically mode is as follows：
It is final path length using formula f (n)=h (n)+g (n), f (n), g (n) works as prosthomere to device for start node
The known length of point, h (n) are estimated length of the device present node to specified node.
It is assumed that O table is node table to be processed, C table is processed node table.
Present node is added in O table, if O table is not sky, the smallest node of f (n) value is therefrom found out, if the node
It is specified node, then finds optimal path；If not specified node, then move on to the node in C table, all of the node are traversed
Adjacent node simultaneously judges these adjacent nodes whether in O table and C table, if calculating the f (n) of each adjacent node in O table
Value retains the node of minimum f (n) value；If in C table, and f (n) value at this time in f (n) value ratio C table is small, then updates f (n)
Value, moves on to O table from C table for the node；If calculating f (n) value of the node not in two tables, being added in O table.Finally again
Judge whether O table is empty and continues to execute above step until finding optimal path.
Wherein the estimated length h (n) of device present node to specified node has following three kinds of algorithms：
1, using formula：
H=D* (abs (a.x-b.x)+abs (a.y-b.y))
Device is moved to specified node along positive X, Y-direction.Such as S1 in Fig. 5, if the current node of device is a (x, y), specify
Node is b (x, y), and the length that D is walked by every one lattice of movement of device, the length of every lattice is 10 in figure, i.e. D is that 10, h (n) is to fill
Present node is set to the estimated length of specified node, then h (n)=10* (abs (a.x-b.x)+abs (a.y-b.y))；
2, using formula：
Hd=Dd* [min (abs (a.x-b.x), abs (b.y-m.y))]
Hs=Ds* [max (abs (a.x-b.x), abs (a.y-m.y))
- min (abs (a.x-b.x), abs (a.y-m.y))]
H (n)=hd+hs
Device both can also can diagonally be moved along positive X, Y-direction, such as S2 in Fig. 5, the present node of device be a (x,
Y), specifying node is b (x, y), and hd is that cornerwise length is walked in walking process, and hs is the length to take the air line in walking process,
Ds is the unit length to take the air line, and Dd is to walk cornerwise unit length；Such as S2 in Fig. 5, if Ds is 10, then Dd is 10 √, 2 ≈
14；So
Hs=14* [max (abs (a.x-b.x), abs (a.y-m.y))-min (abs (a.x-b.x), abs (a.y-
M.y))], hd=10* [min (abs (a.x-b.x), abs (b.y-m.y))]
3, using formula
H (n)=D*sqrt ((a.x-b.x) (a.x-b.x)+(a.y-b.y) (a.y-b.y))
Device can be moved along any direction, and such as S3 in Fig. 5, the current node of device is a (x, y), specify node be b (x,
Y), if every lattice length is 10, i.e. D=10, h (n) are estimated length of the device present node to specified node, then h=10*sqrt
((a.x-b.x)(a.x-b.x)+(a.y-b.y)(a.y-b.y))。
Finally, it is stated that preferred embodiment above is only to illustrate the technical solution of invention rather than limits, although passing through
Above preferred embodiment is described in detail the present invention, however, those skilled in the art should understand that, can be in shape
Various changes are made in formula and to it in details, without departing from claims of the present invention limited range.
Claims (10)
1. a kind of intelligent garbage recyclable device, it is characterised in that：The recyclable device include ladle body, walking mechanism, connection structure and
Controller circuitry；
The ladle body includes shell (5) and top cover (3), and the top cover (3) is fastened on the top of shell (5) and in shell (5)
Portion forms cavity, and the inner cylinder of storage rubbish is provided in the cavity, and the bottom of shell (5) is arranged on pedestal (15),
Speech recognition module is additionally provided on the top cover (3)；
The walking mechanism includes left driving wheel (16), right driving wheel (6), directive wheel, universal wheel (9) and direct current generator, described
Walking mechanism is arranged in the bottom of the pedestal (15), and the direct current generator output shaft is connected to left driving wheel (16) and right driving
It takes turns (6), left driving wheel (16) and right driving wheel (6) are connected on pedestal (15) by right angle frame, directive wheel and universal wheel (9) point
It She Zhi not be in the front and back end of pedestal (15), directive wheel and universal wheel (9) for controlling the conduct direction of recyclable device；
The bindiny mechanism includes stepper motor (7), yielding coupling (14), screw rod (12) and connecting rod (11), the stepping electricity
The output end of machine (7) is connected to yielding coupling (14), and yielding coupling (14) upper end is connected to the screw rod (12), even
The upper end of bar (11) is connected to the edge of top cover (3), and lower end is connected with screw rod (12)；
The controller circuitry setting recycles dress for receiving to order and control in the inside of pedestal (15), the controller circuitry
Set the corresponding actions for making garbage reclamation.
2. a kind of intelligent garbage recyclable device according to claim 1, it is characterised in that：The controller circuitry includes micro-
Controller (21), sensor module (18), motor drive module (25) and path planning module (26), the sensor module
It (18) include speech recognition module (18a) and laser ranging module (18b), the sensor module (18), motor drive module
(25) it is respectively connected to the microcontroller (21) with path planning module (26), microcontroller (21) is according to the sensor die
The heat transfer agent of block (18) controls the motor drive module (25) and path planning module (26) executes the corresponding command.
3. a kind of intelligent garbage recyclable device according to claim 2, it is characterised in that：The speech recognition module includes
The microphone of sequential connection amplifies biasing circuit, A/D conversion circuit, digital sampling circuitry, DSP numerical value processing module and number
Audio coding module, the microphone are arranged on top cover (3), for detecting the phonetic order of user's sending, the number sound
Frequency coding module after the encoding speech information of microphone input for will be transmitted to microcontroller (21).
4. a kind of intelligent garbage recyclable device according to claim 2, it is characterised in that：The laser ranging module
(18b) includes three laser distance sensors, is separately positioned on the ladle body left and right sides and front of recyclable device, Laser Measuring
It is used to detect the distance between the barrier on recyclable device and three directions away from module (18b).
5. a kind of intelligent garbage recyclable device according to claim 2, it is characterised in that：The controller circuitry also includes
Power module (20), bluetooth module (23) and display module (22), power module (20), bluetooth module (23) and display module
(22) it is connected to the microcontroller (21), the bluetooth module (23) is for wireless between recyclable device and mobile terminal
Connection, display module (22) are used to show the working condition of recyclable device, and the power module (20) is in recyclable device bottom sides
Edge is additionally provided with battery charging interface.
6. a kind of intelligent garbage recyclable device according to claim 2, it is characterised in that：The quantity of the direct current generator is
2, for respectively driving device left driving wheel (16) and right driving wheel (6), motor drive module (25) controls two direct currents respectively
Machine, and directive wheel and universal wheel (9) line direction are mutually perpendicular to left driving wheel (16) and right driving wheel (6) line direction.
7. a kind of control method of intelligent garbage recyclable device, it is characterised in that：This method comprises the following steps：
S1：It plans final path length, meets：
F (n)=h (n)+g (n)
Wherein, f (n) is final path length, and g (n) is known length of the start node to device present node, and h (n) is device
Estimated length of the present node to specified node；
S2：Present node is added in node table to be processed, if node table to be processed is not sky, is looked in node table to be processed
The smallest node of f (n) value out；
S3：Determine whether the node is specified node, if so, output optimal path f (n) value；
If the node is not specified node, which is moved on in processed node table, all adjacent segments of the node are traversed
It puts and judges these adjacent nodes whether in node table to be processed and processed node table；
If the node traversed in node table to be processed, calculates f (n) value of each adjacent node, and filters out minimum f
(n) node of value；
If the node traversed is in processed node table, and f (n) value calculated at this time is than f (n) value in processed node table
It is small, then f (n) value is updated, and the node is moved into node table to be processed from processed node table；
If the node traversed not in node table to be processed and not in processed node table, calculates f (n) value of the node,
It is added in node table to be processed；
S4：Judge whether node table to be processed is sky, repeats step S2, until obtaining optimal path.
8. a kind of control method of intelligent garbage recyclable device according to claim 7, it is characterised in that：In step S1,
Device present node meets to the estimated length of specified node：
H (n)=D* (abs (a.x-b.x)+abs (a.y-b.y))
Wherein, D indicates the length that a mobile lattice are walked, and a indicates that present node coordinate, b indicate specified node coordinate.
9. a kind of control method of intelligent garbage recyclable device according to claim 7, it is characterised in that：In step S1,
Device present node meets to the estimated length of specified node：
Hd=Dd* [min (abs (a.x-b.x), abs (b.y-m.y))]
Hs=Ds* [max (abs (a.x-b.x), abs (a.y-m.y))
- min (abs (a.x-b.x), abs (a.y-m.y))]
H (n)=hd+hs
Wherein, a indicates that present node coordinate, b indicate that specified node coordinate, Ds are the unit length of straight line walking, and Dd is diagonal
The unit length of line walking.
10. a kind of control method of intelligent garbage recyclable device according to claim 7, it is characterised in that：In step S1,
Device present node meets to the estimated length of specified node：
H (n)=D*sqrt ((a.x-b.x) (a.x-b.x)+(a.y-b.y) (a.y-b.y))
Wherein, D indicates the length that a mobile lattice are walked, and a indicates that present node coordinate, b indicate specified node coordinate.
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Application publication date: 20181130 |