CN110294243A - Store robot - Google Patents
Store robot Download PDFInfo
- Publication number
- CN110294243A CN110294243A CN201910712673.2A CN201910712673A CN110294243A CN 110294243 A CN110294243 A CN 110294243A CN 201910712673 A CN201910712673 A CN 201910712673A CN 110294243 A CN110294243 A CN 110294243A
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- Prior art keywords
- storage
- chamber
- case lid
- module
- block
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- 230000003993 interaction Effects 0.000 claims description 3
- 238000000465 moulding Methods 0.000 claims 1
- 238000005192 partition Methods 0.000 claims 1
- 239000010813 municipal solid waste Substances 0.000 abstract description 113
- 238000013461 design Methods 0.000 abstract description 3
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- 230000008569 process Effects 0.000 description 6
- 230000004888 barrier function Effects 0.000 description 4
- 239000002184 metal Substances 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
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- 238000012545 processing Methods 0.000 description 3
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- 235000019504 cigarettes Nutrition 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000002708 enhancing effect Effects 0.000 description 2
- 238000010304 firing Methods 0.000 description 2
- 239000011521 glass Substances 0.000 description 2
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- 239000000463 material Substances 0.000 description 2
- 230000001954 sterilising effect Effects 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- XUIMIQQOPSSXEZ-UHFFFAOYSA-N Silicon Chemical compound [Si] XUIMIQQOPSSXEZ-UHFFFAOYSA-N 0.000 description 1
- 238000003915 air pollution Methods 0.000 description 1
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- 229910052710 silicon Inorganic materials 0.000 description 1
- 239000010703 silicon Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000010408 sweeping Methods 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
-
- 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
-
- 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
- B65F7/00—Cleaning or disinfecting devices combined with refuse receptacles or refuse vehicles
-
- 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
- B65F2001/1653—Constructional features of lids or covers
- B65F2001/1676—Constructional features of lids or covers relating to means for sealing the lid or cover, e.g. against escaping odors
-
- 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
-
- 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
- B65F2210/17—Smoke detecting means
-
- 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
- B65F2210/184—Weighing means
Abstract
The invention discloses a kind of storage robots, including mobile base, hoistable platform and storage box main body；Hoistable platform is mounted at the top of mobile base, and storage box main body is mounted at the top of hoistable platform；Mobile base is equipped with for providing the path planning module of travel path for robot and for the obstacle avoidance module of avoiding obstacles；Storage box main body includes cabinet and case lid, and top of the box is liftably arranged in by lifting device in case lid；Case lid is equipped with camera；Cabinet includes the shell of upper end opening, enclosure interior is equipped with diaphragm plate, and the top that chamber is located at control chamber every being set as storage chamber and control chamber, is stored in the inner space of shell by diaphragm plate, it is equipped at least one containing box in containing cavities room, is equipped with control module in control chamber room.The present invention is ingenious in design, simple and reasonable, facilitates intelligence, is capable of the collection of autonomous progress rubbish, and can automatically adjust the height of storage box main body, effectively promotion user experience.
Description
Technical field
The present invention relates to robotic technology field more particularly to a kind of storage robots.
Background technique
With the continuous development of robot technology, people's lives increasingly intelligence and facilitation, industrially there is industry
Agriculturally there is agricultural robot in robot, and medical field has Medical Robot, or even there are also the various household machines such as sweeping robot
Device people.Currently, almost all of public activity region is both provided with a large amount of dustbin, band is thrown away rubbish to people to a certain extent
It is convenient to have come.But dustbin used in existing public activity region is typically all to be fixedly mounted, sometimes people will walk
It is far just to find dustbin, and not only occupied space is big for the placement of a large amount of dustbin, and at high cost, utilization rate is low, also not
It is convenient for safeguarding, and the placement of a large amount of dustbins in public activity region affects the beauty of environment to a certain extent.Therefore, it is badly in need of setting
It counts a kind of for storing the storage robot of the intelligence that can be automatically moved of rubbish.
Summary of the invention
The present invention is directed at least solve one of the technical problems existing in the prior art, a kind of receipts are especially innovatively proposed
It receives robot, the collection of rubbish can be carried out by mobile chassis autonomous, and rubbish is abandoned by hoistable platform as needed
The height of storage box main body on the height automatic adjustment hoistable platform of the user of rubbish, makes user in the receipts toward the storage robot
It receives without on tiptoe or bending over when abandoning rubbish in case, effectively promotion user experience can be provided by using this storage robot
The utilization rate of dustbin effectively reduces the injected volume of public activity region dustbin, further beautifies public environment.
In order to realize above-mentioned purpose of the invention, the present invention provides a kind of storage robots, including mobile base, lifting
Platform and storage box main body；
The hoistable platform is mounted at the top of the mobile base, and the storage box main body is mounted on the hoistable platform top
Portion；
The mobile base is equipped with for providing the path planning module of travel path for the robot and for keeping away
Open the obstacle avoidance module of barrier；
The storage box main body includes cabinet and case lid, and the case is liftably arranged in by lifting device in the case lid
At the top of body；
The case lid is equipped with camera；
The cabinet includes the shell of upper end opening, and the enclosure interior is equipped with diaphragm plate, and the diaphragm plate is by the shell
Every being set as storage chamber and control chamber, the storage chamber is located at the top of the control chamber, described for the inner space of body
It is equipped at least one containing box in containing cavities room, is equipped with control module in the control chamber room；
The mobile base, hoistable platform, path planning module, obstacle avoidance module, camera and lifting device respectively with institute
State control module electrical connection.
In the use of the present invention, the information of road surface of passage path planning module acquisition robot traveling process, is robot
Autonomous provide travel path planning, avoid the barrier being likely to be encountered in robot traveling process automatically by obstacle avoidance module
Hinder object, allows the robot to the mobile collection for carrying out rubbish of discretionary security
The present invention also passes through on the height automatic adjustment hoistable platform for the user that hoistable platform abandons rubbish as needed
The height for storing box main body is not necessarily on tiptoe or bends over when user being made to abandon rubbish in the containing box toward the storage robot, has
Effect promotes user experience.
The present invention is ingenious in design, simple and reasonable, and the collection of rubbish can be carried out by mobile chassis autonomous, and
The height that the storage box main body on the height automatic adjustment hoistable platform of the user of rubbish can be abandoned as needed, is effectively promoted
User experience can provide the utilization rate of dustbin by using this storage robot, effectively reduce public activity region rubbish
The injected volume of case, further beautifies public environment.
In the preferred embodiment of the present invention, the storage robot further includes being set on the case lid outer wall
Human body sensing device and/or gesture sensor, the people of the signal output end of the human body sensing device and the control module
The connection of body approach signal input terminal, the signal output end of the gesture sensor and the hand signal input terminal of the control module
Connection.By human body sensing device acquire human body signal, realize human body close to storage machine everybody when automatically turn on case lid function
Can, it is convenient for user's garbage throwing；The hand signal that the calling robot of robot surrounding population is acquired by gesture sensor,
When having the hand signal of calling robot in collected surrounding population, robot is automatically moved into the user for issuing hand signal
Side, facilitate user garbage throwing in the case where itself is inconvenient to move, realize and believed according to the gesture of calling robot
Number it is autonomous mobile to the function of target position.
In another preferred embodiment of the invention, fully loaded judgment module is additionally provided in the containing cavities room, it is described
Fully loaded judgment module includes being set to the weighing sensor of the containing box bottom and being set to the infrared of the containing box upper end
R-T unit, the weighing sensor and infrared transceiver device are connect with the control module respectively.It is adopted by weighing sensor
Collect the weight information of the containing box, and issues the fully loaded standby signal of rubbish when the weight information reaches preset weight threshold value；
Emit and receive the height of the rubbish inside infrared light detection containing box by infrared transceiver device simultaneously, works as infrared transceiver device
When the infrared light of transmitting is contained garbage blocking in case, then judge that rubbish height reaches preset height threshold value, at this time same hair
The fully loaded standby signal of rubbish, intelligent prompt staff are further processed out.
In yet another preferred form of the invention, the upper end edge of the cabinet is equipped with lower seal, the case
The lower end edge of lid is equipped with upper seal compatible with the lower seal, described close when the case lid and Box Cover close
Seal and lower seal sealing cooperate.It is close by the way that compatible upper seal and lower seal is arranged, rubbish is launched unmanned
The rubbish in containing box is sealed up in the case where rubbish, it is dirty that the peculiar smell for avoiding the rubbish inside containing box from generating overflows assembly air
Dye.
In yet another preferred form of the invention, the inner wall of the case lid is fixed with mounting plate, the installation
Ultraviolet germicidal lamp tube and/or smoke sensor device be installed on plate, the ultraviolet germicidal lamp tube and smoke sensor device respectively with
The control module connection.Case lid lid close in the case where by ultraviolet germicidal lamp tube generation ultraviolet light in containing box into
Row sterilizing；The smoke signal in containing box is detected by smoke sensor device, and sends prompt when detecting smoke signal
Signal takes further treatment measures at the first time convenient for staff, to avoid the cigarette butt not extinguished etc. because of discarding
Incineration firing in containing box is caused to damage and cause fire hazard to storage robot itself.
In yet another preferred form of the invention, the storage robot further includes being set to the control chamber
Interior wireless communication module, the wireless communication module are connect with the control module, the wireless communication module for realizing
The interaction of the teledata of the control module and external smart terminal.By wireless communication module by the control module of robot and
External smart terminal wireless connects, and realizes that the parameters information remote that robot acquires is sent to management by control module
The intelligent terminal of person is shown, while also realizing that manager is remotely adjusted and is controlled to robot by intelligent terminal.
In yet another preferred form of the invention, the side of the cabinet is equipped with chamber door, the chamber door with it is described
The edge of housing hinge, the chamber door is equipped with sealing strip.By the way that chamber door is arranged, convenient for the pick-and-place of containing box in cabinet, on chamber door
Setting sealing strip to form sealed environment, the smell pollution air for avoiding the rubbish in cabinet in containing box from distributing in cabinet.
In yet another preferred form of the invention, vertical clapboard is equipped in the containing cavities room, the vertical clapboard will
The storage chamber is equipped with the containing box, is equipped in the inner cavity chamber every being set as exocoel and inner cavity chamber in the exocoel
The lifting device；
The lifting device includes lifting driving motor, lead screw, sliding block and support tube, the fixed peace of the lifting driving motor
On the diaphragm plate, the lead screw and support tube are vertically arranged, and the lower end of the lead screw and lifting driving electricity
The output shaft of machine is fixedly connected, and the upper end of the lead screw is inserted into from bottom to up in the support tube, is arranged on the lead screw
Sliding block is stated, the lower end of the support tube is fixedly connected with the sliding block, and the inner wall of the upper end of the support tube and the case lid is solid
Fixed connection, the lead screw drive the sliding block to go up and down in vertical direction when rotating.Case is realized by the lifting device of this structure
The quick and stable folding of case lid is realized in the quick and stable lifting of lid.
In yet another preferred form of the invention, the hoistable platform includes lifter plate, dual-output motor, left silk
Bar, right screw move to left motion block, move to right motion block, left connecting rod, right connecting rod, left link block and right link block；
The dual-output motor is horizontally arranged at the top of the mobile base, and the left screw and right screw are respectively symmetrically set
It sets at the dual-output motor both ends, and be fixedly connected respectively with the output shaft at the dual-output motor both ends, the left silk
Bar and the hand of spiral of right screw are on the contrary, described move to left motion block and move to right block is sent to be respectively sleeved at the left screw and right screw
On, the lifter plate is arranged above the dual-output motor, and the both ends bottom of the lifter plate is fixed with the left side respectively
Link block and right link block, the upper end of the left connecting rod and the left link block are hinged, the lower end of the left connecting rod and institute
State and move to left that motion block is hinged, the upper end of the right connecting rod and the right link block are hinged, the lower end of the right connecting rod with it is described
It is hinged to move to right motion block.The steady liter for the storage box main body being mounted at the top of lifter plate is realized by the hoistable platform of this structure
Drop.
In yet another preferred form of the invention, the hoistable platform further includes shell, the dual-output motor,
Left screw, right screw move to left motion block, move to right motion block, left connecting rod, right connecting rod, left link block and right link block and be all set in
In the shell, the lower end of the shell is connect with the top of the mobile base, and the upper end of the shell is equipped with bellows
The upper end of curtain, the shell is connect by the bellows curtain with the bottom surface of the lifter plate.By the way that shell is arranged, to inside
Each component carry out the protection such as water proof and dust proof, while enhancing the aesthetics of robot shape, by the way that wave is arranged in the upper end of shell
The flexible curtain of line adapts to the lifting process of hoistable platform, and during lifter plate lifting, shell can enclose always sets inside
Component.
Additional aspect and advantage of the invention will be set forth in part in the description, and will partially become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
Above-mentioned and/or additional aspect of the invention and advantage will become from the description of the embodiment in conjunction with the following figures
Obviously and it is readily appreciated that, in which:
Fig. 1 is the schematic view of the front view that robot is stored in a kind of preferred embodiment disclosed by the invention；
Fig. 2 is that the another schematic view of the front view of storage robot in a kind of preferred embodiment disclosed by the invention (omits
Remove part-structure component)；
Fig. 3 is the right side structural representation that robot is stored in a kind of preferred embodiment disclosed by the invention；
Fig. 4 is that the another right side structural representation of storage robot in a kind of preferred embodiment disclosed by the invention (is omited
Remove part-structure component)；
Fig. 5 is to store the case lid of robot in a kind of preferred embodiment disclosed by the invention to look up view structural representation
Figure；
Fig. 6 is the vertical view view structural representation that the case lid of robot is stored in a kind of preferred embodiment disclosed by the invention
Figure；
Fig. 7 is the schematic diagram of circuit connection structure that robot is stored in a kind of preferred embodiment disclosed by the invention.
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.
In the description of the present invention, it is to be understood that, term " longitudinal direction ", " transverse direction ", "upper", "lower", "front", "rear",
The orientation or positional relationship of the instructions such as "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside" is based on attached drawing institute
The orientation or positional relationship shown, is merely for convenience of description of the present invention and simplification of the description, rather than the dress of indication or suggestion meaning
It sets or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as to limit of the invention
System.
In the description of the present invention, unless otherwise specified and limited, it should be noted that term " installation ", " connected ",
" connection " shall be understood in a broad sense, for example, it may be mechanical connection or electrical connection, the connection being also possible to inside two elements can
, can also indirectly connected through an intermediary, for the ordinary skill in the art to be to be connected directly, it can basis
Concrete condition understands the concrete meaning of above-mentioned term.
The present invention provides a kind of storage robots, as shown in figs. 1-7 comprising mobile base 1, hoistable platform 2 and receipts
Receive box main body 3；Wherein, the mobile base 1, hoistable platform 2 and storage box main body 3 are arranged in rectangle, and hoistable platform 2 is mounted on
1 top of mobile base, storage box main body 3 are mounted on 2 top of hoistable platform.Mobile base 1 is to store the vehicle with walking machine of box main body 3
Structure is connect with controller module electric signal, and the walking of mobile base 1 is controlled by control module 4, and interior be equipped with of mobile base 1 is
The rechargeable battery 15 of entire robot power supply, 1 side of mobile base are equipped with charging interface 5, set on 1 front side outer wall of mobile base
Have for providing the path planning module 5 of travel path for robot, which specifically includes laser scanning navigation
Module 501 and GPS positioning module 502 position robot current location by GPS positioning module 502, in conjunction with laser
Scanning navigation module 501 obtains information of road surface and target position information in front of robot during traveling, then by existing
Correlation navigation software carry out operation after plan correct travel path automatically for the mobile base 1 of robot；Wherein, laser is swept
It retouches navigation module 501 specifically and existing NAV350 type Laser navigation system module can be selected.In the present embodiment, path planning mould
Block and obstacle avoidance module acquire the position of target person and robot itself current location information and barrier in space respectively
Information is transferred to control module 4.The obstacle avoidance module 6 for avoiding obstacles, obstacle avoidance module 6 are additionally provided on 1 outer wall of mobile base
Including the multiple ultrasonic sensors 601 being disposed around on 1 outer wall of mobile base, robot is obtained by ultrasonic sensor 601
The position of peripheral obstacle, the avoidance for the path planning of mobile base 1 provide foundation；There are two driving wheels for the tool of mobile base 1
101 and 1 universal driven wheels 102, two driving wheels 101 are passed through by two travel driving motors 103 inside mobile base 1
The rotational speed difference of two driving wheels 101 realizes the steering of mobile base 1.Storing box main body 3 includes cabinet 301 and case lid 302, case lid
302 are liftably arranged in 301 top of cabinet by lifting device 303, realize case lid 302 by the lifting of lifting device 303
Folding；The outer wall of case lid 302 is equipped with camera 9；Cabinet 301 includes the shell 3011 that upper end offers garbage throw-in port,
Inside shell 3011 be equipped with diaphragm plate 3012, diaphragm plate 3012 by the inner space of shell 3011 every be set as storage 3013 He of chamber
Control chamber 3014, storage chamber 3013 are located at the top of control chamber 3014, store containing box there are two setting in chamber 3013
3015, wherein one for storing recyclable rubbish, one is used to store not recyclable rubbish, simple convenient for carrying out to rubbish
Classification, control chamber 3014 in be equipped with control module 4；Mobile base 1, hoistable platform 2, path planning module 5, obstacle avoidance module
6, camera 9 and lifting device 303 are electrically connected with control module 4 respectively.
Specifically, in the present embodiment, the rubbish for launching user is additionally provided in the top of two containing boxs 3015
The garbage classification module that rubbish is classified according to recyclable rubbish and non-recyclable rubbish, garbage classification module include rubbish identification
Unit and garbage sorting unit, for garbage classification unit for identifying to the rubbish of dispensing, garbage sorting unit is used for basis
The recognition result of rubbish recognition unit is by garbage sorting to the containing box of storage recyclable rubbish or stores not recyclable rubbish
Containing box in.Garbage sorting unit include rubbish prestore box, be set to rubbish prestore recyclable rubbish channel below box and
Garbage shaft not can be recycled, the upper end in recyclable rubbish channel prestores box with rubbish and communicates, the lower end in recyclable rubbish channel and
The containing box of storage recyclable rubbish communicates, and the upper end of not recyclable garbage shaft prestores box with rubbish and communicates, recyclable rubbish
The lower end in channel is communicated with the containing box of storage recyclable rubbish, and rubbish, which prestores, is equipped with main baffle, recyclable rubbish channel in box
Rubbish prestores the position that box communicates and is equipped with the first classification baffle, and not recyclable garbage shaft rubbish prestores the position that box communicates and is equipped with
Second classification baffle.When rubbish identification module is identified as recyclable rubbish, active plate and the first classification baffle are opened, and prestore box
Interior rubbish is then fallen into the containing box of storage recyclable rubbish by the way that channel can be recycled；When be identified as can not for rubbish identification module
Recycle rubbish when, active plate and second classification baffle open, prestore the rubbish in box then pass through can not recovery approach fall into storage
Not in the containing box of recyclable rubbish.Rubbish identification module can specifically include camera and processor, prestore in processor
The picture of recyclable rubbish, is prestored in box the image of rubbish and is sent in processor and processor and prestore by camera acquisition
There is the picture of recyclable rubbish that processing is compared, so that whether the rubbish that judgement prestores in box is recyclable rubbish, works as comparison
When success, then it is judged as recyclable rubbish, is otherwise judged as not recyclable rubbish, then processor is controlled further according to comparison result
Main baffle and corresponding classification baffle are opened, and realize the automatic classification of rubbish.Rubbish identification module specifically also may include metal
Survey meter and laser detector prestore whether the rubbish in box contains metallics by metal detector identification, for rubbish can be recycled
Rubbish；The identification that laser carries out glass and plastic garbage is issued by laser diffusion survey meter, when laser light rubbish is not hidden
When gear, then it is judged as glass or plastic garbage, is recyclable rubbish；After identifying to rubbish, rubbish identification module is according to knowledge
Other result control main baffle and corresponding classification baffle are opened, and realize the automatic classification of rubbish.Certainly, it is identified to improve rubbish
Accuracy rate, rubbish identification module is also possible to the combination of above two scheme, i.e., the rubbish identification module includes above-mentioned camera shooting
Head, processor, metal detector and laser detector.
In the use of the present invention, passage path planning module 5 acquires the information of road surface of robot traveling process, it is robot
Autonomous the planning of travel path is provided, avoid being likely to be encountered in robot traveling process automatically by obstacle avoidance module 6
Barrier allows the robot to the mobile collection for carrying out rubbish of discretionary security；And by being needed beside the acquisition of camera 9 robot
The user images information of garbage throwing is wanted, and is sent to processing system, processing system needs to throw according to the calculating of user images information
The height of the user of rubbish is put, then control module 4 is controlled to the lifting of hoistable platform 2 according to the user's height being calculated,
Hoistable platform 2 is enabled to abandon the storage box main body 3 on the height automatic adjustment hoistable platform 2 of the user of rubbish as needed
Height effectively promoted without on tiptoe or bending over when user being made to abandon rubbish in the containing box 3015 toward the storage robot
User experience.
The present invention is ingenious in design, simple and reasonable, and the collection of rubbish can be carried out by mobile chassis autonomous, and
The height that the storage box main body 3 on the height automatic adjustment hoistable platform 2 of the user of rubbish can be abandoned as needed, effectively mentions
The utilization rate of dustbin can be provided by using this storage robot by rising user experience, effectively reduce public activity region rubbish
The injected volume of rubbish case, further beautifies public environment.
In the preferred embodiment of the present invention, storage robot further includes the people being set on 302 outer wall of case lid
Body sensing device 7 and gesture sensor 8, human body sensing device 7 include the multiple pyroelectricities being evenly distributed on 302 outer wall of case lid
Infrared sensor 701, the quantity of pyroelectric infrared sensor 701 is 4 in this implementation, each side setting one of case lid 302
A, in this way convenient for all directions around induction robot human body signal, the signal output end and control mould of human body sensing device 7
Human body close signal's input terminal of block 4 connects, and acquires human body signal by human body sensing device 7, realizes human body close to storage machine
Device everybody when automatically turn on case lid 302 function, be convenient for user's garbage throwing；The top of case lid 302 is arranged in gesture sensor 8
Center, the signal output end of gesture sensor 8 connect with the hand signal input terminal of control module 4, are sensed by gesture
Device 8 acquires the hand signal of the calling robot of robot surrounding population, there is calling robot in collected surrounding population
Hand signal when, robot be automatically moved into issue hand signal user side, facilitate the user itself inconvenience
Garbage throwing in the case where movement realizes that the hand signal according to calling robot is autonomous mobile to the function of target position；Its
In, gesture sensing implement body can select the infrared gesture of Silicon Labs infrared gesture sensor series of products Si114x type to pass
Sensor.In another preferred embodiment of the invention, stores in chamber 3013 and be additionally provided with fully loaded judgment module 10, it is fully loaded to sentence
Disconnected module 10 includes the weighing sensor 1001 being set on the pallet 3016 of 3015 bottom of containing box and is set to containing box
The infrared transceiver device 1002 of 3015 upper ends, weighing sensor 1001 and infrared transceiver device 1002 connect with control module 4 respectively
It connects.The weight information of the containing box 3015 is acquired by weighing sensor 1001, and reaches preset weight threshold in the weight information
Rubbish fully loaded standby signal is issued when value；Emit by infrared transceiver device 1002 simultaneously and receive infrared light detection containing box
The height of rubbish inside 3015, when the infrared light that infrared transceiver device 1002 emits is contained garbage blocking in case 3015
When, then judge that rubbish height reaches preset height threshold value, equally issues the fully loaded standby signal of rubbish, intelligent prompt work at this time
Personnel are further processed.
In yet another preferred form of the invention, the upper end edge of cabinet 301 is equipped with lower seal 3017, case lid
302 lower end edge is equipped with upper seal 3021 compatible with lower seal 3017, when case lid 302 and the lid of cabinet 301 close, on
Sealing ring 3021 and the sealing of lower seal 3017 cooperate.By the way that compatible upper seal 3021 and lower seal 3017 is arranged
It is close, the rubbish in containing box 3015 is sealed up in the case where unmanned garbage throwing, avoids the rubbish inside containing box 3015
The peculiar smell of generation overflows assembly air pollution.In present embodiment, upper seal 3021 and lower seal 3017 specifically use bullet
Property rubber be made, not only act as sealing function, case lid 302 lid close during, also act as certain buffer function.
In yet another preferred form of the invention, the inner wall of case lid 302 is fixed with mounting plate 3022, mounting plate
Ultraviolet germicidal lamp tube 11 and smoke sensor device 12 are installed, ultraviolet germicidal lamp tube 11 and smoke sensor device 12 are distinguished on 3022
It is connect with control module 4.Ultraviolet light is generated to containing box by ultraviolet germicidal lamp tube 11 in the case where case lid 302 is covered and closed
Sterilizing is carried out in 3015；The smoke signal in containing box 3015 is detected by smoke sensor device 12, and is detecting smog
Standby signal is sent when signal, further treatment measures is taken at the first time convenient for staff, to avoid because of discarding
The cigarette butt etc. not extinguished causes incineration firing in containing box 3015 to damage to storage robot itself and fire is caused to endanger
Danger.
In yet another preferred form of the invention, storage robot further includes being set in control chamber 3014
Wireless communication module 13, wireless communication module 13 specifically can be 3G module or 4G module, wireless communication module 13 and control mould
Block 4 connects, and wireless communication module 13 is for realizing the interaction of the teledata of control module 4 and external smart terminal.By wireless
Communication module 13 connects the control module 4 of robot and external smart terminal wireless, realizes control module 4 by robot
The intelligent terminal that the parameters information remote of acquisition is sent to manager is shown, while also realizing that manager passes through intelligence
Terminal remote is adjusted and controls to robot.
In yet another preferred form of the invention, the side of cabinet 301 is equipped with chamber door 3018, chamber door 3018 and shell
Body 3011 is hinged, and the edge of chamber door 3018 is equipped with sealing strip 3019.By the way that chamber door 3018 is arranged, convenient for containing box in cabinet 301
3015 pick-and-place, setting sealing strip 3019 to form sealed environment in cabinet 301 on chamber door 3018, avoids receiving in cabinet 301
The smell pollution air that the rubbish in case 3015 of receiving distributes.
In yet another preferred form of the invention, vertical clapboard 30131, vertical clapboard are equipped in storage chamber 3013
30131 will store chamber 3013 every being set as exocoel 30132 and inner cavity chamber 30133, be equipped with containing box in exocoel 30132
3015, inner cavity chamber 30133 is interior to be equipped with lifting device 303；
Lifting device 303 includes lifting driving motor 3031, lead screw 3032, sliding block 3033 and support tube 3034, and lifting is driven
Dynamic motor 3031 is fixedly mounted on diaphragm plate 3012, and lead screw 3032 and support tube 3034 are vertically arranged, and lead screw 3032
Lower end is fixedly connected with the output shaft of lifting driving motor 3031, and support tube 3034 is inserted into the upper end of lead screw 3032 from bottom to up
It is interior, sliding block 3033 is arranged on lead screw 3032, the lower end of support tube 3034 is fixedly connected with sliding block 3033, support tube 3034 it is upper
End is fixedly connected with the inner wall of case lid 302, and band movable slider 3033 is gone up and down in vertical direction when lead screw 3032 rotates.Pass through this knot
The lifting device 303 of structure realizes the quick and stable lifting of case lid 302, that is, realizes the quick and stable folding of case lid 302.
In yet another preferred form of the invention, hoistable platform 2 include lifter plate 201, dual-output motor 202,
Left screw 2031, right screw 2032 move to left motion block 2041, move to right motion block 2042, left connecting rod 2051, right connecting rod 2052, a left side
Link block 2061 and right link block 2062；
Dual-output motor 202 is horizontally arranged at 1 top of mobile base, and left screw 2031 and right screw 2032 are respectively symmetrically set
It sets at 202 both ends of dual-output motor, and be fixedly connected respectively with the output shaft at 202 both ends of dual-output motor, left screw 2031
With the hand of spiral of right screw 2032 on the contrary, moving to left motion block 2041 and moving to right block is sent to be respectively sleeved at left screw 2031 and right screw
On 2032, lifter plate 201 is arranged above dual-output motor 202, and the both ends bottom of lifter plate 201 is fixed with left connection respectively
Block 2061 and right link block 2062, the upper end of left connecting rod 2051 and left link block 2061 are hinged, the lower end of left connecting rod 2051
Hinged with motion block 2041 is moved to left, the upper end of right connecting rod 2052 and right link block 2062 are hinged, the lower end of right connecting rod 2052 with
It is hinged to move to right motion block 2042.The storage box main body 3 for being mounted on 201 top of lifter plate is realized by the hoistable platform 2 of this structure
Steady lifting.
In yet another preferred form of the invention, hoistable platform 2 further includes shell 207, dual-output motor 202,
Left screw 2031, right screw 2032 move to left motion block 2041, move to right motion block 2042, left connecting rod 2051, right connecting rod 2052, a left side
Link block 2061 and right link block 2062 are all set in shell 207, and the lower end of shell 207 is connect with the top of mobile base 1,
The upper end of shell 207 is equipped with bellows curtain 208, and the upper end of shell 207 passes through the bottom of bellows curtain 208 and lifter plate 201
Face connection.By the way that shell 207 is arranged, the protection such as water proof and dust proof is carried out to internal each component, while enhancing robot shape
Aesthetics, by the way that the lifting process that bellows curtain 208 adapts to hoistable platform 2 is arranged in the upper end of shell 207, in lifter plate
During 201 liftings, shell 207 can enclose always sets internal component.
In yet another preferred form of the invention, it is additionally provided with and is used on the outer wall of the shell 3011 of cabinet 301
The display screen 14 of advertisement a surname is carried out, the signal input part of display screen 14 is connect with the advertising signal output end of control module 4, is shown
Screen 14 can specifically use OLED touch-control flexible screen, carry out advertisement dispensing by setting display screen 14, realize robot function
Diversification.
It should be noted that structure shown in Fig. 1-7 of the present invention is some preferred embodiments of the invention, herein
It shows and simply facilitates the understanding present invention and be not considered as limiting the invention, under thought guidance of the invention, according to this
The structure or method that the technical solution implementation of invention obtains is within the scope of the present invention, and therefore not to repeat here.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
Centainly refer to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be any
One or more embodiment or examples in can be combined in any suitable manner.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Although an embodiment of the present invention has been shown and described, it will be understood by those skilled in the art that: not
A variety of change, modification, replacement and modification can be carried out to these embodiments in the case where being detached from the principle of the present invention and objective, this
The range of invention is defined by the claims and their equivalents.
Claims (10)
1. a kind of storage robot, which is characterized in that including mobile base, hoistable platform and storage box main body；
The hoistable platform is mounted at the top of the mobile base, and the storage box main body is mounted at the top of the hoistable platform；
The mobile base is equipped with for providing the path planning module of travel path for the robot and for avoiding hindering
Hinder the obstacle avoidance module of object；
The storage box main body includes cabinet and case lid, and the cabinet top is liftably arranged in by lifting device in the case lid
Portion；
The case lid is equipped with camera；
The cabinet includes the shell of upper end opening, and the enclosure interior is equipped with diaphragm plate, and the diaphragm plate is by the shell
Inner space is every being set as storage chamber and control chamber, and the storage chamber is positioned at the top of the control chamber, the storage
It is equipped at least one containing box in chamber, is equipped with control module in the control chamber room；
The mobile base, hoistable platform, path planning module, obstacle avoidance module, camera and lifting device respectively with the control
The electrical connection of molding block.
2. storage robot according to claim 1, which is characterized in that further include the people being set on the case lid outer wall
Body sensing device and/or gesture sensor, the signal output end of the human body sensing device and the human body of the control module connect
Nearly signal input part connection, the signal output end of the gesture sensor and the hand signal input terminal of the control module connect
It connects.
3. storage robot according to claim 2, which is characterized in that be additionally provided in the containing cavities room and fully loaded judge mould
Block, the fully loaded judgment module include being set to the weighing sensor of the containing box bottom and being set to the containing box upper end
Infrared transceiver device, the weighing sensor and infrared transceiver device are connect with the control module respectively.
4. storage robot according to claim 1 to 3, which is characterized in that the upper end edge of the cabinet is set
There is lower seal, the lower end edge of the case lid is equipped with upper seal compatible with the lower seal, the case lid and case
When body lid closes, the upper seal and lower seal sealing cooperate.
5. storage robot according to claim 4, which is characterized in that the inner wall of the case lid is fixed with mounting plate,
Ultraviolet germicidal lamp tube and/or smoke sensor device, the ultraviolet germicidal lamp tube and smog sensing are installed on the mounting plate
Device is connect with the control module respectively.
6. according to storage robot described in claim 5 any one, which is characterized in that further include being set to the control chamber
Indoor wireless communication module, the wireless communication module are connect with the control module, and the wireless communication module is for real
The teledata interaction of the existing control module and external smart terminal.
7. storage robot according to claim 1 to 3, which is characterized in that the side of the cabinet is equipped with case
The edge of door, the chamber door and the housing hinge, the chamber door is equipped with sealing strip.
8. storage robot according to claim 1 to 3, which is characterized in that be equipped in the containing cavities room perpendicular
The storage chamber every being set as exocoel and inner cavity chamber, is equipped with the containing box in the exocoel by partition, the vertical clapboard,
The lifting device is equipped in the inner cavity chamber；
The lifting device includes that lifting driving motor, lead screw, sliding block and support tube, the lifting driving motor are fixedly mounted on
On the diaphragm plate, the lead screw and support tube are vertically arranged, and the lower end of the lead screw and the lifting driving motor
Output shaft is fixedly connected, and the upper end of the lead screw is inserted into from bottom to up in the support tube, and the cunning is arranged on the lead screw
Block, the lower end of the support tube are fixedly connected with the sliding block, and the inner wall of the upper end of the support tube and the case lid is fixed to be connected
It connects, the lead screw drives the sliding block to go up and down in vertical direction when rotating.
9. storage robot according to claim 1 to 3, which is characterized in that the hoistable platform includes lifting
Plate, left screw, right screw, moves to left motion block, moves to right motion block, left connecting rod, right connecting rod, left link block and the right side at dual-output motor
Link block；
The dual-output motor is horizontally arranged at the top of the mobile base, and the left screw and right screw are symmetrically arranged at
Dual-output motor both ends, and be respectively fixedly connected with the output shaft at the dual-output motor both ends, the left screw and
The hand of spiral of right screw on the contrary, it is described move to left motion block and move to right send block to be respectively sleeved in the left screw and right screw, institute
It states lifter plate to be arranged above the dual-output motor, the both ends bottom of the lifter plate is fixed with the left link block respectively
With right link block, the upper end of the left connecting rod and the left link block are hinged, and the lower end of the left connecting rod is moved to left with described
Motion block is hinged, and the upper end of the right connecting rod and the right link block are hinged, and the lower end of the right connecting rod is moved right with described
Block is hinged.
10. storage robot according to claim 9, which is characterized in that the hoistable platform further includes shell, described double
Output motor, right screw, moves to left motion block, moves to right motion block, left connecting rod, right connecting rod, left link block and right link block at left screw
It is all set in the shell, the lower end of the shell is connect with the top of the mobile base, and the upper end of the shell is equipped with
The upper end of bellows curtain, the shell is connect by the bellows curtain with the bottom surface of the lifter plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201910712673.2A CN110294243A (en) | 2019-08-02 | 2019-08-02 | Store robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910712673.2A CN110294243A (en) | 2019-08-02 | 2019-08-02 | Store robot |
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| CN110294243A true CN110294243A (en) | 2019-10-01 |
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| CN201910712673.2A Pending CN110294243A (en) | 2019-08-02 | 2019-08-02 | Store robot |
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| CN113173353A (en) * | 2021-04-21 | 2021-07-27 | 安徽世绿环卫科技有限公司 | Intelligent classification dustbin system based on thing networking |
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