CN110844414A - Totally-enclosed automatic garbage truck - Google Patents
Totally-enclosed automatic garbage truck Download PDFInfo
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- CN110844414A CN110844414A CN201911137185.XA CN201911137185A CN110844414A CN 110844414 A CN110844414 A CN 110844414A CN 201911137185 A CN201911137185 A CN 201911137185A CN 110844414 A CN110844414 A CN 110844414A
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- robot arm
- truck
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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
- B65F3/02—Vehicles particularly adapted for collecting refuse with means for discharging refuse receptacles thereinto
- B65F3/04—Linkages, pivoted arms, or pivoted carriers for raising and subsequently tipping receptacles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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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
- B65F1/1484—Other constructional features; Accessories relating to the adaptation of receptacles to carry identification means
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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
- B65F7/00—Cleaning or disinfecting devices combined with refuse receptacles or refuse vehicles
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Refuse-Collection Vehicles (AREA)
Abstract
The invention provides a totally-enclosed automatic garbage truck, which comprises a truck body, wherein a garbage can is arranged on the truck body, the top of the garbage can is provided with an opening, and a garbage can door is arranged in the opening; the six-degree-of-freedom mechanical arm is arranged on one side of the vehicle body, the tail end of the six-degree-of-freedom mechanical arm is provided with a mechanical gripper, the mechanical gripper comprises a base and clamping rods hinged to the two sides of the base, and the base is provided with an induction device which can identify a positioning label positioned on the garbage can and used for positioning the center point of the body of the garbage can; and the processor is connected with the sensing device and used for controlling the six-degree-of-freedom mechanical arm and the mechanical clamping hand to move so as to clamp the garbage can for dumping garbage. According to the invention, the positioning label on the garbage can body is scanned and identified through the camera, and the six-degree-of-freedom mechanical arm is controlled to move, so that the mechanical clamping hand can be automatically positioned and clamped at the middle position of the garbage can, and the mechanical clamping hand can be prevented from being damaged due to overlarge torque, thereby better dumping and cleaning garbage in the garbage can.
Description
Technical Field
The invention relates to the field of garbage trucks, in particular to a fully-closed automatic garbage truck.
Background
The garbage truck is a special vehicle specially used for various garbage transported by municipal sanitation departments.
After a lot of searches, some typical prior arts are found, for example, patent application No. 201420267956.3 discloses a totally-enclosed automatic garbage truck with a manipulator, which is characterized in that the manipulator is arranged on a frame between a cab and a carriage, the manipulator comprises a hand part and an arm part, a feeding hole is separated from the front half part of an upper cover of the carriage, a movable upper cover is a sliding door of the feeding hole, and a rear carriage plate which is overturned on the carriage is used as a door of a discharging hole. Still like application number 201810368204.9's patent disclose a garbage truck is used in energy-concerving and environment-protective municipal administration, including locomotive and carriage, carriage inside sets up burning district and transfer area, and this garbage truck burns the rubbish that needs to burn in the car, has practiced thrift time and fuel, and is more energy-concerving and environment-protective. Still like application number 201611092185.9's patent discloses a garbage truck railway carriage and side dress formula garbage truck of utensil sliding closure door, and it includes box and actuating mechanism, this garbage truck has promoted side dress formula garbage truck railway carriage closure nature and aesthetic property.
Therefore, for the garbage truck, many practical problems (such as improvement of automation and intelligence degree) to be treated in practical application are not provided with a specific solution.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a totally-enclosed automatic garbage truck, which has the following specific technical scheme:
a totally-enclosed automated trash cart comprising:
the garbage can comprises a vehicle body, wherein a garbage can is arranged on the vehicle body, an opening is formed in the top of the garbage can, and a garbage can door capable of opening and closing the opening is arranged in the opening;
the six-degree-of-freedom mechanical arm is arranged on one side of the vehicle body, the tail end of the six-degree-of-freedom mechanical arm is provided with a mechanical gripper, the mechanical gripper comprises a base and clamping rods hinged to the two sides of the base, and the base is provided with a sensing device which can identify a positioning label which is positioned on the garbage can and used for positioning the center point of the garbage can body;
and the processor is connected with the sensing device and used for controlling the six-degree-of-freedom mechanical arm and the mechanical clamping hand to move so as to clamp the garbage can for dumping garbage.
Optionally, the positioning tag is an image tag, and the image tag includes a plurality of two-dimensional code tags arranged in four quadrants of a two-dimensional rectangular coordinate system.
Optionally, the sensing device is a camera for scanning the two-dimensional code label.
Optionally, the two-dimensional code label contains a coordinate value.
Optionally, the image labels are respectively attached to the outer side surfaces of the four barrel bodies of the garbage barrel, and the size of each image label is equal to the area of one outer side surface of each barrel body of the garbage barrel.
The beneficial effects obtained by the invention comprise:
1. the positioning label on the body of the garbage can is scanned and identified through the camera, the six-degree-of-freedom mechanical arm is controlled to move, and the mechanical gripper can be automatically positioned and clamped at the middle position of the garbage can, so that the interference of a raised road surface or obstacles around the garbage can be overcome, the moment generated when the clamping rod clamps the garbage can be reduced, the mechanical gripper is prevented from being damaged due to overlarge moment, the automation degree of the garbage truck is improved, and the garbage can is better dumped and cleaned;
2. the image labels are respectively covered on the four outer side surfaces of the garbage can body, so that a mechanical clamping hand can more conveniently position the central point of the garbage can body.
Drawings
The present invention will be further understood from the following description taken in conjunction with the accompanying drawings, the emphasis instead being placed upon illustrating the principles of the embodiments.
FIG. 1 is a schematic overall structure diagram of a fully enclosed automatic garbage truck according to one embodiment of the present invention;
FIG. 2 is a first schematic structural diagram of a mechanical gripper according to an embodiment of the present invention;
FIG. 3 is a first diagram illustrating an image tag according to an embodiment of the present invention;
FIG. 4 is a second schematic structural diagram of an image tag according to an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a trash can door according to an embodiment of the present invention;
FIG. 6 is a second schematic structural view of a mechanical gripper according to an embodiment of the present invention;
FIG. 7 is a schematic structural view of a cleaning tank according to one embodiment of the present invention;
fig. 8 is a schematic structural diagram of a six-degree-of-freedom robot arm according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to embodiments thereof; it should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. Other systems, methods, and/or features of the present embodiments will become apparent to those skilled in the art upon review of the following detailed description. It is intended that all such additional systems, methods, features and advantages be included within this description, be within the scope of the invention, and be protected by the accompanying claims. Additional features of the disclosed embodiments are described in, and will be apparent from, the detailed description that follows.
The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar components; in the description of the present invention, it should be understood that if there is an orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", etc. based on the orientation or positional relationship shown in the drawings, it is only for convenience of describing the present invention and simplifying the description, but it is not intended to indicate or imply that the device or component referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and are not to be construed as limiting the present patent, and the specific meaning of the terms described above will be understood by those of ordinary skill in the art according to the specific circumstances.
The invention relates to a fully-closed automatic garbage truck, which is characterized in that the following embodiments are explained according to figures 1-8:
the first embodiment is as follows:
as shown in fig. 1, the totally-enclosed automatic garbage truck comprises a truck body 1, a garbage can 2 is arranged on the truck body 1, an opening is arranged at the top of the garbage can 2, and a garbage can door capable of opening and closing the opening is arranged in the opening. A six-degree-of-freedom mechanical arm 3 and a mechanical clamping hand 4 arranged above the tail end of the six-degree-of-freedom mechanical arm 3 are arranged on one side of a vehicle body 1, so that a roadside trash can is clamped, and then trash dumping is carried out on the trash can. And the mechanical gripper 4 comprises a base 40 and a clamping rod 41 hinged on two sides of the base 40.
As shown in fig. 8, the six-degree-of-freedom robot arm 3 includes a robot arm mounting base 30, a first robot arm 31, a second robot arm 32, a third robot arm 33, a fourth robot arm 34, a fifth robot arm 35 and a sixth robot arm 36, the robot arm mounting base 30 is disposed at the bottom of a vehicle body, the first robot arm 31 is horizontally and rotatably connected to the robot arm mounting base 30, the second robot arm 32 is connected to the first robot arm 31 by a hinge device, the third robot arm 33 is connected to the second robot arm 32 by a hinge device, the fourth robot arm 34 is connected to the third robot arm 33 by a hinge device, the fifth robot arm 35 is connected to the fourth robot arm 34 by a hinge device, the sixth robot arm 36 is connected to the fifth robot arm 35 by a hinge device, the robot arm mounting base 30 is provided with an axle seat, the bottom of the first robot arm 31 is movably mounted in the axle seat, and the fixed shaft of the first mechanical arm 31 is in transmission connection with the first mechanical arm 31 through a gear transmission mode to rotate the motor, the first mechanical arm 31 rotates the motor to drive the first mechanical arm 31 to rotate horizontally and circumferentially through rotation, the hinge device mainly comprises a hinge, a rotating shaft and a hydraulic motor, and driven gears are sleeved on the rotating shaft.
As shown in fig. 2, one end of each of the two clamping rods 41 is connected to a rotary gear 42, the two rotary gears 42 are disposed in the base 40 and are engaged with each other, one of the rotary gears 42 is connected to a connecting rod 43, and the connecting rod 43 is connected to a push-pull structure 44. The push-pull structure 44 is a cylinder, a cylinder or a servo motor. The base 40 is provided with a sensing device 45 which can identify a positioning label which is positioned on the garbage can and used for positioning the center point of the body of the garbage can. The sensing device 45 is a camera capable of scanning and identifying the positioning tag.
The totally-enclosed automatic garbage truck also comprises a processor, and the processor can be arranged in a cab (not shown in the figure) of the garbage truck body 1. The processor is connected with the sensing device 45 and is used for controlling the six-degree-of-freedom mechanical arm 3 and the mechanical clamping hand 4 to move so as to clamp the garbage can for dumping garbage.
As shown in fig. 3, the positioning tag is an image tag, the image tag includes a plurality of two-dimensional code tags 5 arranged in four quadrants of a two-dimensional rectangular coordinate system, the two-dimensional code tags 5 include XY coordinate values corresponding to two-dimensional rectangular coordinate positions where the two-dimensional code tags are located, and the XY coordinate values are absolute coordinate values. The sensing device 45 is a camera for scanning the two-dimensional code label 5. The two-dimensional code labels 5 in each quadrant of the two-dimensional rectangular coordinate system form a matrix, and the two-dimensional code label 5 closest to the origin of the two-dimensional rectangular coordinate system in the four quadrants is the central point position of the garbage can body.
Because the garbage bin has a take the altitude and has certain weight, when holding rod 41 gripped the garbage bin, if the position of centre gripping was too high, for example the centre gripping was in the position that is close the garbage bin open-ended, can know according to lever principle that mechanical tong 4 needs great strength could get up the garbage bin centre gripping. If the moment generated when the clamping rod 41 clamps the trash can is too large, the mechanical gripper 4 is easily damaged.
If the position of centre gripping is low excessively, for example the centre gripping has been in the position that is close the garbage bin bottom, then when overturning the garbage bin and come in order empting garbage bin in, clamping rod 41 slides because of impact force in the twinkling of an eye easily, and then leads to the garbage bin to drop from clamping rod 41, causes inconvenience. In addition, because the road surface is uneven and there is often the barrier in the periphery of garbage bin to exist, if the position of centre gripping is low excessively, the centre gripping pole 41 probably can't cross the obstacle on bellied road surface or ground and carry out the centre gripping to the garbage bin to the pole centre gripping garbage bin causes inconveniently.
A more ideal way is exactly through controlling six degree of freedom arms 3 and mechanical tong 4, makes supporting rod 41 can automatic positioning, and the centre gripping is in the middle part position of garbage bin, so not only can cross the interference of protruding road surface or garbage bin barrier around, also can reduce the moment that produces when supporting rod 41 presss from both sides tight garbage bin, prevents that the moment is too big to damage mechanical tong 4 to carry out rubbish to the garbage bin better and empty and wash.
When the camera aims at the image label on the garbage bin ladle body, the position of the garbage bin ladle body where the camera and the clamping rod 41 correspond can be judged by scanning the two-dimensional code label 5 in four quadrants of the two-dimensional rectangular coordinate system. The processor recognizes the XY coordinate values in the two-dimensional code tag 5, and then controls and moves the six-degree-of-freedom mechanical arm 3 according to the XY coordinate values until the camera and the clamping rod 41 are aligned at the middle position of the garbage can body, and controls the clamping rod 41 to clamp the garbage can.
Through the location label on the camera scanning discernment garbage bin ladle body, control the 3 motions of six degree of freedom arms, make mechanical tong 4 can automatic positioning and centre gripping in the middle part position of garbage bin, so not only can cross the interference of barrier around protruding road surface or the garbage bin, the moment that produces when also can reducing clamping rod 41 and pressing from both sides tight garbage bin, prevent that moment from too big damage mechanical tong 4, improve the degree of automation of garbage truck, thereby carry out rubbish to the garbage bin better and empty and wash.
Example two:
as shown in fig. 1, the totally-enclosed automatic garbage truck comprises a truck body 1, a garbage can 2 is arranged on the truck body 1, an opening is formed in the top of the garbage can 2, and a garbage can door capable of opening and closing the opening is arranged in the opening. A six-degree-of-freedom mechanical arm 3 and a mechanical clamping hand 4 arranged above the tail end of the six-degree-of-freedom mechanical arm 3 are arranged on one side of a vehicle body 1, so that a roadside trash can is clamped, and then trash dumping is carried out on the trash can. And the mechanical gripper 4 comprises a base 40 and a clamping rod 41 hinged on two sides of the base 40.
As shown in fig. 2, one end of each of the two clamping rods 41 is connected to a rotary gear 42, the two rotary gears 42 are disposed in the base 40 and are engaged with each other, one of the rotary gears 42 is connected to a connecting rod 43, and the connecting rod 43 is connected to a push-pull structure 44. The push-pull structure 44 is a cylinder, a cylinder or a servo motor. The base 40 is provided with a sensing device 45 which can identify a positioning label which is positioned on the garbage can and used for positioning the center point of the body of the garbage can. The sensing device 45 is a camera capable of scanning and identifying the positioning tag.
As shown in fig. 8, the six-degree-of-freedom robot arm 3 includes a robot arm mounting base 30, a first robot arm 31, a second robot arm 32, a third robot arm 33, a fourth robot arm 34, a fifth robot arm 35 and a sixth robot arm 36, the robot arm mounting base 30 is disposed at the bottom of a vehicle body, the first robot arm 31 is horizontally and rotatably connected to the robot arm mounting base 30, the second robot arm 32 is connected to the first robot arm 31 by a hinge device, the third robot arm 33 is connected to the second robot arm 32 by a hinge device, the fourth robot arm 34 is connected to the third robot arm 33 by a hinge device, the fifth robot arm 35 is connected to the fourth robot arm 34 by a hinge device, the sixth robot arm 36 is connected to the fifth robot arm 35 by a hinge device, the robot arm mounting base 30 is provided with an axle seat, the bottom of the first robot arm 31 is movably mounted in the axle seat, and the fixed shaft of the first mechanical arm 31 is in transmission connection with the first mechanical arm 31 through a gear transmission mode to rotate the motor, the first mechanical arm 31 rotates the motor to drive the first mechanical arm 31 to rotate horizontally and circumferentially through rotation, the hinge device mainly comprises a hinge, a rotating shaft and a hydraulic motor, and driven gears are sleeved on the rotating shaft.
The totally-enclosed automatic garbage truck also comprises a processor, and the processor can be arranged in a cab (not shown in the figure) of the garbage truck body 1. The processor is connected with the sensing device 45 and is used for controlling the six-degree-of-freedom mechanical arm 3 and the mechanical clamping hand 4 to move so as to clamp the garbage can for dumping garbage.
As shown in fig. 4, the positioning tag is an image tag, the image tag includes a plurality of two-dimensional code tags 5 arranged in four quadrants of a two-dimensional rectangular coordinate system, the two-dimensional code tags 5 include XY coordinate values corresponding to two-dimensional rectangular coordinate positions where the two-dimensional code tags are located, and the XY coordinate values are absolute coordinate values. The sensing device 45 is a camera for scanning the two-dimensional code label 5. The two-dimensional code label 5 in each quadrant of the two-dimensional rectangular coordinate system forms a matrix, and the two-dimensional code label 5 used for calibrating the central position of the garbage can body is further included at the original point of the two-dimensional rectangular coordinate system.
In this embodiment, the image labels are respectively attached to the outer side surfaces of the four barrel bodies of the trash can, and the size of the image labels is equal to the area of one outer side surface of each barrel body of the trash can. The image labels are respectively covered on the four outer side surfaces of the garbage can body, so that the mechanical clamping hands 4 can more conveniently position the central point position of the garbage can body.
Because the garbage bin has a take the altitude and has certain weight, when holding rod 41 gripped the garbage bin, if the position of centre gripping was too high, for example the centre gripping was in the position that is close the garbage bin open-ended, can know according to lever principle that mechanical tong 4 needs great strength could get up the garbage bin centre gripping. If the moment generated when the clamping rod 41 clamps the trash can is too large, the mechanical gripper 4 is easily damaged.
If the position of centre gripping is low excessively, for example the centre gripping has been in the position that is close the garbage bin bottom, then when overturning the garbage bin and come in order empting garbage bin in, clamping rod 41 slides because of impact force in the twinkling of an eye easily, and then leads to the garbage bin to drop from clamping rod 41, causes inconvenience. In addition, because the road surface is uneven and there is often the barrier in the periphery of garbage bin to exist, if the position of centre gripping is low excessively, the centre gripping pole 41 probably can't cross the obstacle on bellied road surface or ground and carry out the centre gripping to the garbage bin to the pole centre gripping garbage bin causes inconveniently.
A more ideal way is exactly through controlling six degree of freedom arms 3 and mechanical tong 4, makes supporting rod 41 can automatic positioning, and the centre gripping is in the middle part position of garbage bin, so not only can cross the interference of protruding road surface or garbage bin barrier around, also can reduce the moment that produces when supporting rod 41 presss from both sides tight garbage bin, prevents that the moment is too big to damage mechanical tong 4 to carry out rubbish to the garbage bin better and empty and wash.
When the camera aims at the image label on the garbage bin ladle body, the position of the garbage bin ladle body where the camera and the clamping rod 41 correspond can be judged by scanning the two-dimensional code label 5 in four quadrants of the two-dimensional rectangular coordinate system. The processor recognizes the XY coordinate values in the two-dimensional code tag 5, and then controls and moves the six-degree-of-freedom mechanical arm 3 according to the XY coordinate values until the camera and the clamping rod 41 are aligned at the middle position of the garbage can body, and controls the clamping rod 41 to clamp the garbage can.
Through the location label on the camera scanning discernment garbage bin ladle body, the motion of control six degree of freedom arms 3 makes mechanical tong 4 can automatic positioning and centre gripping in the middle part position of garbage bin, so not only can cross the interference of barrier around protruding road surface or the garbage bin, moment that produces when also can reducing clamping rod 41 and pressing from both sides tight garbage bin prevents that moment from too big damage mechanical tong 4 to carry out rubbish to the garbage bin better and empty and wash.
Example three:
as shown in fig. 1, the totally-enclosed automatic garbage truck comprises a truck body 1, a garbage can 2 is arranged on the truck body 1, an opening is formed in the top of the garbage can 2, and a garbage can door capable of opening and closing the opening is arranged in the opening. A six-degree-of-freedom mechanical arm 3 and a mechanical clamping hand 4 arranged above the tail end of the six-degree-of-freedom mechanical arm 3 are arranged on one side of a vehicle body 1, so that a roadside trash can is clamped, and then trash dumping is carried out on the trash can. And the mechanical gripper 4 comprises a base 40 and a clamping rod 41 hinged on two sides of the base 40.
As shown in fig. 2, one end of each of the two clamping rods 41 is connected to a rotary gear 42, the two rotary gears 42 are disposed in the base 40 and are engaged with each other, one of the rotary gears 42 is connected to a connecting rod 43, and the connecting rod 43 is connected to a push-pull structure 44. The push-pull structure 44 is a cylinder, a cylinder or a servo motor. The base 40 is provided with a sensing device 45 which can identify a positioning label which is positioned on the garbage can and used for positioning the center point of the body of the garbage can. The sensing device 45 is a camera capable of scanning and identifying the positioning tag.
As shown in fig. 8, the six-degree-of-freedom robot arm 3 includes a robot arm mounting base 30, a first robot arm 31, a second robot arm 32, a third robot arm 33, a fourth robot arm 34, a fifth robot arm 35 and a sixth robot arm 36, the robot arm mounting base 30 is disposed at the bottom of a vehicle body, the first robot arm 31 is horizontally and rotatably connected to the robot arm mounting base 30, the second robot arm 32 is connected to the first robot arm 31 by a hinge device, the third robot arm 33 is connected to the second robot arm 32 by a hinge device, the fourth robot arm 34 is connected to the third robot arm 33 by a hinge device, the fifth robot arm 35 is connected to the fourth robot arm 34 by a hinge device, the sixth robot arm 36 is connected to the fifth robot arm 35 by a hinge device, the robot arm mounting base 30 is provided with an axle seat, the bottom of the first robot arm 31 is movably mounted in the axle seat, and the fixed shaft of the first mechanical arm 31 is in transmission connection with the first mechanical arm 31 through a gear transmission mode to rotate the motor, the first mechanical arm 31 rotates the motor to drive the first mechanical arm 31 to rotate horizontally and circumferentially through rotation, the hinge device mainly comprises a hinge, a rotating shaft and a hydraulic motor, and driven gears are sleeved on the rotating shaft.
The totally-enclosed automatic garbage truck also comprises a processor, and the processor can be arranged in a cab (not shown in the figure) of the garbage truck body 1. The processor is connected with the sensing device 45 and is used for controlling the six-degree-of-freedom mechanical arm 3 and the mechanical clamping hand 4 to move so as to clamp the garbage can for dumping garbage.
As shown in fig. 4, the positioning tag is an image tag, the image tag includes a plurality of two-dimensional code tags 5 arranged in four quadrants of a two-dimensional rectangular coordinate system, the two-dimensional code tags 5 include XY coordinate values corresponding to two-dimensional rectangular coordinate positions where the two-dimensional code tags are located, and the XY coordinate values are absolute coordinate values. The sensing device 45 is a camera for scanning the two-dimensional code label 5. The two-dimensional code label 5 in each quadrant of the two-dimensional rectangular coordinate system forms a matrix, and the two-dimensional code label 5 used for calibrating the central position of the garbage can body is further included at the original point of the two-dimensional rectangular coordinate system.
In this embodiment, the image labels are respectively attached to the outer side surfaces of the four barrel bodies of the trash can, and the size of the image labels is equal to the area of one outer side surface of each barrel body of the trash can. The image labels are respectively covered on the four outer side surfaces of the garbage can body, so that the mechanical clamping hands 4 can more conveniently position the central point position of the garbage can body.
Because the garbage bin has a take the altitude and has certain weight, when holding rod 41 gripped the garbage bin, if the position of centre gripping was too high, for example the centre gripping was in the position that is close the garbage bin open-ended, can know according to lever principle that mechanical tong 4 needs great strength could get up the garbage bin centre gripping. If the moment generated when the clamping rod 41 clamps the trash can is too large, the mechanical gripper 4 is easily damaged.
If the position of centre gripping is low excessively, for example the centre gripping has been in the position that is close the garbage bin bottom, then when overturning the garbage bin and come in order empting garbage bin in, clamping rod 41 slides because of impact force in the twinkling of an eye easily, and then leads to the garbage bin to drop from clamping rod 41, causes inconvenience. In addition, because the road surface is uneven and there is often the barrier in the periphery of garbage bin to exist, if the position of centre gripping is low excessively, the centre gripping pole 41 probably can't cross the obstacle on bellied road surface or ground and carry out the centre gripping to the garbage bin to the pole centre gripping garbage bin causes inconveniently.
A more ideal way is exactly through controlling six degree of freedom arms 3 and mechanical tong 4, makes supporting rod 41 can automatic positioning, and the centre gripping is in the middle part position of garbage bin, so not only can cross the interference of protruding road surface or garbage bin barrier around, also can reduce the moment that produces when supporting rod 41 presss from both sides tight garbage bin, prevents that the moment is too big to damage mechanical tong 4 to carry out rubbish to the garbage bin better and empty and wash.
When the camera aims at the image label on the garbage bin ladle body, the position of the garbage bin ladle body where the camera and the clamping rod 41 correspond can be judged by scanning the two-dimensional code label 5 in four quadrants of the two-dimensional rectangular coordinate system. The processor recognizes the XY coordinate values in the two-dimensional code tag 5, and then controls and moves the six-degree-of-freedom mechanical arm 3 according to the XY coordinate values until the camera and the clamping rod 41 are aligned at the middle position of the garbage can body, and controls the clamping rod 41 to clamp the garbage can.
Through the location label on the camera scanning discernment garbage bin ladle body, the motion of control six degree of freedom arms 3 makes mechanical tong 4 can automatic positioning and centre gripping in the middle part position of garbage bin, so not only can cross the interference of barrier around protruding road surface or the garbage bin, moment that produces when also can reducing clamping rod 41 and pressing from both sides tight garbage bin prevents that moment from too big damage mechanical tong 4 to carry out rubbish to the garbage bin better and empty and wash.
As shown in fig. 5, the trash can door includes a chute 20 formed at the top of the trash can 2, a door plate 21 slidably coupled to the chute 20, and a cylinder 22. One end of the cylinder 22 is fixedly connected with the door plate 21, and the opening of the dustbin 2 can be opened and closed by controlling the extension and retraction of the cylinder 22.
As a preferable scheme, as shown in fig. 6, an illuminance sensor 46 and an illumination unit 47 are further mounted on the base 40. The light intensity sensor 46 and the illumination unit 47 are connected with the processor and are respectively arranged at two sides of the sensing device 45. By arranging the illuminance sensor 46 and the lighting unit 47, the illuminance sensor 46 can automatically detect the ambient illuminance when garbage is collected and dumped from the roadside garbage bin. If illumination intensity is not enough, the processor controls the lighting unit 47 to emit light, so that illumination intensity is enhanced, and the induction device 45 can conveniently identify the image label on the outer side surface of the garbage can. So, can strengthen this embodiment the suitability and the degree of automation of garbage truck make the multi-function vehicle can be suitable for the night or the not enough condition of light.
As a preferable scheme, as shown in fig. 1 and 7, a cleaning box 6 is further disposed on the vehicle body 1, a cleaning structure is disposed in the cleaning box 6, the cleaning structure includes a lifting table 60 installed in the cleaning box 6 of the garbage transport vehicle, the lifting table 60 is coupled to an inner spray nozzle 61 and is connected to a rotating device 62, a rotating shaft 63 of the rotating device 62 is hollow, a water pipe 64 communicated with the inner spray nozzle 61 penetrates through the rotating shaft 63, an outer spray nozzle 65 is installed outside the lifting table 60, and the rotating device 62 is a motor or a hydraulic motor. The elevating table 60, the inner nozzle 61, the outer nozzle 65, the water pipe 64, and the rotating device 62 together constitute a cleaning structure. The trash can be reversed in the lifting platform 60. The rotating means 62 may be a servo motor, which is connected to the processor.
Through set up one on the garbage truck and wash case 6 and wash the structure, can conveniently wash the garbage bin after empting rubbish, guarantee the health of garbage bin clean.
After the garbage can is cleaned, the garbage can may not return to the correct position due to the rotation of the rotating device 62, and the inclined garbage can is inconvenient for the six-degree-of-freedom mechanical arm 3 and the mechanical gripper 4 to clamp. In order to solve the technical problem, a second sensing device 66 for scanning and identifying an image label positioned on the trash can and used for positioning the center point of the trash can body is arranged on one inner side wall of the cleaning box 6, and the second sensing device 66 is a camera. When the garbage bin is in the correct position, the camera is just facing to two-dimensional code label 5 who is used for demarcating garbage bin ladle body central point and puts. And the processor controls the camera to automatically focus until the two-dimensional code label is scanned.
Through the image label on the camera scanning discernment garbage bin ladle body, can discern and judge whether get back to the correct position of garbage bin, if the garbage bin is not in the correct position, treater control rotary device 62 rotates until the garbage bin return is correct, can make things convenient for mechanical tong 4 to carry out the centre gripping to the garbage bin that finishes washing.
In summary, the fully-enclosed automatic garbage truck disclosed by the invention has the following beneficial technical effects:
1. the positioning label on the garbage can body is scanned and identified through the camera, the six-degree-of-freedom mechanical arm is controlled to move, and the mechanical clamping hand can be automatically positioned and clamped at the middle position of the garbage can, so that the interference of a raised road surface or obstacles around the garbage can be overcome, the moment generated when the clamping rod clamps the garbage can be reduced, the mechanical clamping hand is prevented from being damaged due to overlarge moment, and the garbage can is better dumped and cleaned;
2. the image labels are respectively pasted on the outer side surfaces of the four garbage can bodies of the garbage can, and the size of the image labels is equal to the area of one outer side surface of each garbage can body. The image labels are respectively covered on the four outer side surfaces of the garbage can body, so that a mechanical clamping hand can more conveniently position the central point of the garbage can body.
Although the invention has been described above with reference to various embodiments, it should be understood that many changes and modifications may be made without departing from the scope of the invention. That is, the methods, systems, and devices discussed above are examples, and various configurations may omit, replace, or add various processes or components as appropriate. For example, in alternative configurations, the methods may be performed in an order different than that described and/or various components may be added, omitted, and/or combined. Moreover, features described with respect to certain configurations may be combined in various other configurations, as different aspects and elements of the configurations may be combined in a similar manner. Further, elements therein may be updated as technology evolves, i.e., many of the elements are examples and do not limit the scope of the disclosure or claims.
Specific details are given in the description to provide a thorough understanding of the exemplary configurations including implementations. However, configurations may be practiced without these specific details, such as well-known circuits, processes, algorithms, structures, and techniques, which have been shown without unnecessary detail in order to avoid obscuring the configurations. This description provides example configurations only, and does not limit the scope, applicability, or configuration of the claims. Rather, the foregoing description of the configurations will provide those skilled in the art with an enabling description for implementing the described techniques. Various changes may be made in the function and arrangement of elements without departing from the spirit or scope of the disclosure.
It is intended that the foregoing detailed description be regarded as illustrative rather than limiting, and that it be understood that it is the following claims, including all equivalents, that are intended to define the spirit and scope of this invention. The above examples are to be construed as merely illustrative and not limitative of the remainder of the disclosure. After reading the description of the invention, the skilled person can make various changes or modifications to the invention, and these equivalent changes and modifications also fall into the scope of the invention defined by the claims.
Claims (10)
1. A totally-enclosed automated trash cart comprising:
the garbage can comprises a vehicle body, wherein a garbage can is arranged on the vehicle body, an opening is formed in the top of the garbage can, and a garbage can door capable of opening and closing the opening is arranged in the opening;
the six-degree-of-freedom mechanical arm is arranged on one side of the vehicle body, the tail end of the six-degree-of-freedom mechanical arm is provided with a mechanical gripper, the mechanical gripper comprises a base and clamping rods hinged to the two sides of the base, and the base is provided with a sensing device which can identify a positioning label which is positioned on the garbage can and used for positioning the center point of the garbage can body;
and the processor is connected with the sensing device and used for controlling the six-degree-of-freedom mechanical arm and the mechanical clamping hand to move so as to clamp the garbage can for dumping garbage.
2. The fully enclosed automated trash vehicle of claim 1, wherein the positioning tags are image tags, the image tags comprising a plurality of two-dimensional code tags arranged in four quadrants of a two-dimensional rectangular coordinate system.
3. A fully enclosed automated trash cart according to claim 2, wherein said sensing device is a camera for scanning two-dimensional code labels.
4. A fully enclosed automated trash cart according to claim 3, wherein the two-dimensional code labels contain coordinate values.
5. A fully enclosed automatic garbage truck as claimed in claim 4, wherein the image labels are respectively attached to the outer side surfaces of the four garbage can bodies and have the same size as the area of one outer side surface of the garbage can body.
6. The fully-enclosed automatic garbage truck as claimed in claim 5, wherein the garbage truck door comprises a chute arranged at the top of the garbage truck, a door plate slidably connected with the chute, and an air cylinder, and one end of the air cylinder is fixedly connected with the door plate.
7. A fully enclosed automated trash cart according to claim 6, wherein a light level sensor and a lighting unit are mounted on said base, said light level sensor and lighting unit being connected to said processor and being disposed on either side of said sensing device.
8. A fully enclosed automated trash cart according to claim 7, further comprising a cleaning tank disposed on said cart body, said cleaning tank having a cleaning structure disposed therein.
9. The fully-closed automatic garbage truck as claimed in claim 8, wherein the cleaning structure comprises a lifting platform installed in a cleaning box of the garbage truck, the lifting platform is coupled with an inner nozzle and connected with a rotating device, a rotating shaft of the rotating device is hollow and penetrates through a water pipe communicated with the inner nozzle, and an outer nozzle is installed outside the lifting platform and on the inner side wall of the cleaning box.
10. A fully enclosed automated trash cart according to claim 9 wherein said rotating means is a servo motor connected to the disposer.
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| CN201911137185.XA CN110844414A (en) | 2019-11-19 | 2019-11-19 | Totally-enclosed automatic garbage truck |
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| CN201911137185.XA CN110844414A (en) | 2019-11-19 | 2019-11-19 | Totally-enclosed automatic garbage truck |
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