CN114890009A - Unmanned garbage cleaning robot - Google Patents

Abstract

The invention relates to an unmanned garbage clearing and transporting robot, which belongs to the field of artificial intelligence. Multiple high-precision positioning algorithms are used for supplementary combined positioning, so as to realize all-round and reliable positioning of the robot. Dry and wet separation improves the efficiency of garbage classification, video records the whole process of garbage dumping, and realizes the real-name system. By booking an unmanned robot to collect garbage, it is possible to avoid crowded people due to garbage disposal; door-to-door service can be provided during non-garbage disposal time periods, effectively solving the technical problem of conflict between working hours and garbage delivery time; in severe cold, heat, rain and snow weather Effectively solve the troubles of residents going out to deliver household garbage. The unmanned garbage clearing and transporting robot disclosed by the invention integrates multiple technologies such as unmanned driving, automatic garbage dumping, and multi-task coordinated scheduling, and has the advantages of safety, efficiency, convenience, intelligence and strong practicability.

Description

An unmanned garbage removal robot

technical field

The invention belongs to the field of artificial intelligence, and in particular relates to an unmanned garbage removal robot.

Background technique

Garbage disposal is a daily behavior that residents need to face almost every day in their lives. Usually, the garbage disposal point is set in the center of the community, and residents need to put garbage at the garbage disposal point during the garbage disposal time. For special working groups, the working hours There is a conflict with the time of garbage disposal, resulting in the inability to place garbage in time on working days.

In severe cold, heat, rain and snow, going out to dispose of garbage brings great inconvenience to residents' lives, and will bring about crowded problems, and there are often a large number of pathogens in the garbage. The user's kitchen and toilet waste poses a great risk of infection to the waste disposal process.

Due to the contact with the garbage, the sanitation and cleaning personnel are also easily infected during the garbage removal and transportation process. The cleaning personnel usually work across regions during the garbage removal and transportation process. Once the sanitation and cleaning personnel are infected, there will be a great spread during the garbage removal and transportation process. risk.

Therefore, in the process of garbage disposal and removal, it is of great significance for prevention and control to reduce the mutual contact between the residents of the garbage disposal and avoid the cross-regional operation of the sanitation personnel.

SUMMARY OF THE INVENTION

In view of the defects existing in the prior art, the purpose of the present invention is to provide an unmanned garbage removal robot, which has the advantages of safety, efficiency, convenience, intelligence and strong practicability.

In order to achieve the above purpose, the technical solution adopted in the present invention is: an unmanned garbage removal robot, which includes a main body, and a garbage accommodating room is formed on the left and right sides of the main body, which are respectively the first garbage accommodating room. and a second garbage accommodating chamber; a first garbage delivery automatic door and a second garbage delivery automatic door are respectively set on the top of the main body at the positions corresponding to the first garbage accommodating chamber and the second garbage accommodating chamber , in order to throw the garbage into the corresponding garbage storage room through the first garbage delivery automatic door and the second garbage delivery automatic door; a garbage take-out door is set on the left and right sides of the front side of the main body, respectively for the first garbage pickup go out and a second garbage removal door, the first garbage removal door communicates with the first garbage accommodating chamber, and the second garbage removal door communicates with the second garbage accommodating chamber; A sealing mechanism is provided around the top of a garbage accommodating chamber and the second garbage accommodating chamber, and the sealing mechanism is used to seal the delivered garbage; in the first garbage accommodating chamber and the second garbage accommodating chamber A lifting scissor mechanism is provided inside the garbage accommodating chamber, and the lifting scissors mechanism automatically discharges the delivered garbage to the main body through the first garbage taking-out door and the second garbage taking-out door according to the received instruction; It also includes a main control unit and a battery, the main control unit can perform ranging and positioning, communicate with the outside world, and travel according to a designated route according to the received signal.

Further, when the first automatic garbage delivery door and the second automatic garbage delivery door are closed, the sealing mechanism is covered by the first automatic garbage delivery door and the second automatic garbage delivery door. After the first sensor detects that the garbage bags in the first garbage accommodating chamber and the second garbage accommodating chamber are full, the sealing mechanism is controlled to automatically seal the garbage bags.

Further, the lifting scissors mechanism is arranged on the side corresponding to the first garbage taking-out door and the second garbage taking-out door, after the sealing mechanism completes the sealing, the lifting scissors mechanism The instructions will automatically eject the delivered garbage out of the body.

Further, the lifting scissors mechanism includes a push rod and a scissors mechanism connected with the push rod, and the upper plane of the scissors mechanism is pushed forward by the telescopic motion of the push rod, thereby realizing the pushing action.

Further, the main control unit includes at least one of GPS antenna, lidar and video surveillance.

Further, the main control unit performs feature matching according to GPS data, the lidar or the visual camera of the video surveillance for positioning.

Further, the main control unit is positioned through the following steps:

S221, the robot calls the GPS data of the RTK module of the system, when the GPS data positioning and orientation data of the RTK module are both fixed solutions, it is determined that the robot positioning is successful;

S222. When the robot fails to locate the GPS position, automatically enable the 3D lidar to match the features on the previously established map, and the robot uses the matching points to evaluate the positioning quality. When the points reach the first preset threshold When it is determined that the positioning of the robot is successful;

S223. When the robot uses 3D lidar to perform feature matching and cannot locate successfully, a visual camera is automatically enabled to perform feature matching, the robot uses the matching points to evaluate the positioning quality, and when the points reach a second preset threshold, determine The positioning of the robot is successful;

S224. When the robot fails to locate successfully by using a visual camera to perform feature matching, the robot activates the automatic perception obstacle avoidance function, performs position adjustment and movement, and then re-executes steps S221-S223 until the positioning is successful.

Further, a number of driving wheels are arranged at the bottom of the main body, and crash bars are arranged at the front and rear of the bottom of the main body.

Further, the first garbage delivery automatic door is used to deliver dry garbage, the first garbage accommodating room is used to temporarily store dry garbage, and the first garbage removal door is used to take out dry garbage; the second garbage delivery The automatic door is used to deliver wet garbage, the second garbage accommodating chamber is used to temporarily store the wet garbage, and the second garbage removal door is used to take out the wet garbage.

Further, the video surveillance is arranged on the top of the main body, and the video surveillance is also used to take pictures and record the whole process of garbage dumping.

The effect of the present invention is that: using the unmanned garbage removal robot disclosed by the present invention, a variety of high-precision positioning algorithms are used for supplementary and combined positioning, so as to realize the all-round reliable positioning of the robot and safe obstacle avoidance. By setting two The garbage storage room realizes the dry and wet separation of dumped garbage, improves the efficiency and proportion of garbage classification, and realizes the real-name system by video recording the whole process of garbage dumping. By booking an unmanned robot to collect garbage, it is possible to avoid crowded people due to garbage disposal; door-to-door service can be provided during non-garbage distribution time periods, effectively solving the technical problem of conflict between working hours and garbage delivery time; in severe cold, heat, rain and snow weather Effectively solve the troubles of residents going out to deliver household garbage. It integrates many technologies such as driverless driving, automatic detection of garbage capacity, automatic garbage packing, automatic garbage dumping, and multi-task coordinated scheduling.

Description of drawings

1 is a perspective view of an unmanned garbage removal robot in a closed state according to an embodiment of the present invention;

2 is a perspective view of the first automatic garbage delivery door in an open state in an unmanned garbage removal robot according to an embodiment of the present invention;

3 is a schematic structural diagram of a sealing mechanism in an unmanned garbage removal robot according to an embodiment of the present invention;

4 is a schematic structural diagram of a lifting scissors mechanism in an unmanned garbage removal robot according to an embodiment of the present invention;

Among them: 1-main body, 21-first garbage storage room, 22-second garbage storage room, 31-first garbage delivery automatic door, 32-second garbage delivery automatic door, 2-video surveillance, 41-first garbage delivery automatic door 1-garbage removal door, 42-second garbage removal door, 3-sealing mechanism, 4-lifting scissor mechanism, 51-push rod, 52-scissor mechanism, 12-operation button, 6-GPS antenna, 7-laser radar, 8- driving wheels, 9- anti-collision strip, 10- charging interface.

Detailed ways

The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

Example 1

As shown in FIG. 1 , an embodiment of the present invention discloses an unmanned garbage removal robot, which includes a robot main body 1, the main body 1 is square, and a garbage storage chamber is formed on the left and right sides of the main body 1, respectively. The garbage accommodating chamber 21 and the second garbage accommodating chamber 22 . A first automatic garbage delivery door 31 and a second automatic garbage delivery door 32 are respectively provided on the top of the main body 1 at positions corresponding to the two garbage accommodating chambers, so as to pass the first automatic garbage delivery door 31 and the second automatic garbage delivery door 31 . The second garbage delivery automatic door 32 throws garbage into the corresponding garbage storage room. The first garbage delivery automatic door 31 is used to deliver dry garbage, and the first garbage accommodating chamber 21 is used to temporarily store dry garbage. The second garbage delivery automatic door 32 is used to deliver wet garbage, and the second garbage storage room 22 is used to temporarily store wet garbage.

Through the arrangement of the first garbage accommodating chamber 21 and the second garbage accommodating chamber 22, and the arrangement of the first garbage delivery automatic door 31 and the second garbage delivery automatic door 32, the dry and wet separation of the dumped garbage is realized.

A video surveillance 2 is also set on the top of the main body 1 for taking pictures and recording the whole process of garbage dumping. In this embodiment, the video monitoring device is arranged between the first automatic garbage delivery door 31 and the second automatic garbage delivery door 32 .

The first automatic garbage delivery door 31 and the second automatic garbage delivery door 32 can be automatically opened or closed according to the received control instructions, so as to realize contact-free, and the first automatic garbage delivery door 31 and the second automatic garbage delivery door 32 can also pass through. The set operation button 12 can be opened or closed. After the user has delivered the wet and dry garbage, the two automatic doors can be closed through the operation button or App.

As shown in FIG. 2 , a garbage take-out door is provided on the left and right sides of the front side of the main body 1, respectively, which are a first garbage take-out door 41 and a second garbage take-out door 42, and the first garbage take-out door 41 and the first garbage storage door 41 The chambers 21 communicate with each other for taking out dry garbage, and the second garbage taking-out door 42 communicates with the second garbage accommodating chamber 22 and is used for taking out wet garbage.

In this embodiment, the first garbage removal door 41 is located on the left side of the main body 1, and the second garbage removal door 42 is located on the right side of the main body 1. In fact, the temporary storage positions of dry garbage and wet garbage are not limited. In an optional implementation In the mode, the first garbage taking-out door 41 is located on the right side of the main body 1 , and the second garbage taking-out door 42 is located on the left side of the main body 1 .

As shown in FIG. 3 , sealing mechanisms 3 are provided around the tops of the first garbage accommodating chamber 21 and the second garbage accommodating chamber 22. When the first garbage delivery automatic door 31 and the second garbage delivery automatic door 32 are closed, The sealing mechanism 3 is covered by the first automatic garbage delivery door 31 and the second automatic garbage delivery door 32 . When the first sensor detects that the garbage bags in the garbage accommodating chamber are full, the sealing mechanism 3 is controlled to automatically seal the garbage bags.

The first sensor is a laser sensor, and the first sensor is installed above the first garbage accommodating chamber 21 and the second garbage accommodating chamber 22 .

As shown in FIG. 4 , inside the first garbage accommodating chamber 21 and the second garbage accommodating chamber 22 , a lifting scissor mechanism is provided on the side corresponding to the first garbage taking-out door 41 and the second garbage taking-out door 42 . 4. After the garbage is fully sealed, the lifting scissors mechanism 4 automatically discharges the garbage through the first garbage taking-out door 41 and the second garbage taking-out door 42 according to the received instruction.

The lifting scissors mechanism 4 includes a push rod 51 and a scissors mechanism 52, and the push rod 51 pushes the upper plane of the scissors mechanism 52 to move forward, thereby realizing the lifting action.

At least one GPS antenna 6 is provided on the side of the top of the main body 1. In this embodiment, one GPS antenna 6 is provided on the left and right sides of the top of the main body. In fact, the number and position of the GPS antennas 6 are not limited. The GPS antennas 6 Used to receive and transmit location signals.

In order to further improve the positioning accuracy of the robot, several laser radars 7 are arranged on the main body 1 of the robot. In this embodiment, several laser radars 7 are arranged on the top of the main body 1 and around the main body.

A number of driving wheels 8 are arranged at the bottom of the main body 1 to facilitate the robot to walk freely, and anti-collision strips 9 are arranged at the front and rear ends of the bottom of the main body 1 to prevent large and small collision accidents due to various emergencies and unexpected factors. It forms a buffering and protective effect on the main body of the robot, which extends the service life of the robot to a certain extent and avoids traffic accidents.

Video surveillance 2 can be used for feature matching to assist in positioning.

The robot also includes a main control unit. Usually, the robot performs positioning according to the GPS data and calls the GPS data. When the positioning data and orientation data in the GPS data are both fixed solutions, it is determined that the positioning of the robot is successful.

When the GPS signal is not good, such as high buildings and trees, the robot will fail to use GPS position positioning. At this time, the robot automatically enables the 3D lidar to match the features on the previously established map, and the robot system adopts the matching method. The positioning quality is evaluated by the integral of , and when the integral reaches the first preset threshold, it is determined that the robot is positioned successfully.

When the GPS signal is not good, and the 3D lidar feature matching cannot be successfully located due to the position angle or the surrounding environment, the robot automatically enables the visual camera of video surveillance to perform feature matching. Visual feature matching is a supplement to laser feature matching. The robot system uses the matching integral to evaluate the positioning quality, and when the integral reaches the second preset threshold, it is determined that the robot is positioned successfully.

An automatic charging interface 10 is also arranged on the side wall of the main body 1 to charge the robot. In fact, there is no restriction on the position of the charging interface 10 of the robot.

The robot has the function of perception and obstacle avoidance. It senses obstacles through lidar or visual detection. When it recognizes that there are obstacles on the road, the vehicle will stop and change the direction of travel to avoid danger.

It can be seen from the above embodiments that the unmanned garbage removal and transportation robot disclosed in the present invention performs complementary and combined positioning through a variety of high-precision positioning algorithms, and realizes all-round reliable positioning of the robot and safe obstacle avoidance. By setting two The garbage storage room realizes the dry and wet separation of dumped garbage, improves the efficiency and proportion of garbage classification, and realizes the real-name system by video recording the whole process of garbage dumping. It can avoid crowding of people due to garbage disposal; it can provide door-to-door service during non-garbage disposal time periods, effectively solving the technical problem of conflict between working hours and garbage delivery time; it can effectively solve the troubles of residents going out to deliver domestic garbage in severe cold, heat, rain and snow.

The device described in the present invention is not limited to the embodiments described in the specific embodiments, and those skilled in the art can obtain other embodiments according to the technical solutions of the present invention, which also belong to the technical innovation scope of the present invention.

Claims (10)

1. The utility model provides an unmanned rubbish clearance robot which characterized in that: the garbage collection device comprises a main body, wherein a garbage containing chamber is respectively formed at the left side and the right side in the main body, and the garbage containing chambers are respectively a first garbage containing chamber and a second garbage containing chamber; a first garbage delivery automatic door and a second garbage delivery automatic door are respectively arranged at the top of the main body and at the positions corresponding to the first garbage containing chamber and the second garbage containing chamber, so that garbage is thrown to the corresponding garbage containing chambers through the first garbage delivery automatic door and the second garbage delivery automatic door; the left side and the right side of the front side of the main body are respectively provided with a garbage taking-out door, namely a first garbage taking-out door and a second garbage taking-out door, the first garbage taking-out door is communicated with the first garbage accommodating chamber, and the second garbage taking-out door is communicated with the second garbage accommodating chamber; sealing mechanisms are arranged on the periphery of the tops of the first garbage accommodating chamber and the second garbage accommodating chamber and are used for sealing delivered garbage; the lifting scissors mechanisms are respectively arranged in the first garbage accommodating chamber and the second garbage accommodating chamber and automatically discharge delivered garbage out of the main body through the first garbage taking-out door and the second garbage taking-out door according to received instructions; the system also comprises a main control unit and a battery, wherein a sensor of the main control unit can carry out ranging and positioning, is communicated with the outside and is controlled according to a received signal and a designated program.

2. The unmanned waste collection robot of claim 1, wherein: when the first garbage delivery automatic door and the second garbage delivery automatic door are closed, the sealing mechanism is covered by the first garbage delivery automatic door and the second garbage delivery automatic door, and when the first sensor detects that the garbage bags of the first garbage containing chamber and the second garbage containing chamber are full, the sealing mechanism is controlled to automatically seal the garbage bags.

3. The unmanned waste collection robot of claim 2, wherein: the lifting scissors mechanism is arranged on one side corresponding to the first garbage taking-out door and the second garbage taking-out door, and after the sealing mechanism finishes sealing, the lifting scissors mechanism automatically discharges delivered garbage to the main body according to a received instruction.

4. An unmanned garbage collection robot according to claim 3, wherein: the lifting scissors mechanism comprises a push rod and a scissors mechanism connected with the push rod, and the upper plane of the scissors mechanism is pushed to move forwards through the telescopic motion of the push rod, so that the lifting action is realized.

5. The unmanned waste collection robot of claim 1, wherein: the main control unit comprises at least one of a GPS antenna, a laser radar and video monitoring.

6. The unmanned waste collection robot of claim 5, wherein: and the main control unit performs feature matching according to GPS data, the laser radar or the visual camera of the video monitoring so as to perform positioning.

7. The unmanned garbage collection robot of claim 6, wherein said master control unit is positioned by:

s221, the robot calls GPS data of an RTK module of a system, and when the GPS data positioning and orientation data of the RTK module are both fixed solutions, the robot is judged to be successfully positioned;

s222, when the robot is unsuccessfully positioned by adopting the GPS, automatically starting a 3D laser radar to be matched with the features on the map established previously, and when the robot adopts the matched integral to evaluate the positioning quality, judging that the robot is successfully positioned when the integral reaches a first preset threshold value;

s223, when the robot adopts the 3D laser radar to perform feature matching and cannot successfully position, automatically starting a visual camera to perform feature matching, and when the robot adopts the matched integral to perform positioning quality evaluation, judging that the robot is successfully positioned when the integral reaches a second preset threshold value;

s224, when the robot adopts the visual camera to perform feature matching and cannot successfully position, the robot starts an automatic perception obstacle avoidance function, performs position adjustment and movement, and then re-executes the steps S221-S223 until the positioning is successful.

8. The unmanned waste collection robot of claim 1, wherein: the automobile anti-collision device is characterized in that a plurality of running wheels are arranged at the bottom of the main body, and anti-collision strips are arranged at the front and the back of the bottom of the main body.

9. The unmanned waste collection robot of claim 1, wherein: the first garbage delivery automatic door is used for delivering dry garbage, the first garbage accommodating chamber is used for temporarily storing the dry garbage, and the first garbage taking door is used for taking out the dry garbage; the second garbage delivery automatic door is used for delivering wet garbage, the second garbage accommodating chamber is used for temporarily storing the wet garbage, and the second garbage taking-out door is used for taking out the wet garbage.

10. The unmanned waste collection robot of claim 6, wherein: the video monitoring set up in the top of main part, the video monitoring still is used for toppling over the process to rubbish and carries out the record of shooing in the whole journey.

Images