CN208914092U - A kind of intelligent garbage sorting machine people - Google Patents
A kind of intelligent garbage sorting machine people Download PDFInfo
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- CN208914092U CN208914092U CN201821838091.6U CN201821838091U CN208914092U CN 208914092 U CN208914092 U CN 208914092U CN 201821838091 U CN201821838091 U CN 201821838091U CN 208914092 U CN208914092 U CN 208914092U
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- mechanical arm
- control system
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- frame body
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Abstract
The utility model relates to a kind of intelligent garbage sorting machine people, it is therefore an objective to solve defect existing for garbage sorting robot at this stage.Including mechanical arm, classification garbage can, frame body, driving motor, driving wheel, central processing unit, wireless data transmitter, kinetic control system, mechanical arm control system, camera and power supply, the mechanical arm and classification garbage can is respectively provided at frame body top, driving motor and driving wheel are located at frame body lower part, and the output shaft of driving motor is connected with driving wheel；Central processing unit, wireless data transmitter, kinetic control system, mechanical arm control system, camera and power supply are respectively provided on frame body, and wireless data transmitter and camera are connected with central processing unit respectively.The utility model can adapt to Various Complex terrain environment, can contexture by self route, precisely pick up rubbish simultaneously classify, anti-interference ability is stronger, and robustness is higher, while also having the characteristics that lighting, intelligence, low-power consumption, low cost.
Description
Technical field
The utility model relates to a kind of robot, in particular to a kind of intelligent garbage sorting machine people.
Background technique
Gradually reinforcement with people to environmental consciousness, garbage classification start to attract attention, and people come to realise rubbish
The importance of classification；Along with the development of intelligence science and technology, the application field of robot become larger, how by robot application in
Become the project of more and more scholars research in the work of garbage classification.Currently, most of garbage classification machine people are only to limit
It is cleared up in the classification of rubbish or rubbish, for, the city perfect not enough with the research of the robot of classification ensemble by picking up for rubbish
On face it is many it is existing is all family's sweeping robot, be able to achieve it is simple clean but expensive, be suitable for it is indoor and can not
Outdoor complicated landform is adapted to, and cannot achieve and rubbish position is accurately positioned and distinguishes rubbish type, intelligence degree is lower, no
Complicated landform is coped in energy contexture by self path, does not form a set of independent structural system.Therefore, it is necessary to one kind to possess simply
The garbage sorting robot of physical structure and unique working method, can contexture by self autonomous path movement, adapt to intricately
Shape finds rubbish and picks up rubbish and collects with Accurate classification.
Summary of the invention
The utility model provides a kind of intelligent garbage sorting to solve the problems, such as that garbage sorting robot exists at this stage
Robot.
The utility model includes mechanical arm, classification garbage can, frame body, driving motor, driving wheel, central processing unit, wireless
Data link, kinetic control system, mechanical arm control system, camera and power supply, the mechanical arm and classification garbage can
It is respectively provided at frame body top, driving motor and driving wheel are located at frame body lower part, and the output shaft of driving motor is connected with driving wheel；In
Central processor, wireless data transmitter, kinetic control system, mechanical arm control system, camera and power supply are respectively provided at frame body
On, wireless data transmitter and camera are connected with central processing unit respectively；Wireless data transmitter and host computer carry out wireless
Communication carries out information exchange with host computer.
The kinetic control system includes first processor, motor driver, global position system, gyroscope and infrared
Obstacle avoidance sensor, wherein first processor is connected with central processing unit, motor driver, global position system, gyroscope and red
Outer obstacle avoidance sensor is connected with first processor respectively, and the output end of motor driver is connected with driving motor；
The mechanical arm control system includes second processor and steering engine driver, wherein second processor and centre
It manages device to be connected, steering engine driver is connected with second processor, and the output end of steering engine driver is connected with the steering engine of mechanical arm；
Power supply is controlled with driving motor, central processing unit, kinetic control system, mechanical arm respectively by bleeder circuit
Steering engine in system, camera and mechanical arm is connected, and provides electric energy.
The mechanical arm is two, is respectively provided at the center at left and right sides of frame body top, classification garbage can is located at
Between two mechanical arms, mechanical arm is equipped with mechanical gripper.
The driving wheel is triangle Athey wheel.
The camera is two, is respectively provided at left and right sides of frame body top, on the same line with mechanical arm, two
Camera is connected with central processing unit respectively.
The power supply includes solar panel, battery and power management module, and solar panel is located at frame body
Top, battery is located inside frame body, and solar panel is connected to the battery；Power management module includes third processor
And power switch, wherein third processor is connected with power switch, solar panel and battery respectively, and power switch is located at
On charging circuit between solar panel and battery.
The classification garbage can is three lattice classification garbage cans.
Mechanical arm, wireless data transmitter, gyroscope and IR evading obstacle sensors are the prior art, therefore specific structure
It does not repeat herein.
Working principle of the utility model is:
Firstly, command adapted thereto, such as the final position of input robot are inputted by host computer or peripheral control unit, it will
The command signal is transferred to intelligent garbage sorting machine people, and robot is received by wireless data transmitter and instructed, and instruction is passed
Defeated to arrive central processing unit, central processing unit issues control signal to kinetic control system, path rule is carried out in first processor
It draws, after first processor analysis, exports control signal to motor driver, driving motor operation is controlled by motor driver,
Make robot ambulation；
During robot ambulation, camera carries out image real-time acquisition, and image is passed back to central processing unit, and one
Denier detects that suspicious object, central processing unit transmit a signal to the first processor in kinetic control system, controls robot
Stopping walking, central processing unit carries out image analysis and processing to object again at this time, the identification classification and positioning of object are completed,
The second processor in mechanical arm control system is transferred data to, kind of object and location information are analyzed and handled,
Each steering engine operation on mechanical arm is controlled by steering engine driver and realizes the crawl of object, and the rubbish of pickup is put into correspondence
Classification barrel in, while central processing unit will classify and status information by wireless data transmitter be sent to host computer or
Peripheral control unit realizes human-computer interaction.
The utility model has the beneficial effects that
Compared with prior art, a kind of intelligent garbage sorting machine people provided by the utility model, devises unique machine
Tool structure enhances cruising ability by using the combination of solar panel and battery, passes through hybrid satellite positioning system, top
The data information of spiral shell instrument and IR evading obstacle sensors controls robot on the prescribed route can be with avoiding obstacles and steady
Operation, can work normally in conjunction with camera and triangle Athey wheel in miscellaneous landform and environment.Accurately to control its movement,
Guarantee the positioning of robot in such a way that global position system and gyroscope combine, improves the accurate of robot operation
Degree, uses inverse kinematics in the second processor of mechanical arm control system, and PID scheduling algorithm is grabbed to control the accurate of mechanical arm
It takes, improves the accuracy of positioning classification using SIFI characteristic matching method, K- mean cluster scheduling algorithm in central processing unit.Machine
Device people keeps slowly during traveling, so that camera can collect information existing for object, and in acquisition figure
When information, image information is exported with camera parallel views always, keeps intelligent garbage sorting machine people's anti-interference ability stronger, Shandong
Stick is higher.The utility model also has the spies such as lighting, intelligence, low-power consumption, low cost while realization moves freely
Point, this also determines that the robot can have more actual applications.
Detailed description of the invention
Fig. 1 is the utility model overall structure diagram.
Fig. 2 is the utility model control system architecture schematic diagram.
Fig. 3 is the utility model motion control flow diagram.
Fig. 4 is the utility model image analysis flow diagram.
1, mechanical arm 2, classification garbage can 3, frame body 4, driving motor 5, driving wheel
6, central processing unit 7, wireless data transmitter 8, kinetic control system
9, mechanical arm control system 10, camera 11, power supply 12, first processor
13, motor driver 14, global position system 15, gyroscope
16, IR evading obstacle sensors 17, second processor 18, steering engine driver
19, solar panel 20, battery 21, power management module
22, third processor 23, power switch 24, steering engine.
Specific embodiment
Shown in please referring to Fig.1 to Fig.4:
The utility model includes mechanical arm 1, classification garbage can 2, frame body 3, driving motor 4, driving wheel 5, central processing unit
6, wireless data transmitter 7, kinetic control system 8, mechanical arm control system 9, camera 10 and power supply 11, the mechanical arm
1 and classification garbage can 2 be respectively provided at 3 top of frame body, driving motor 4 and driving wheel 5 are located at 3 lower part of frame body, driving motor 4 it is defeated
Shaft is connected with driving wheel 5；Central processing unit 6, wireless data transmitter 7, kinetic control system 8, mechanical arm control system 9,
Camera 10 and power supply 11 are respectively provided on frame body 3, wireless data transmitter 7 and camera 10 respectively with 6 phase of central processing unit
Even；Wireless data transmitter 7 is communicated wirelessly with host computer, carries out information exchange with host computer.
The kinetic control system 8 includes first processor 12, motor driver 13, global position system 14, gyro
Instrument 15 and IR evading obstacle sensors 16, wherein first processor 12 is connected with central processing unit 6, and IR evading obstacle sensors 16 are located at
3 front end of frame body, motor driver 13, global position system 14, gyroscope 15 and IR evading obstacle sensors 16 respectively with first at
It manages device 12 to be connected, the output end of motor driver 13 is connected with driving motor 4；
The mechanical arm control system 9 includes second processor 17 and steering engine driver 18, wherein second processor 17
It is connected with central processing unit 6, steering engine driver 18 is connected with second processor 17, the output end and mechanical arm of steering engine driver 18
1 steering engine 24 is connected；
Power supply 11 by bleeder circuit respectively with driving motor 4, central processing unit 6, camera 10, kinetic control system 8
In first processor 12 and second processor 17 and steering engine driver 18 in motor driver 13, mechanical arm control system 9
And the steering engine 24 in mechanical arm 1 is connected, and provides electric energy.
The mechanical arm 1 is sixdegree-of-freedom simulation, and the center at left and right sides of 3 top of frame body is symmetrically arranged with two
It is a, keep pickup range bigger, picks up more flexible；Classification garbage can 2 is located between two mechanical arms 1, and mechanical arm 1 is equipped with mechanical gripping
Hand.Sixdegree-of-freedom simulation is existing equipment.
The driving wheel 5 is triangle Athey wheel, and triangle Athey wheel is existing equipment.
The camera 10 is binocular camera, and the outside of mechanical arm 1 is symmetrically arranged with two at left and right sides of frame body top
It is a, on the same line with mechanical arm 1, keep range of observation wider, facilitate the position of positioning rubbish, mechanical arm 1 is made to pick up rubbish
More easily, two cameras 10 are connected with central processing unit 6 respectively, carry out image procossing by central processing unit 6.
The power supply 11 includes solar panel 19, battery 20 and power management module 21, solar panel
19 are located at the top of frame body 3, and battery 20 is located inside frame body 3, and solar panel 19 is connected with battery 20；Power management
Module 21 include third processor 22 and power switch 23, wherein third processor 22 respectively with power switch 23, solar-electricity
Pond plate 19 is connected with battery 20, and power switch 23 is located on the charging circuit between solar panel 19 and battery 20.
The output that power management module 21 passes through the voltage and solar panel 19 of the monitoring analysis battery 20 of third processor 22
Voltage, when the output voltage that 20 voltage of battery does not reach saturation and solar panel 19 reaches threshold value, third processing
Device 22 controls power switch 23 and connects, and charges to battery 20.
The classification garbage can 2 is three lattice classification garbage cans.
The central processing unit 6 is microcomputer, instructs for receiving, handles the image data of binocular camera,
Control kinetic control system 8 and mechanical arm control system 9.The global position system 14 is GPS positioning system.
First processor 12, second processor 17, third processor 22 are all made of ARM embedded microprocessor, ARM insertion
Microsever is existing equipment.
Working principle of the utility model is:
Firstly, command adapted thereto, such as the final position of input robot are inputted by host computer or peripheral control unit, it will
The command signal is transferred to intelligent garbage sorting machine people, and robot receives instruction by wireless data transmitter 7, and instruction is passed
The defeated central processing unit 6 that arrives is microcomputer, and central processing unit 6 issues control signal to kinetic control system 8, in the first processing
GPS path planning is carried out in device 12, after first processor 12 is analyzed, is exported control signal to motor driver 13, is passed through motor
Driver 13 controls driving motor 4 and runs, and makes robot ambulation；
During robot ambulation, first processor 12 analyzes global position system 14, gyroscope 15 and infrared obstacle avoidance
The data of sensor 16 carry out evading roadblock, stablize traveling, and binocular camera carries out image real-time acquisition, and image is passed back to
Central processing unit 6, once detecting suspicious object, central processing unit 6 is transmitted a signal at first in kinetic control system 8
Device 12 is managed, control robot stops walking, and central processing unit 6 carries out image analysis and processing to object again at this time, uses
SIFI characteristic matching method, K- mean cluster scheduling algorithm position the accuracy of classification to improve, and complete the identification classification of object and determine
Position, transfers data to the second processor 17 in mechanical arm control system 9, by Arithmetic of inverse kinematics and pid algorithm pair
Kind of object and location information are analyzed and are handled, and are controlled each steering engine 24 on mechanical arm 1 by steering engine driver 18 and are transported
Row realizes the crawl of object, and the rubbish of pickup is put into corresponding classification garbage can 2, while central processing unit 6 will classify
And status information is sent to host computer or peripheral control unit by wireless data transmitter 7, realizes human-computer interaction.
Claims (7)
1. a kind of intelligent garbage sorting machine people, it is characterised in that: including mechanical arm, classification garbage can, frame body, driving motor,
Driving wheel, central processing unit, wireless data transmitter, kinetic control system, mechanical arm control system, camera and power supply；
The mechanical arm and classification garbage can is respectively provided at frame body top, and driving motor and driving wheel are located at frame body lower part, drives
The output shaft of dynamic motor is connected with driving wheel；Central processing unit, wireless data transmitter, kinetic control system, mechanical arm control
System, camera and power supply are respectively provided on frame body, and wireless data transmitter and camera are connected with central processing unit respectively；
The kinetic control system includes first processor, motor driver, global position system and gyroscope, wherein first
Processor is connected with central processing unit, and motor driver, global position system and gyroscope are connected with first processor respectively, electricity
The output end of machine driver is connected with driving motor；
The mechanical arm control system includes second processor and steering engine driver, wherein second processor and central processing unit
It is connected, steering engine driver is connected with second processor, and the output end of steering engine driver is connected with the steering engine of mechanical arm；
Power supply by bleeder circuit respectively with driving motor, central processing unit, kinetic control system, mechanical arm control system, take the photograph
As the steering engine in head and mechanical arm is connected, and electric energy is provided.
2. a kind of intelligent garbage sorting machine people according to claim 1, it is characterised in that: the mechanical arm is two
Sixdegree-of-freedom simulation is respectively provided at the center at left and right sides of frame body top, and classification garbage can is located between two mechanical arms,
Mechanical arm is equipped with mechanical gripper.
3. a kind of intelligent garbage sorting machine people according to claim 1, it is characterised in that: the driving wheel is triangle
Athey wheel.
4. a kind of intelligent garbage sorting machine people according to claim 1, it is characterised in that: the camera is two
Binocular camera is respectively provided at left and right sides of frame body top, on the same line with mechanical arm, two cameras respectively with center
Processor is connected.
5. a kind of intelligent garbage sorting machine people according to claim 1, it is characterised in that: the power supply includes the sun
Energy solar panel, battery and power management module, solar panel are located at the top of frame body, and battery is located inside frame body,
Solar panel is connected to the battery；Power management module includes third processor and power switch, wherein third processor
It is connected respectively with power switch, solar panel and battery, power switch is located between solar panel and battery
Charging circuit on.
6. a kind of intelligent garbage sorting machine people according to claim 1, it is characterised in that: the classification garbage can is
Three lattice classification garbage cans.
7. a kind of intelligent garbage sorting machine people according to claim 1, it is characterised in that: the kinetic control system
It further include IR evading obstacle sensors, IR evading obstacle sensors are connected with first processor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821838091.6U CN208914092U (en) | 2018-11-09 | 2018-11-09 | A kind of intelligent garbage sorting machine people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821838091.6U CN208914092U (en) | 2018-11-09 | 2018-11-09 | A kind of intelligent garbage sorting machine people |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208914092U true CN208914092U (en) | 2019-05-31 |
Family
ID=66711878
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821838091.6U Expired - Fee Related CN208914092U (en) | 2018-11-09 | 2018-11-09 | A kind of intelligent garbage sorting machine people |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208914092U (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110442140A (en) * | 2019-08-19 | 2019-11-12 | 大连海事大学 | One kind can the learning-oriented unmanned vehicle control of garbage classification |
| CN110884797A (en) * | 2019-11-25 | 2020-03-17 | 金陵科技学院 | Environment-friendly garbage collecting and picking equipment on construction site and pretreatment method of plastic garbage |
| CN111469131A (en) * | 2020-05-10 | 2020-07-31 | 上海大学 | Unmanned ship water surface garbage cleaning control system and method with mechanical arm |
| CN111844042A (en) * | 2020-07-27 | 2020-10-30 | 苏州索亚机器人技术有限公司 | Rubbish letter sorting robot based on vision |
| CN112207845A (en) * | 2020-11-06 | 2021-01-12 | 天津科技大学 | Robot for automatically sorting, transporting and putting garbage |
| CN112246687A (en) * | 2020-10-22 | 2021-01-22 | 荆楚理工学院 | Garbage classification trolley |
| CN112589766A (en) * | 2020-12-02 | 2021-04-02 | 浙江博城机器人科技有限公司 | Automatic patrol garbage recognition and sorting robot for roads |
| CN112975892A (en) * | 2020-12-10 | 2021-06-18 | 南昌航空大学 | Intelligent cleaning trolley |
| CN113083702A (en) * | 2021-03-10 | 2021-07-09 | 浙江博城机器人科技有限公司 | Rubbish letter sorting machine based on machine vision |
| CN113089553A (en) * | 2021-03-17 | 2021-07-09 | 浙江博城机器人科技有限公司 | Garbage sorting method based on machine vision |
| CN113183138A (en) * | 2021-04-26 | 2021-07-30 | 上海锵玫人工智能科技有限公司 | Garbage carrying and sorting robot and control method thereof |
-
2018
- 2018-11-09 CN CN201821838091.6U patent/CN208914092U/en not_active Expired - Fee Related
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110442140A (en) * | 2019-08-19 | 2019-11-12 | 大连海事大学 | One kind can the learning-oriented unmanned vehicle control of garbage classification |
| CN110884797A (en) * | 2019-11-25 | 2020-03-17 | 金陵科技学院 | Environment-friendly garbage collecting and picking equipment on construction site and pretreatment method of plastic garbage |
| CN111469131A (en) * | 2020-05-10 | 2020-07-31 | 上海大学 | Unmanned ship water surface garbage cleaning control system and method with mechanical arm |
| CN111844042A (en) * | 2020-07-27 | 2020-10-30 | 苏州索亚机器人技术有限公司 | Rubbish letter sorting robot based on vision |
| CN112246687A (en) * | 2020-10-22 | 2021-01-22 | 荆楚理工学院 | Garbage classification trolley |
| CN112207845A (en) * | 2020-11-06 | 2021-01-12 | 天津科技大学 | Robot for automatically sorting, transporting and putting garbage |
| CN112589766A (en) * | 2020-12-02 | 2021-04-02 | 浙江博城机器人科技有限公司 | Automatic patrol garbage recognition and sorting robot for roads |
| CN112975892A (en) * | 2020-12-10 | 2021-06-18 | 南昌航空大学 | Intelligent cleaning trolley |
| CN113083702A (en) * | 2021-03-10 | 2021-07-09 | 浙江博城机器人科技有限公司 | Rubbish letter sorting machine based on machine vision |
| CN113089553A (en) * | 2021-03-17 | 2021-07-09 | 浙江博城机器人科技有限公司 | Garbage sorting method based on machine vision |
| CN113183138A (en) * | 2021-04-26 | 2021-07-30 | 上海锵玫人工智能科技有限公司 | Garbage carrying and sorting robot and control method thereof |
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