CN210181476U - Garbage bin clearance AGV dolly control system - Google Patents
Garbage bin clearance AGV dolly control system Download PDFInfo
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- CN210181476U CN210181476U CN201921181327.8U CN201921181327U CN210181476U CN 210181476 U CN210181476 U CN 210181476U CN 201921181327 U CN201921181327 U CN 201921181327U CN 210181476 U CN210181476 U CN 210181476U
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Abstract
Garbage bin clearance AGV dolly control system belongs to rubbish clearance technical field, the utility model discloses a solve present rubbish clearance and mostly be artifical clearance, and the clearance task operating condition of garbage bin is poor, the serious problem of artifical shortage. The garbage truck is provided with a main control module which is respectively and electrically connected with the track acquisition module, the power supply module, the garbage can lifting and overturning device, the parking indication module, the obstacle avoidance module, the full load reminding module and the wireless module; the main control module is used for processing the information acquired by the track acquisition module, controlling the garbage truck to run, avoid obstacles and stop, sending an instruction, controlling the garbage can to lift the turnover device to load garbage in the garbage can into the garbage truck, receiving the instruction at any time through the wireless module, and uploading information whether the garbage truck is fully loaded or not. The utility model discloses a garbage bin clearance AGV dolly control system can replace artifical clearance, 24 hours uninterrupted duty.
Description
Technical Field
The utility model relates to a control system, concretely relates to garbage bin clearance AGV dolly control system belongs to rubbish clearance technical field.
Background
The electric garbage truck is a quick electric environment-friendly truck, is suitable for being used in communities and the like, relieves the labor intensity of sanitation workers, improves the working efficiency and improves the good image of urban environment protection and energy conservation. The electric garbage collection and transportation vehicle can be used for urban environmental protection construction, road garbage treatment, community property cleaning, garbage collection and transportation of golf courses, stadiums, schools, amusement parks, beaches, parks, tourist attractions and the like, but the prior garbage truck still needs manual driving, the garbage can is lifted to a certain height by the lifter when collecting garbage, then dumping the garbage in the garbage can into the garbage truck carriage, then driving to the next place for collecting, in the process, the operation is carried out manually no matter the garbage truck is driven or the garbage can is loaded and dumped, but the garbage in the garbage can is mixed, the working environment is severe, fewer and fewer people are willing to carry out the work, the working cost is continuously increased, moreover, manual operation has certain danger, and a worker needs to pay certain physical labor, so that an automatic garbage can cleaning vehicle is urgently needed.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a garbage bin clearance AGV dolly control system to solve present rubbish clearance and mostly be artifical clearance, and the clearance task operating condition of garbage bin is poor, the serious problem of artifical shortage.
The garbage can cleaning AGV trolley control system comprises a garbage truck, a garbage can lifting and overturning device is arranged on the garbage truck, a main control module is arranged on the garbage truck, and the main control module is electrically connected with a track acquisition module, a power supply module, the garbage can lifting and overturning device, a parking indication module, an obstacle avoidance module, a full load reminding module and a wireless module respectively;
the main control module is used for processing the information acquired by the track acquisition module, controlling the garbage truck to run, avoid obstacles and stop, sending an instruction at the same time, controlling the garbage can lifting and overturning device to load garbage in the garbage can into the garbage truck, receiving the instruction at any time through the wireless module and uploading information whether the vehicle is fully loaded or not;
the track acquisition module is used for acquiring a preset guidance tape image on the road surface;
the power supply module supplies power to the main control module, the track acquisition module, the parking indication module, the obstacle avoidance module, the full load reminding module and the wireless module;
the parking indication module is used for parking the garbage truck at a specified position;
the obstacle avoidance module is used for avoiding obstacles on a driving route;
the full-load reminding module is used for controlling the loading capacity of the garbage truck;
the wireless module is used for receiving the background monitoring instruction and uploading real-time information of the vehicle.
Preferably: the track acquisition module is an OV7725 camera.
Preferably: the power supply is a vehicle-mounted storage battery which supplies power to the garbage truck and the control system simultaneously.
Preferably: the main control module is an STM32 singlechip.
Preferably: the obstacle avoidance module is a Simaran RPLIDAR-A3360-degree scanning range finder.
The preferred full-load reminding module is a PVDF thin film LDT0-028K vibration sensor produced by Shenzhen microprocessing electronics Limited.
Preferably: the garbage truck comprises a truck body, a garbage can lifting and overturning device, a camera and a parking conductor switch;
one side of the vehicle body is provided with a garbage can lifting and overturning device, and the camera and the parking conductor switch are sequentially arranged at the bottom of the vehicle body.
The utility model discloses compare with current product and have following effect:
the invention is used for replacing the manual garbage can cleaning work. The roadside trash can unmanned cleaning function is realized. Alleviate the workman's of keeping a public place clean the amount of labour, improve garbage bin clearance efficiency, can go along the orbit of setting for under the unsupervised condition, when rubbish clearance dolly goes to every garbage bin face, can meet specially designed parking indicator, accurately stops in garbage bin the place ahead, utilizes the arm in dolly self area, lifts up the garbage bin and pours rubbish into the dolly fill. Realize unmanned garbage bin clearance function, the dolly detects car hopper residual capacity and electric quantity at any time when driving, prevents to be fully loaded with and overflows and the no electric state, and unmanned driving is a big characteristics of AGV dolly, can guarantee to go normally and keep away the barrier, and local area network wiFi or removal data networking mode can be connected to the automobile body, feeds back the self condition to the supervision backstage. The background can also manually operate the running state of the trolley according to the actual situation. Compare present manual driving garbage truck clearance mode, reduce the human cost. The invention is suitable for regional environments such as schools, communities, companies and the like. The improvement is less, and the environment is hardly influenced; the garbage bin clearance dolly is used for replacing artifical clearance garbage truck, reduces the human cost. The work is carried out for 24 hours, the interference of the night environment is small, and the work is more suitable for the night work. The parking indication switch is arranged, so that the parking is more accurate, and complex technologies such as a GPS (global positioning system) are not needed. Automatic transformation is integrated in the dolly, does not need to transform garbage bin etc. by a large scale. The optical guide is convenient to install and has strong environment adaptability
Drawings
FIG. 1 is a system block diagram of a garbage can cleaning AGV cart control system;
fig. 2 is a bottom view of the garbage truck.
In the figure: 1-vehicle body, 2-garbage bin lifting and overturning device, 3-camera and 4-parking conductor switch.
Detailed Description
Preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
As shown in fig. 1 and 2, the AGV trolley control system for cleaning garbage cans according to the present invention includes a garbage truck, a garbage can lifting and tipping device is disposed on the garbage truck, a main control module is disposed on the garbage truck, and the main control module is electrically connected to a track acquisition module, a power supply module, a garbage can lifting and tipping device, a parking indication module, an obstacle avoidance module, a full load reminding module and a wireless module respectively;
the main control module is used for processing the information acquired by the track acquisition module, controlling the garbage truck to run, avoid obstacles and stop, sending an instruction at the same time, controlling the garbage can lifting and overturning device to load garbage in the garbage can into the garbage truck, receiving the instruction at any time through the wireless module and uploading information whether the vehicle is fully loaded or not;
the track acquisition module is used for acquiring a preset guidance tape image on the road surface;
the power supply module supplies power to the main control module, the track acquisition module, the parking indication module, the obstacle avoidance module, the full load reminding module and the wireless module;
the parking indication module is used for parking the garbage truck at a specified position;
the obstacle avoidance module is used for avoiding obstacles on a driving route;
the full-load reminding module is used for controlling the loading capacity of the garbage truck;
the wireless module is used for receiving background monitoring instructions and uploading real-time information of the vehicle, can be arranged at the top of the vehicle body, adopts WiFi or network card to send self conditions to background monitoring in real time, and can receive and execute control messages sent by the background.
Further: the track acquisition module is an OV7725 camera.
Further: the power supply is a vehicle-mounted storage battery which supplies power to the garbage truck and the control system simultaneously.
Further: the main control module is the STM32 singlechip, STM32 singlechip, is 32 bit singlechips, reaches up to 8 timers, and every timer has to reach up to four passageways and incremental encoder input that are used for catching/output comparison PWM or pulse count, and the throughput is strong, the ultra-low power consumption to advantages such as the arithmetic speed is fast, fine satisfied this design requirement.
Further: keep away the barrier module, adopt 6 ultrasonic wave modules, install around the automobile body, park when the automobile body meets the barrier, leave to continue the task until the barrier, parking time can sound warning surrounding environment as early as possible to leave for a long time. The obstacle avoidance module is a Simaran RPLIDAR-A3360-degree scanning range finder.
Further: full-load reminding module adopts pressure sensor, sets up in garbage truck carriage bottom, and full-load sensor sends alarm signal to the dolly, and the dolly stops the task after receiving the signal, runs to the assigned position and emptys car hopper rubbish, handles these rubbish by the sanitationman, and the dolly continues the return journey and carries out the remaining task, and full-load reminding module is the PVDF film LDT0-028K vibration sensor of production of Shenzhen fine technology electron Limited company.
Further: the garbage truck comprises a truck body 1, a garbage can lifting and overturning device 2, a camera 3 and a parking conductor switch 4;
one side of automobile body 1 is equipped with garbage bin promotion turnover device 2, camera 3 sets gradually in 1 bottom of automobile body with parking conductor switch 4, parking conductor switch 4 is one kind and installs bellied conductor thing piece on garbage bin the place ahead dolly path of traveling, can be the copper billet, steel billet or other conductive metal piece, meet the indicator when the dolly traveles and can contact rather than, because the conductor is electrically conductive the nature can be closed the dolly and stop the interrupt flag bit circuit, the dolly after triggering the interrupt can stop at once, garbage bin promotion turnover device 2 adopts two degree of freedom arms, empty the garbage bin, this arm can adopt the application number: the garbage truck can be a garbage truck disclosed in patent documents CN200920000262.2, CN200920053307.2, CN201811497334.9 and CN201320036534.0, or any other garbage truck already put on the market that can reverse the garbage can.
The working principle is as follows:
the utility model discloses a garbage cleaning AGV dolly is used electricity as power, raspberry group is main control chip, reflective tape and sensitization area have been pasted on ground, adopt typewriter ribbon image signal through grey scale and binarization conversion by installing the camera on chassis, keep the dolly to travel along the guide rail under algorithm control, the camera adopts track image signal to carry out simple processing and guide promptly, stop indication switch is responsible for letting the car stop before the garbage bin, the garbage bin promotes to overturn the device and is responsible for the garbage bin and emptys, ultrasonic module is used for detecting the automobile body barrier, effectively keep away the barrier. The WiFi module is responsible for being in contact with the background to send self conditions and receive background control signals, the electric quantity detection module feeds back electric quantity in time, and when the electric quantity is low, the trolley interrupts tasks and runs to a specified track position to be charged. The pressure sensor is used for detecting whether the hopper is fully loaded, interrupting a task when the full-loaded trolley runs to a specified position of a track, throwing garbage in the hopper and continuing the task. The reflective belt and the photosensitive belt are installed on the outside ground. The system is provided with a GPS positioning system, and the background is responsible for setting a cleaning starting point and a cleaning end point, and scheduling and changing tasks.
This embodiment is only illustrative of the patent and does not limit the scope of protection thereof, and those skilled in the art can make modifications to its part without departing from the spirit of the patent.
Claims (7)
1. Garbage bin clearance AGV dolly control system, including the garbage truck, be equipped with the garbage bin on the garbage truck and promote turnover device, its characterized in that: the garbage truck is provided with a main control module which is respectively and electrically connected with the track acquisition module, the power supply module, the garbage can lifting and overturning device, the parking indication module, the obstacle avoidance module, the full load reminding module and the wireless module;
the main control module is used for processing the information acquired by the track acquisition module, controlling the garbage truck to run, avoid obstacles and stop, sending an instruction at the same time, controlling the garbage can lifting and overturning device to load garbage in the garbage can into the garbage truck, receiving the instruction at any time through the wireless module and uploading information whether the vehicle is fully loaded or not;
the track acquisition module is used for acquiring a preset guidance tape image on a road surface;
the power supply module supplies power to the main control module, the track acquisition module, the parking indication module, the obstacle avoidance module, the full load reminding module and the wireless module;
the parking indication module is used for parking the garbage truck at a specified position;
the obstacle avoidance module is used for avoiding obstacles on a driving route;
the full-load reminding module is used for controlling the load capacity of the garbage truck;
the wireless module is used for receiving a background monitoring instruction and uploading real-time information of the vehicle.
2. The trash can cleaning AGV car control system of claim 1, characterized in that: the track acquisition module is an OV7725 camera.
3. The trash can cleaning AGV car control system of claim 1, characterized in that: the power supply is a vehicle-mounted storage battery which supplies power to the garbage truck and the control system simultaneously.
4. The trash can cleaning AGV car control system of claim 1, characterized in that: the main control module is an STM32 single chip microcomputer.
5. The trash can cleaning AGV car control system of claim 1, characterized in that: the obstacle avoidance module is a Silan RPLIDAR-A3360-degree scanning range finder.
6. The trash can cleaning AGV car control system of claim 1, characterized in that: the full-load reminding module is a PVDF film LDT0-028K vibration sensor produced by Shenzhen microprotrusion technology electronics Limited company.
7. The trash can cleaning AGV car control system of claim 1, characterized in that: the garbage truck comprises a truck body (1), a garbage can lifting and overturning device (2), a camera (3) and a parking conductor switch (4);
one side of the vehicle body (1) is provided with a garbage can lifting and overturning device (2), and the camera (3) and the parking conductor switch (4) are sequentially arranged at the bottom of the vehicle body (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921181327.8U CN210181476U (en) | 2019-07-25 | 2019-07-25 | Garbage bin clearance AGV dolly control system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921181327.8U CN210181476U (en) | 2019-07-25 | 2019-07-25 | Garbage bin clearance AGV dolly control system |
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| CN210181476U true CN210181476U (en) | 2020-03-24 |
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| CN201921181327.8U Expired - Fee Related CN210181476U (en) | 2019-07-25 | 2019-07-25 | Garbage bin clearance AGV dolly control system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113778098A (en) * | 2021-09-16 | 2021-12-10 | 福建龙马环卫装备股份有限公司 | Control method for automatic obstacle avoidance of compression type garbage truck |
-
2019
- 2019-07-25 CN CN201921181327.8U patent/CN210181476U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113778098A (en) * | 2021-09-16 | 2021-12-10 | 福建龙马环卫装备股份有限公司 | Control method for automatic obstacle avoidance of compression type garbage truck |
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20200826 Address after: 710600 Lintong campus, Xi'an University of science and technology, No. 48, Shaangu Avenue, Xiekou street, Lintong District, Xi'an City, Shaanxi Province Patentee after: XI'AN University OF SCIENCE AND TECHNOLOGY Address before: 710600 Lintong campus, Xi'an University of science and technology, No. 48, Shaangu Avenue, Xiekou street, Lintong District, Xi'an City, Shaanxi Province Patentee before: Cheng Xiaoya |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200324 Termination date: 20210725 |