CN211472331U - Garbage cleaning vehicle - Google Patents
Garbage cleaning vehicle Download PDFInfo
- Publication number
- CN211472331U CN211472331U CN201921530269.5U CN201921530269U CN211472331U CN 211472331 U CN211472331 U CN 211472331U CN 201921530269 U CN201921530269 U CN 201921530269U CN 211472331 U CN211472331 U CN 211472331U
- Authority
- CN
- China
- Prior art keywords
- rubbish
- recognition device
- garbage
- laser radar
- personal computer
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 239000010813 municipal solid waste Substances 0.000 title claims abstract description 73
- 238000004140 cleaning Methods 0.000 title claims abstract description 39
- 230000005611 electricity Effects 0.000 abstract description 3
- 230000005540 biological transmission Effects 0.000 abstract 1
- 238000000034 method Methods 0.000 description 13
- 241001417527 Pempheridae Species 0.000 description 4
- 239000000428 dust Substances 0.000 description 4
- 238000013461 design Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Images
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The utility model belongs to the technical field of the clearance machinery, a rubbish clearance car is disclosed, rubbish clearance car is including removing the base and setting up the industrial computer on removing the base, laser radar, recognition device and snatching the mechanism, laser radar, recognition device and snatch the mechanism and all be connected with the industrial computer electricity, it sets up in the front side of removing the base to snatch the mechanism, laser radar is configured to carry out route planning and navigation, recognition device is configured to discernment and removes the rubbish and transmission signal to the industrial computer of base advancing direction front side, the industrial computer is configured to drive and removes the base and remove and drive snatchs the mechanism and snatch rubbish. This rubbish cleaning cart can be to patrolling work area comprehensively effectively, picks up the rubbish in the work area voluntarily, avoids the manpower consumption.
Description
Technical Field
The utility model relates to a cleaning machines technical field especially relates to a rubbish cleaning cart based on mobile robot.
Background
With the development of social economy, the progress of science and technology, artificial intelligence is more and more popular, and small-size cleaning robot can only clear up dust etc. usually at present, needs the manual work to clear up to great rubbish, especially clears up the rubbish in the great regional scope, for example the clearance of square rubbish still can not solve well.
At present, the methods for recovering the large garbage in the square mainly comprise the following steps:
1. and (5) manually recovering. That is, only hands are used, and the hands are stretched and stooped to pick up waste bottles, which is the most used soil method at present. The method does not need to purchase equipment and has low cost, but the disadvantages are obvious: the picking efficiency is low, the picking needs to be stooped to pick every time, the workload for people is large, and the efficiency is low.
2. By means of a pick-up clamp. The picking method does not need to bend down, but for a large square, the whole square is cleaned in a manual walking mode, the labor is consumed, and the efficiency is not high.
3. An industrial hand cleaner is used. The method is to push a large-sized dust collector to clean the whole square through manpower, but the industrial hand-push type dust collector in the market at present has larger volume, the suction force is not enough to absorb larger garbage such as bottles and cans, and the manpower is consumed to push, so that the efficiency is low for cleaning one large square.
4. A domestic small cleaning robot is used. The method does not need to consume manpower, but is still imperfect in technology at present, only small garbage such as paper scraps can be cleaned, and larger garbage such as bottles and cans cannot be cleaned.
5. A small garbage sweeper. The method is changed into a method for cleaning the whole square by manually driving the garbage sweeper. The garbage sweeper sucks and sweeps garbage into the garbage sweeper through the rotation of a circular sweeping disc of the head and a dust suction pump. The product is mainly used for cleaning road garbage due to higher cost, market positioning during initial design and the like. In addition, because of the defects of high oil consumption, high noise and the like, the cleaning device is not suitable for cleaning squares.
Therefore, it is necessary to design a garbage cleaning vehicle capable of automatically picking up garbage.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a rubbish cleaning cart can automize and pick up rubbish.
To achieve the purpose, the utility model adopts the following technical proposal: a garbage cleaning vehicle comprises a mobile base, an industrial personal computer, a laser radar, a recognition device and a grabbing mechanism, wherein the industrial personal computer, the laser radar, the recognition device and the grabbing mechanism are arranged on the mobile base and are electrically connected with the industrial personal computer; the recognition device is a Kinect depth camera.
Preferably, the gripping mechanism is a robotic arm.
Preferably, the garbage cleaning vehicle further comprises a support arranged on the movable base, the laser radar and the recognition device are arranged on the support, and the recognition device is positioned on the front side of the top of the support.
Preferably, the mobile base comprises a main body, a plurality of wheels rotatably connected to the bottom of the main body, and a driver arranged at the bottom of the main body, wherein the driver is connected with the wheels to drive the wheels to move or turn, and the driver is electrically connected with the industrial personal computer.
Preferably, the garbage cleaning vehicle further comprises an emergency stop switch, the emergency stop switch is arranged on the main body, and the emergency stop switch is electrically connected with the driver.
The utility model has the advantages that: the utility model provides a rubbish cleaning cart, rubbish cleaning cart carry out path planning and navigation through laser radar, remove the rubbish of base advancing direction front side and transmit signal to industrial computer through recognition device discernment, and the industrial computer drive is removed the base and is removed and the drive snatchs the mechanism and snatch rubbish. This rubbish cleaning cart can be to patrolling work area comprehensively effectively, picks up the rubbish in the work area voluntarily, avoids the manpower consumption.
Drawings
Fig. 1 is a schematic structural view of the garbage cleaning vehicle provided by the present invention.
In the figure: 1-moving the base; 11-a body; 12-a wheel; 13-a driver; 2-an industrial personal computer; 3-laser radar; 4-a recognition device; 5-a grabbing mechanism; 6-a scaffold; 7-emergency stop switch; 8-storage battery.
Detailed Description
The technical solution of the present invention is further explained by the following embodiments with reference to the accompanying drawings.
The embodiment provides a rubbish cleaning cart, as shown in fig. 1, this rubbish cleaning cart is including moving base 1 and setting up industrial computer 2 on moving base 1, laser radar 3, recognition device 4 and snatching mechanism 5, laser radar 3, recognition device 4 and snatch mechanism 5 and all be connected with industrial computer 2 electricity, it sets up in the front side of moving base 1 to snatch mechanism 5, laser radar 3 is configured to carry out route planning and navigation, recognition device 4 is configured to discernment and moves the rubbish of 1 advancing direction front side of base and transmits signal to industrial computer 2, industrial computer 2 is configured to drive and moves base 1 and remove and drive and snatch mechanism 5 and snatch rubbish.
The garbage cleaning vehicle carries out path planning and navigation through the laser radar 3, recognizes garbage on the front side of the advancing direction of the moving base 1 through the recognition device 4, transmits a signal to the industrial personal computer 2, and the industrial personal computer 2 drives the moving base 1 to move and drives the grabbing mechanism 5 to grab the garbage. This rubbish cleaning cart can be to patrolling work area comprehensively effectively, picks up the rubbish in the work area voluntarily, avoids the manpower consumption.
The recognition device 4 is a Kinect depth camera. The Kinect depth camera can effectively identify rubbish within a certain range, and simultaneously identifies the distance from the rubbish. Because recognition device 4 is connected with industrial computer 2 electricity, Kinect degree of depth camera can be with information transfer to industrial computer 2 of discerning rubbish, and industrial computer 2 control snatchs mechanism 5 and snatchs fixed point rubbish afterwards.
The gripping mechanism 5 is a mechanical arm. The mechanical arm has a large moving range and good flexibility, and can realize fixed-point garbage grabbing under the control of the industrial personal computer 2. In addition, the gripping mechanism 5 may also be a cylinder jaw structure.
Garbage cleaning vehicle is still including setting up support 6 on moving base 1, and laser radar 3 and recognition device 4 all set up on support 6, and recognition device 4 is located the top front side of support 6. The support 6 is used for supporting the laser radar 3 and the recognition device 4, and erecting the laser radar 3 and the recognition device 4 at a certain height, so that the laser radar 3 can plan and navigate the path of a working area conveniently, and the recognition device 4 can search the front area conveniently.
The mobile base 1 comprises a main body 11, a plurality of wheels 12 rotatably connected to the bottom of the main body 11, and a driver 13 arranged at the bottom of the main body 11, wherein the driver 13 is connected with the wheels 12 to drive the wheels 12 to move or turn, and the driver 13 is electrically connected with the industrial personal computer 2. The industrial personal computer 2 can control the driver 13 to act so as to drive the wheels 12 to move, turn or stop, and further control the movement path of the mobile base 1.
The garbage cleaning vehicle further comprises an emergency stop switch 7, the emergency stop switch 7 is arranged on the main body 11, and the emergency stop switch 7 is electrically connected with the driver 13. The emergency stop switch 7 may be installed on the right edge of the main body 11 for braking in an emergency, improving safety.
The rubbish cleaning cart still includes battery 8, and industrial computer 2, laser radar 3, recognition device 4, snatch mechanism 5 and driver 13 all connect in battery 8, and battery 8 is used for providing electric power to industrial computer 2, laser radar 3, recognition device 4, snatch mechanism 5 and driver 13 to satisfy the operating condition of rubbish cleaning cart.
The embodiment also provides a garbage cleaning method, and the garbage cleaning method adopts the garbage cleaning vehicle. The garbage cleaning method comprises the following steps:
step 1: the laser radar 3 builds a map of a working area to be cleaned and transmits the map to the industrial personal computer 2, and the industrial personal computer 2 controls the garbage cleaning vehicle to patrol according to the map of the working area;
step 2: the recognition device 4 searches for the garbage in the working area in real time;
and step 3: the industrial personal computer 2 controls the grabbing mechanism 5 to grab the garbage;
and 4, step 4: the industrial personal computer 2 controls the garbage cleaning vehicle to patrol until the recognition device 4 searches the garbage can and transmits information to the industrial personal computer 2;
and 5: the industrial personal computer 2 controls the grabbing mechanism 5 to place the grabbed garbage into the garbage can;
and (5) circulating the steps 2-5 until the cleaning work is finished.
The laser radar 3 in the step 1 is used for drawing a work area required to be cleaned and transmitting the drawing to the industrial personal computer 2, and the drawing comprises the following steps:
step 11: drawing a working area to be cleaned to generate a global map;
step 12: the laser radar 3 collects real-time data to generate a local map, the local map is matched with a global map, and the current position information of the garbage cleaning vehicle is obtained;
step 13: path planning and navigation is performed by the lidar 3.
The method also comprises the following steps between the step 2 and the step 3: the recognition device 4 calculates the distance to the searched garbage and feeds the distance back to the industrial personal computer 2.
The garbage cleaning method can effectively and comprehensively patrol the working area, automatically pick up garbage in the working area and avoid manpower consumption.
It is obvious that the above embodiments of the present invention are only examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (5)
1. The garbage cleaning vehicle is characterized by comprising a mobile base (1), an industrial personal computer (2), a laser radar (3), a recognition device (4) and a grabbing mechanism (5), wherein the industrial personal computer (2), the laser radar (3), the recognition device (4) and the grabbing mechanism (5) are arranged on the mobile base (1), the industrial personal computer (2) is electrically connected with the laser radar (3), the grabbing mechanism (5) is arranged on the front side of the mobile base (1), the laser radar (3) is configured to perform path planning and navigation, the recognition device (4) is configured to recognize garbage on the front side of the travelling direction of the mobile base (1) and transmit signals to the industrial personal computer (2), and the industrial personal computer (2) is configured to drive the mobile base (1) to move and drive the grabbing mechanism (5) to grab the garbage; the recognition device (4) is a Kinect depth camera.
2. A refuse disposal vehicle according to claim 1, characterized in that the gripping mechanism (5) is a robot arm.
3. A refuse collection vehicle according to claim 1, characterized in that it further comprises a support (6) arranged on the mobile base (1), the lidar (3) and the identification device (4) being arranged on the support (6), the identification device (4) being located on the top front side of the support (6).
4. The garbage disposal vehicle of claim 1, wherein the mobile base (1) comprises a main body (11), a plurality of wheels (12) rotatably connected to the bottom of the main body (11), and a driver (13) arranged at the bottom of the main body (11), wherein the driver (13) is connected with the wheels (12) to drive the wheels (12) to move or turn, and the driver (13) is electrically connected with the industrial personal computer (2).
5. A refuse collection vehicle according to claim 4, characterized in that it further comprises a crash stop switch (7), the crash stop switch (7) being arranged on the main body (11), the crash stop switch (7) being electrically connected to the drive (13).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921530269.5U CN211472331U (en) | 2019-09-16 | 2019-09-16 | Garbage cleaning vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921530269.5U CN211472331U (en) | 2019-09-16 | 2019-09-16 | Garbage cleaning vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211472331U true CN211472331U (en) | 2020-09-11 |
Family
ID=72370768
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921530269.5U Expired - Fee Related CN211472331U (en) | 2019-09-16 | 2019-09-16 | Garbage cleaning vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211472331U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110485345A (en) * | 2019-09-16 | 2019-11-22 | 福建工程学院 | A kind of garbage cleaning vehicle and rubbish method for cleaning |
-
2019
- 2019-09-16 CN CN201921530269.5U patent/CN211472331U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110485345A (en) * | 2019-09-16 | 2019-11-22 | 福建工程学院 | A kind of garbage cleaning vehicle and rubbish method for cleaning |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110485345A (en) | A kind of garbage cleaning vehicle and rubbish method for cleaning | |
| CN205530067U (en) | Road is motor sweeper independently based on laser and vision | |
| CN210507257U (en) | Environment-friendly cleaning device | |
| CN101579857B (en) | Automatic ball-picking robot | |
| CN110142265A (en) | A kind of wireless pipe cleaning robot | |
| CN211472331U (en) | Garbage cleaning vehicle | |
| CN110436093A (en) | A kind of rubbish cleaning classification vehicle and rubbish clear up classification method | |
| CN201386265Y (en) | Multifunctional sanitation cleaning garbage truck | |
| CN104090574A (en) | Intelligent environment cleaning machine | |
| CN112796263A (en) | Automatic cleaning robot | |
| CN211469602U (en) | Garbage cleaning and classifying vehicle | |
| CN103966962B (en) | Magnetic coupling high-effect long distance transferring robot wipes ground machine | |
| CN210823833U (en) | Intelligent sanitation robot | |
| CN214187163U (en) | A rubbish picks up robot for scenic spot | |
| CN112550990A (en) | Intelligent garbage transfer robot capable of collecting garbage at each floor of building, intelligent garbage temporary storage box frame and control system of intelligent garbage temporary storage box frame | |
| CN112942217A (en) | Leaf cleaning system for combined primary and secondary vehicles | |
| CN211406883U (en) | Automatic tea-picking device | |
| CN217118314U (en) | Commercial cleaning machines people of multi-functional integration | |
| CN106760627A (en) | A kind of intelligent robot road garbage cleaning car | |
| CN211030019U (en) | Multifunctional cleaning robot for residential area | |
| CN110789888A (en) | Operation system and method of unmanned feeding garbage truck and garbage truck | |
| CN205530057U (en) | Electronic tricycle cleans rubbish van | |
| CN210681925U (en) | Automatic walking garbage collection vehicle | |
| CN212355217U (en) | Garbage recovery processing device | |
| CN212497791U (en) | Rail mounted group's fog detection robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200911 |