CN212666070U - Intelligent garbage cleaning and classifying robot for target identification based on computer vision - Google Patents
Intelligent garbage cleaning and classifying robot for target identification based on computer vision Download PDFInfo
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- CN212666070U CN212666070U CN202021175967.0U CN202021175967U CN212666070U CN 212666070 U CN212666070 U CN 212666070U CN 202021175967 U CN202021175967 U CN 202021175967U CN 212666070 U CN212666070 U CN 212666070U
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Abstract
The invention provides an intelligent garbage cleaning and classifying robot for carrying out target identification based on computer vision, which comprises a robot body, a garbage can, a mechanical arm assembly, a telescopic support, a first camera module and a second camera module, wherein the robot body is used for walking motion; the telescopic bracket is connected with a first camera module revolute pair and is provided with a vector angle sensor so as to obtain the size of a corner between the two and the rotation direction, the first camera module is used for obtaining environment graphs around the robot body, the direction is indicated for the action of the robot body, the second camera module is used for accurately obtaining the information of the garbage to be cleaned, and finding out recyclable garbage, and sending a control instruction for controlling the operation of a mechanical arm component to pick up the locked recyclable garbage into a first garbage can, and the first camera module comprises a 360-degree panoramic camera.
Description
Technical Field
The invention relates to the technical field of robots, in particular to an intelligent garbage cleaning and classifying robot for target recognition based on computer vision.
Background
At present, a garbage cleaning locomotive is also a cleaning vehicle driven by personnel. Because the intensity of the garbage cleaning work is high, and the bacteria are more, the garbage cleaning machine has certain harm to the body of cleaning personnel. In addition, if the garbage is classified and recycled better, the garbage is valuable, and in reality, due to the cognitive limitation of people, the garbage can be recycled, and the garbage cannot be recycled and cannot be completely clear, so that the existing garbage cleaning locomotive not only needs to be operated by people on site, but also is low in garbage recycling rate.
Disclosure of Invention
Based on the above, provide one kind can go out automatically and pick up rubbish and can be fine carry out recycle's intelligent rubbish clearance and classification robot based on computer vision carries out target recognition to rubbish.
An intelligent garbage cleaning and classifying robot for carrying out target recognition based on computer vision comprises a robot body for walking motion, a first garbage can, a second garbage can and a mechanical arm assembly for picking up garbage, and further comprises a telescopic support, a first camera module and a second camera module, wherein the telescopic support is vertically and fixedly arranged on the robot body; the telescopic bracket is connected with the first camera module revolute pair; a vector angle sensor is arranged between the telescopic bracket and the first camera module; the vector angle sensor is used for acquiring the rotation angle and the rotation direction of the first camera module when rotating relative to the telescopic bracket; the telescopic bracket is used for automatically adjusting the height of the first camera module from the ground and providing a fixed reference for the vector angle sensor; the first camera module is used for acquiring an environment graph around the robot body, preliminarily acquiring junk information in a large surrounding environment through computer vision operation, and indicating a direction for the action of the robot body; the second camera module is used for accurately acquiring information of garbage to be cleaned, finding out recyclable garbage through computer vision operation and sending a control instruction for controlling the mechanical arm assembly to operate, pick up the locked recyclable garbage and place the recyclable garbage into the first garbage bin; the first camera module comprises a panoramic camera capable of shooting 360-degree panorama. The first camera module is also used for navigating the motion of the robot body.
In one embodiment, the first camera module is connected with the telescopic bracket through a camera stabilizer; the camera stabilizer is connected with the telescopic bracket through a revolute pair; the first camera shooting module comprises a lens module, a lens supporting rod and a gravity block; the lens supporting rod is vertically and fixedly arranged on a camera mounting seat of the camera stabilizer; the lens module is arranged at the top end of the lens supporting rod; the gravity block is arranged on the back of the camera mounting seat to reduce the gravity center of the first camera shooting module and improve the torque of the camera mounting seat relative to the camera stabilizer, so that the lens supporting rod is kept in a vertical state; the vector angle sensor is arranged between the telescopic support and the camera stabilizer and used for acquiring the rotation angle size and the rotation direction of the camera stabilizer relative to the telescopic support during rotation.
In one embodiment, the system further comprises an audio receiver; the robotic arm assembly includes a hammer for striking an object; the audio receiver is used for receiving the sound of the hammer hitting the object so as to judge the attribute of the object.
In one embodiment, the system further comprises an audio receiver; the mechanical arm assembly comprises a mechanical arm mounting seat, a mechanical arm and a tail end motor, wherein the mechanical arm mounting seat, the mechanical arm and the tail end motor are arranged on the robot body; the mechanical arm is connected with the robot body through the mechanical arm mounting seat; the mechanical arm mounting seat is connected with the mechanical arm revolute pair and is also used for controlling the overall motion of the mechanical arm; the manipulator is connected with a tail end rotating pair of the mechanical arm through the tail end motor; the tail end motor is used for controlling the mechanical arm to realize gripping or shaking; the audio receiver is used for acquiring the sound emitted by the gripped garbage object when the manipulator shakes, so as to assist in judging whether the gripped garbage object like a bottle or a tank contains water.
In one embodiment, the system further comprises a first communication module and a second communication module; the first communication module is used for being connected with the Internet so as to realize remote control and data maintenance; the second communication module is used for real-time communication after being paired with other robots in the same area, so that the robots can learn each other and share the information of the surrounding garbage to help each other.
In one embodiment, the robot further comprises a laser radar arranged on the robot body for navigation; the laser radar is used for acquiring the distance between the robot body and the surrounding obstacles;
the height of the first camera module from the ground is larger than the height of the laser radar from the ground.
In one embodiment, the second waste bin is used to house non-recyclable waste items.
Drawings
Fig. 1 is a schematic structural view of an intelligent garbage cleaning and sorting robot provided with two sets of camera modules according to an embodiment.
Description of reference numerals: 10. a robot body; 11. a first laser radar; 12. a second laser radar; a third lidar; 14. a fourth laser radar; 21. a first waste bin; 22. a second waste bin; 31. a mechanical arm mounting seat; 32. a mechanical arm; 33. a manipulator; 34. a terminal motor; 41. a telescopic bracket; 42. a camera stabilizer; 50. a first camera module; 51. a first wide-angle lens; 52. a second wide-angle lens; 53. a third wide-angle lens; 54. a lens support bar; 55. a gravity block; 60. a vector angle sensor; 70. a second camera module; 80. an audio receiver; 91. a first communication module; 92. a second communication module.
Detailed Description
In this patent document, FIG. 1, discussed below, and the various embodiments used to describe the principles or methods of the present disclosure are by way of illustration only and should not be construed in any way to limit the scope of the disclosure. It will be appreciated by those skilled in the art that the principles or methods of the present disclosure may be implemented in any suitably arranged robot. Preferred embodiments of the present disclosure will be described hereinafter with reference to the accompanying drawings. In the following description, a detailed description of well-known functions or configurations is omitted so as not to obscure the subject matter of the present disclosure with unnecessary detail. Also, terms used herein will be defined according to functions of the present invention. Thus, the terminology may be different according to the intention or usage of the user or operator. Therefore, the terms used herein must be understood based on the description made herein.
The utility model provides an intelligent rubbish clearance and classification robot based on computer vision carries out target identification, as shown in fig. 1, including the robot body 10 that is used for the walking motion, set up first dustbin 21 on robot body 10, second dustbin 22, and be used for picking up the arm 32 subassembly of picking up rubbish, still include vertical fixed telescopic bracket 41 that sets up on robot body 10, set up the first module 50 of making a video recording on telescopic bracket 41 top, and set up the second module 70 of making a video recording with arm 32 subassembly with one side on robot body 10. The telescopic bracket 41 is connected with the first camera module 50. A vector angle sensor 60 is provided between the telescopic bracket 41 and the first camera module 50. The vector angle sensor 60 is used to acquire the rotation angle and the rotation direction of the first camera module 50 when it rotates relative to the telescopic bracket 41. The telescopic bracket 41 is used for automatically adjusting the height of the first camera module 50 from the ground and providing a fixed reference for the vector angle sensor 60. The first camera module 50 is used to obtain the environmental pattern around the robot body 10, and primarily obtain the information of the garbage in the surrounding environment through computer vision operation, so as to indicate the direction for the action of the robot body 10. The second camera module 70 is used for accurately acquiring information of the garbage to be cleaned, finding out recyclable garbage through computer vision operation, and sending a control instruction for controlling the operation of the mechanical arm 32 assembly to pick up the locked recyclable garbage into the first garbage can 21. The first camera module 50 includes a panoramic camera that can take a 360-degree panorama. The first camera module 50 is also used for navigating the movement of the robot body 10.
In one embodiment, as shown in fig. 1, the first camera module 50 is connected to the telescopic bracket 41 through the camera stabilizer 42. The camera stabilizer 42 is connected with the telescopic bracket 41 through a revolute pair. The first camera module 50 includes a lens module, a lens support rod 54 and a gravity block 55. The lens support rod 54 is vertically fixedly mounted on the camera mount of the camera stabilizer 42. The lens module is disposed at the top end of the lens support rod 54. The gravity block 55 is provided at the back of the camera mount to lower the center of gravity of the first camera module 50 and to increase the torque of the camera mount relative to the camera stabilizer 42, thereby allowing the lens support rod 54 to maintain a vertical state. The vector angle sensor 60 is provided between the telescopic bracket 41 and the camera stabilizer 42 to acquire the rotation angle size and the rotation direction when the camera stabilizer 42 rotates with respect to the telescopic bracket 41.
In one embodiment, as shown in FIG. 1, an audio receiver 80 is also included. The robotic arm 32 assembly includes a hammer for striking an object. The audio receiver 80 is used to receive the sound of a hammer striking an object for determining the properties of the object.
In one embodiment, as shown in FIG. 1, an audio receiver 80 is also included. The robot arm 32 assembly includes a robot arm 32 mount 31, a robot arm 32, a robot hand 33, and an end motor 34 provided on the robot body 10. The robot arm 32 is connected to the robot body 10 through the robot arm 32 mount 31. The mounting seat 31 of the mechanical arm 32 is connected with a rotating pair of the mechanical arm 32, and the mounting seat 31 of the mechanical arm 32 is also used for controlling the overall motion of the mechanical arm 32. The robot arm 33 is connected to the end revolute pair of the robot arm 32 by an end motor 34. The end motor 34 is used to control the robot arm 33 to achieve gripping or shaking. The audio receiver 80 is used for acquiring the sound emitted by the gripped trash when the manipulator 33 shakes, so as to assist in judging whether the gripped trash in the bottle or jar contains water.
In one embodiment, as shown in fig. 1, the apparatus further includes a first communication module 91 and a second communication module 92. The first communication module 91 is used for connecting with the internet to realize remote control and data maintenance. The second communication module 92 is used for real-time communication after being paired with other robots in the same area, so as to realize the function of mutual learning between the robots and share the information of the surrounding garbage, thereby realizing mutual assistance and mutual assistance.
In one embodiment, as shown in fig. 1, a laser radar is further included for navigation on the robot body 10. The laser radar is used to acquire the distance between the robot body 10 and obstacles around the robot body. The height of the first camera module 50 from the ground is greater than the height of the laser radar from the ground.
In one embodiment, as shown in fig. 1, the first camera module includes a first wide-angle lens 51, a second wide-angle lens 52, and a third wide-angle lens 53; the shooting angles of the first wide-angle lens 51, the second wide-angle lens 52 and the third wide-angle lens 53 are 120 degrees respectively, so that a 360-degree panoramic camera is obtained through stitching synthesis.
In one embodiment, as shown in fig. 1, a first laser radar 11, a second laser radar 12, a third laser radar 13, and a fourth laser radar 14 (not shown) are sequentially disposed around the robot body 10. The first laser radar 11, the second laser radar 12, the third laser radar 13 and the fourth laser radar 14 are used for respectively acquiring distances between the robot and surrounding obstacles.
In one embodiment, as shown in FIG. 1, the second waste bin 22 is used to house non-recyclable waste items.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above examples only show some embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (6)
1. An intelligent garbage cleaning and classifying robot for carrying out target identification based on computer vision, which comprises a robot body for walking movement, a first garbage can, a second garbage can and a mechanical arm assembly for picking up garbage, wherein the first garbage can, the second garbage can and the mechanical arm assembly are arranged on the robot body,
the robot further comprises a telescopic support vertically and fixedly arranged on the robot body, a first camera module arranged at the top end of the telescopic support, and a second camera module arranged on the same side of the robot body as the mechanical arm assembly;
the telescopic bracket is connected with the first camera module revolute pair;
a vector angle sensor is arranged between the telescopic bracket and the first camera module;
the vector angle sensor is used for acquiring the rotation angle and the rotation direction of the first camera module when rotating relative to the telescopic bracket;
the telescopic bracket is used for automatically adjusting the height of the first camera module from the ground and providing a fixed reference for the vector angle sensor;
the first camera module is used for acquiring an environment graph around the robot body, preliminarily acquiring junk information in a large surrounding environment through computer vision operation, and indicating a direction for the action of the robot body;
the second camera module is used for accurately acquiring information of garbage to be cleaned, finding out recyclable garbage through computer vision operation and sending a control instruction for controlling the mechanical arm assembly to operate, pick up the locked recyclable garbage and place the recyclable garbage into the first garbage bin;
the first camera module comprises a panoramic camera capable of shooting 360-degree panorama;
the first camera module is also used for navigating the motion of the robot body.
2. The intelligent garbage cleaning and sorting robot based on computer vision for target recognition according to claim 1,
the first camera module is connected with the telescopic bracket through a camera stabilizer;
the camera stabilizer is connected with the telescopic bracket through a revolute pair;
the first camera shooting module comprises a lens module, a lens supporting rod and a gravity block;
the lens supporting rod is vertically and fixedly arranged on a camera mounting seat of the camera stabilizer;
the lens module is arranged at the top end of the lens supporting rod;
the gravity block is arranged on the back of the camera mounting seat to reduce the gravity center of the first camera shooting module and improve the torque of the camera mounting seat relative to the camera stabilizer, so that the lens supporting rod is kept in a vertical state;
the vector angle sensor is arranged between the telescopic support and the camera stabilizer and used for acquiring the rotation angle size and the rotation direction of the camera stabilizer relative to the telescopic support during rotation.
3. The intelligent garbage cleaning and sorting robot based on computer vision for target recognition according to claim 1,
also includes an audio receiver;
the robotic arm assembly includes a hammer for striking an object;
the audio receiver is used for receiving the sound of the hammer hitting the object so as to judge the attribute of the object.
4. The intelligent garbage cleaning and sorting robot based on computer vision for target recognition according to claim 1,
also includes an audio receiver;
the mechanical arm assembly comprises a mechanical arm mounting seat, a mechanical arm and a tail end motor, wherein the mechanical arm mounting seat, the mechanical arm and the tail end motor are arranged on the robot body;
the mechanical arm is connected with the robot body through the mechanical arm mounting seat;
the mechanical arm mounting seat is connected with the mechanical arm revolute pair and is also used for controlling the overall motion of the mechanical arm;
the manipulator is connected with a tail end rotating pair of the mechanical arm through the tail end motor;
the tail end motor is used for controlling the mechanical arm to realize gripping or shaking;
the audio receiver is used for acquiring the sound emitted by the gripped garbage object when the manipulator shakes, so as to assist in judging whether the gripped garbage object like a bottle or a tank contains water.
5. The intelligent garbage cleaning and sorting robot based on computer vision for target recognition according to claim 1,
the device also comprises a first communication module and a second communication module;
the first communication module is used for being connected with the Internet so as to realize remote control and data maintenance;
the second communication module is used for real-time communication after being paired with other robots in the same area, so that the robots can learn each other and share the information of the surrounding garbage to help each other.
6. The intelligent garbage cleaning and sorting robot based on computer vision for target recognition according to claim 1,
the robot further comprises a laser radar which is arranged on the robot body and used for navigation;
the laser radar is used for acquiring the distance between the robot body and the surrounding obstacles;
the height of the first camera module from the ground is larger than the height of the laser radar from the ground.
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| CN202021175967.0U CN212666070U (en) | 2020-06-22 | 2020-06-22 | Intelligent garbage cleaning and classifying robot for target identification based on computer vision |
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| CN202021175967.0U CN212666070U (en) | 2020-06-22 | 2020-06-22 | Intelligent garbage cleaning and classifying robot for target identification based on computer vision |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN113463558A (en) * | 2021-06-10 | 2021-10-01 | 同济大学 | Beach garbage pickup robot |
| CN113911586A (en) * | 2021-12-09 | 2022-01-11 | 四川大学 | Intelligent garbage sorting system and sorting method |
| CN113955343A (en) * | 2021-10-26 | 2022-01-21 | 中南大学 | Disordered garbage intelligent classification device based on three-dimensional vision and classification method thereof |
| CN114468859A (en) * | 2022-03-01 | 2022-05-13 | 宁波博菱电器股份有限公司 | Floor sweeping robot |
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2020
- 2020-06-22 CN CN202021175967.0U patent/CN212666070U/en active Active
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN113463558A (en) * | 2021-06-10 | 2021-10-01 | 同济大学 | Beach garbage pickup robot |
| CN113955343A (en) * | 2021-10-26 | 2022-01-21 | 中南大学 | Disordered garbage intelligent classification device based on three-dimensional vision and classification method thereof |
| CN113955343B (en) * | 2021-10-26 | 2022-11-25 | 中南大学 | Disordered garbage intelligent classification device based on three-dimensional vision and classification method thereof |
| CN113911586A (en) * | 2021-12-09 | 2022-01-11 | 四川大学 | Intelligent garbage sorting system and sorting method |
| CN113911586B (en) * | 2021-12-09 | 2022-03-18 | 四川大学 | Intelligent garbage sorting system and sorting method |
| CN114468859A (en) * | 2022-03-01 | 2022-05-13 | 宁波博菱电器股份有限公司 | Floor sweeping robot |
| CN114468859B (en) * | 2022-03-01 | 2023-11-14 | 宁波博菱电器股份有限公司 | Sweeping robot |
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