CN212830720U - Intelligent garbage classification garbage truck - Google Patents
Intelligent garbage classification garbage truck Download PDFInfo
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- CN212830720U CN212830720U CN202020637941.7U CN202020637941U CN212830720U CN 212830720 U CN212830720 U CN 212830720U CN 202020637941 U CN202020637941 U CN 202020637941U CN 212830720 U CN212830720 U CN 212830720U
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F3/00—Vehicles particularly adapted for collecting refuse
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F3/00—Vehicles particularly adapted for collecting refuse
- B65F3/02—Vehicles particularly adapted for collecting refuse with means for discharging refuse receptacles thereinto
- B65F3/04—Linkages, pivoted arms, or pivoted carriers for raising and subsequently tipping receptacles
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
Abstract
The embodiment of the utility model provides an intelligence waste classification garbage truck is related to, intelligence waste classification garbage truck includes: the garbage collection and recycling device comprises a vehicle body, a vehicle detection device, a garbage recycling device, a garbage scanning device, an antenna and a central processing unit; the vehicle body comprises a vehicle head, a vehicle body and a chassis; the vehicle detection device is arranged on the vehicle body and comprises a laser radar, an ultrasonic radar and a millimeter wave radar; the garbage recycling device comprises a garbage can and a mechanical arm; the garbage scanning device is arranged on the vehicle body and comprises an on-arm camera and a side-looking camera; the antennas are arranged on the left side and the right side of the top of the vehicle head and used for receiving GPS signals to position the vehicle; the central processing unit is arranged in the vehicle head and used for calculating unmanned algorithm operation.
Description
Technical Field
The utility model relates to a sanitation mechanical equipment field especially relates to an intelligence waste classification garbage truck.
Background
At present, the garbage transport vehicle is widely applied to urban sanitation garbage cleaning work and has a plurality of functions and styles. Traditional garbage truck need be equipped with professional and operate mobile unit to carry out shipment and uninstallation to rubbish, and the in-process that resets after rubbish is emptyd in the upset to the shipment in-process garbage bin or garbage bin emptys rubbish, can appear that garbage bin and hang a relative slip of bucket mechanism so that not hard up, lead to the garbage bin to drop and break, cause pollutions such as air easily. The manner in which the waste is transported to the disposal site for dumping also tends to cause secondary environmental pollution. Aiming at different types of garbage, different vehicles are adopted for loading and transporting in the working process, the operation cost is difficult to control, and the classified transportation of the garbage on the same vehicle can not be implemented.
At least one full-time staff is equipped for a vehicle in the traditional garbage truck; different vehicles are equipped for different garbage; the vehicle operation cannot be intelligentized; the problems of environmental pollution, air pollution and the like are easily caused, and an intelligent garbage truck which is convenient for garbage classification transportation, realizes the unmanned transportation of the whole transportation process and avoids pollution in the transportation process is urgently needed to be designed.
SUMMERY OF THE UTILITY MODEL
The utility model aims at prior art's defect, provide an intelligence waste classification garbage truck, realize the same car classification transportation of rubbish, the intelligent degree of shipment process is high, and whole unmanned design reduces the operation cost, reduces or avoids the pollution of waste transportation to the environment.
In order to achieve the above object, the utility model provides an intelligence waste classification garbage truck, intelligence waste classification garbage truck includes: the garbage collection and recycling device comprises a vehicle body, a vehicle detection device, a garbage recycling device, a garbage scanning device, an antenna and a central processing unit;
the vehicle body comprises a vehicle head, a vehicle body and a chassis;
the vehicle head is positioned at the front end of the vehicle body, and the tail end of the vehicle head is connected with the vehicle body;
the vehicle body is positioned at the rear end of the vehicle body and consists of at least two recovery cabins;
the chassis is positioned at the bottom end of the vehicle body and is respectively connected with the vehicle head and the vehicle body;
the vehicle detection device is arranged on the vehicle body and used for detecting obstacle information in the area around the vehicle, and the vehicle detection device comprises a laser radar, an ultrasonic radar and a millimeter wave radar;
the laser radar is respectively arranged at the front end of the vehicle head and the tail end of the vehicle body; the ultrasonic radars are symmetrically arranged along the circumferential direction of the vehicle body; the millimeter wave radar is respectively arranged on a bumper of the vehicle head and the right side of the vehicle body;
the garbage recycling device comprises a garbage can and a mechanical arm; the garbage recycling device is used for grabbing and moving the garbage can to the designated recycling bin through a mechanical arm to dump after the garbage is loaded into the garbage can;
the garbage can is arranged at a garbage station and is used for classifying garbage according to categories and then collecting and storing the garbage;
the mechanical arm is arranged between the vehicle head and the vehicle body and used for grabbing and moving the garbage can to the position above the specified recovery cabin to finish a garbage dumping procedure;
the garbage scanning device is arranged on the vehicle body and used for identifying garbage types and detecting the distance between the garbage station and the vehicle body; the garbage scanning device comprises an arm camera and a side-looking camera;
the arm camera is arranged on the mechanical arm and used for identifying the type of the dustbin and the position information of the dustbin;
the side-looking camera is arranged on a right baffle of the chassis and used for detecting the distance between the dustbin and the vehicle body;
the antenna is arranged on the left side and the right side of the top of the vehicle head and used for receiving GPS signals to position the vehicle, and the antenna is fixed on the top of the vehicle head through an antenna base;
the central processing unit is arranged in the vehicle head and used for calculating unmanned algorithm operation.
Preferably, the intelligent garbage classification garbage truck further comprises: a cleaning brush;
the cleaning brushes are symmetrically arranged below the chassis and comprise connecting rods and brush heads; one end of the connecting rod is fixed on the chassis through a support, the other end of the connecting rod is connected with the brush head, and the cleaning brush is used for cleaning garbage on the ground.
Preferably, the lidar comprises: a front-side lidar and a rear-side lidar;
the front laser radars are arranged on the left side and the right side of a front windshield of the vehicle head, and specifically comprise a left front laser radar and a right front laser radar;
the left front side laser radar is arranged on the left side of the front windshield and used for detecting obstacles in a preset area in front of the left side of the vehicle head;
the front right laser radar is arranged on the right side of the front windshield and used for detecting obstacles in a preset area on the front right of the vehicle head;
the rear laser radar is arranged at the tail end of the vehicle body and used for detecting obstacles in a preset area behind the vehicle body to detect.
Preferably, the ultrasonic radar specifically includes: a first ultrasonic radar and a second ultrasonic radar;
the first ultrasonic radar is horizontally or vertically arranged on the left half part of the vehicle body and is used for detecting obstacle information in the front end, the rear end and the left side area of the vehicle body;
the second ultrasonic radar is horizontally or vertically arranged on the right half part of the vehicle body and used for detecting obstacle information in the front end, the rear end and the right side area of the vehicle body.
Preferably, the millimeter wave radar specifically includes: a first millimeter wave radar and a second millimeter wave radar;
the first millimeter wave radar is arranged in the middle of a bumper of the vehicle head in a mode of being perpendicular to the ground and used for detecting obstacle information in a front area of the bumper;
the second millimeter wave radar is mounted on a right baffle of the chassis in a mode of being perpendicular to the ground and used for detecting obstacle information in the right area of the vehicle body.
Preferably, the vehicle detection device further includes: a camera;
the camera specifically comprises a first camera and a second camera; the first camera and the second camera are arranged on the top end of the front windshield side by side, the first camera is used for identifying traffic light information in front of the vehicle, and the second camera is used for monitoring whether the driving route of the vehicle deviates from a lane or not.
Preferably, the recovery compartment comprises: a first recovery compartment and a second recovery compartment;
the first recovery cabin is positioned at the front end of the vehicle body and comprises a left first recovery cabin and a right first recovery cabin;
the second recovery cabin is located the rear end of automobile body, the second recovery cabin specifically includes left side second recovery cabin and right side second recovery cabin.
Further preferably, the recycling bin further comprises: a hatch cover and a side door;
the hatch covers are arranged at the top ends of the recovery cabins, the top ends of the left first recovery cabin, the right first recovery cabin, the left second recovery cabin and the right second recovery cabin are respectively provided with a first hatch cover, a second hatch cover, a third hatch cover and a fourth hatch cover, the hatch covers are opened and closed through electric push rods, and the top ends of each first recovery cabin and each second recovery cabin are respectively provided with the electric push rods;
the side opening doors are respectively arranged at the left side and the right side of the recovery cabin, and the opening angle is controlled by the supporting and fixing rods, so that garbage can be poured conveniently.
Preferably, the robot arm specifically includes: the device comprises a fixed arm, a rotating arm, a telescopic arm and a grabbing arm;
one side of the fixed arm is fixed at the rear end of the vehicle head, and the other end of the fixed arm is sequentially connected with the rotating arm, the telescopic arm and the grabbing arm through connecting shafts, so that the mechanical arm has certain rigidity;
the arm during operation, the swinging boom is through rotatory, rotates the arm extremely the automobile body outside, through camera judgement on the arm the position of dustbin is controlled flexible arm removes arm to suitable position, later the fixed arm slides along the horizontal direction, will hold in the palm the end arm and insert the dustbin bottom, snatchs arm locking dustbin simultaneously, accomplishes snatching of dustbin.
Preferably, the gripper arm further comprises: a sidewall bracket and a bracket bottom arm;
the side wall support is positioned below the grabbing arm, one end of the side wall support and the grabbing arm are fixed into a whole in a welding or assembling mode, and the other end of the side wall support is fixedly connected with the support bottom arm;
the support bottom arm is located the bottom of snatching the arm, support bottom arm with snatch arm parallel arrangement, be used for when the arm is emptyd rubbish insert the bottom of dustbin is implemented and is lifted.
The embodiment of the utility model provides an intelligence waste classification garbage truck based on image recognition and autopilot technique, realizes the same car classification transportation of automatic identification rubbish type, rubbish shipment process unmanned, rubbish, reaches and reduces the operation cost, reduces the secondary pollution to the environment and improves waste classification recovery efficiency in the rubbish transportation.
Drawings
Fig. 1 is a schematic view of an intelligent garbage classification garbage truck according to an embodiment of the present invention;
fig. 2 is a schematic view (one) of radar distribution on the side of the vehicle body of the intelligent garbage classification garbage truck provided by the embodiment of the present invention;
fig. 3 is a schematic view (two) of radar distribution on the side of the vehicle body of the intelligent garbage classification garbage truck provided by the embodiment of the present invention;
fig. 4 is a schematic view of an operation state of the intelligent garbage classification garbage truck according to an embodiment of the present invention;
fig. 5 is a schematic distribution diagram of the vehicle detection device and the garbage scanning device provided by the embodiment of the present invention.
Detailed Description
The technical solutions of the present invention are described below clearly and completely by the accompanying drawings and examples, and it is obvious that the described examples are only some examples, but not all examples of the present invention.
In the description of the embodiments of the present invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.
In the description of the embodiments of the present invention, it should be further noted that unless explicitly stated or limited otherwise, the terms "disposed," "mounted," and "connected" are to be interpreted broadly, e.g., as either a fixed connection, a detachable connection, or an integral connection; may be directly connected or indirectly connected through an intermediate. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The embodiment of the utility model provides an intelligent waste classification garbage truck, fig. 1 is the intelligent waste classification garbage truck schematic diagram that the embodiment of the utility model provides, fig. 2 is the radar distribution schematic diagram (one) of intelligent waste classification garbage truck body side that the embodiment of the utility model provides, fig. 3 is the radar distribution schematic diagram (two) of intelligent waste classification garbage truck body side that the embodiment of the utility model provides, fig. 4 is the intelligent waste classification garbage truck operation state schematic diagram that the embodiment of the utility model provides, fig. 5 is the distribution schematic diagram of vehicle detecting device and rubbish scanning device that the embodiment of the utility model provides; as shown below with reference to fig. 1 to 5, the intelligent garbage classification garbage truck includes: the garbage collection vehicle comprises a vehicle body 1, a vehicle detection device 2, a garbage recovery device 3, a garbage scanning device 4, an antenna 5, a central processing unit 6 and a cleaning brush 7.
As shown in fig. 1 and 2, the vehicle body 1 is specifically composed of a vehicle head 10, a vehicle body 11, and a chassis 12. The head 10 is connected with the body 11, and the chassis 12 is connected with the head 10 and the bottom end of the body 11.
Wherein, the locomotive 10 is located at the front end of the vehicle body 1, and the locomotive 10 provides mounting positions for the vehicle detection device 2, the antenna 5 and the central processor 6. Specifically, the vehicle head 10 is composed of a vehicle head bracket 100 and a cab 101; the head bracket 100 is located between the head 10 and the chassis 12 for securing the head 10 to the chassis 12. The front end of the cab 101 is provided with the front windshield glass 102, the top end of the front windshield glass 102 is provided with the camera hole site, and as the unmanned technology needs to accurately detect the data of the front and the surrounding environment of the cab, the top end of the front windshield glass 102 has a good view field, and can meet the requirements of setting video and image acquisition equipment for identifying obstacles and distances. The two sides of the cab 101 near the bottom of the windshield 102 are respectively provided with a laser radar base for mounting and fixing a radar. The bottom of driver's cabin 101 is provided with bumper 103, and the surface of bumper 103 is provided with the radar mounting hole, because bumper 103 has certain mechanical strength, crashworthiness is good to and bumper 103 set up the characteristics that highly just accords with the radar and surveys short and small obstacle. The rear end of the cab 101 is provided with a mechanical arm fixing seat 104, and the mechanical arm is fixed on the mechanical arm fixing seat 104 through a fixing shaft. Antenna bases 105 are symmetrically arranged on the left side and the right side of the top end of the cab 101, the antenna bases 105 are specifically positioned on the side, close to the tail end, of the top end of the cab 101, and the antenna bases 105 and the top end of the cab 101 are fixed through locking nuts. A central processor bracket 106 is arranged at the middle part of the top end of the cab 101, and the central processor 6 is fixedly connected with the central processor bracket 106 through a fixing nut. In addition, the rear end of the cab 101 is provided with a vertical base 107 for fixing the garbage collection device 3, and a slide rail capable of moving up and down is arranged inside the vertical base 107.
The vehicle body 11 is positioned at the rear end of the vehicle body 1, the vehicle body 11 is integrally formed by combining at least two recovery cabins, and the recovery cabins are connected into a whole in a connecting mode, an assembling mode and the like. In this embodiment, the vehicle body 11 is specifically formed by combining a first recovery compartment 110 and a second recovery compartment 111, and the first recovery compartment 110 and the second recovery compartment 111 are connected to each other to form a whole.
The first recovery compartment 110 is located at the front end of the vehicle body 11, and the first recovery compartment 110 is divided into a left first recovery compartment 110a and a right first recovery compartment 110 b; specifically, the top ends of the left first recovery compartment 110a and the right first recovery compartment 110b are respectively provided with a first hatch 1101 and a second hatch (not shown in the figure), and the insides of the first hatch 1101 and the second hatch are all provided with electric push rods 112 for automatically opening and closing the corresponding hatches in the process of dumping the sorted garbage to the corresponding recovery compartments through mechanical arms, so that the closed treatment of the recovery compartments in the garbage transportation process is realized, and the secondary pollution to the environment in the process of transporting and unloading the garbage can be avoided. Preferably, the opening angle of the hatch cover can be manually or automatically adjusted through the terminal according to the opening angle of the hatch cover in the actual application scene. In order to rapidly dump the garbage loaded by the garbage truck, the left side and the right side of the recovery cabin are respectively provided with a side opening door 113. Specifically, the left side of the left first recovery compartment 110a and the right side of the right first recovery compartment 110b are respectively provided with a side opening door 113, and preferably, the side opening door 113 controls the opening angle of the door through a support fixing rod (not shown in the figure), so that the garbage can be poured conveniently. In this embodiment, the left first recovery compartment 110a and the right first recovery compartment 110b are set as recovery compartments for loading the garbage.
The second recovery compartment 111 is located at the rear end of the vehicle body 11, and the second recovery compartment 111 and the first recovery compartment 110 are connected to each other by welding or by providing a hook. The second recovery compartment 111 is particularly divided into a left second recovery compartment 111a and a right second recovery compartment 111 b; specifically, the top ends of the left second recovery compartment 111a and the right second recovery compartment 111b are respectively provided with a third hatch (not shown in the figure) and a fourth hatch (not shown in the figure), and the insides of the same third hatch and the fourth hatch are all provided with electric push rods 112 for automatically opening and closing the corresponding hatches in the process of dumping the sorted garbage to the corresponding recovery compartments through a mechanical arm. As with the first recovery compartment 110, specifically, the left side of the left second recovery compartment 111a and the right side of the right second recovery compartment 111b are respectively provided with side doors 113. The side-opening door 113 controls the opening angle of the door by a support fixing lever (not shown). The left second recovery compartment 111a and the right second recovery compartment 111b in this embodiment are set as recovery compartments for loading harmful garbage.
It should be understood that the above "the whole body 11 is formed by combining at least two recycling compartments" should be understood in a broad sense, which means that the whole body 11 is formed by combining at least two recycling compartments with each other, and each recycling compartment can be divided into a plurality of recycling compartments for recycling different types of garbage, so as to form a whole body structure, and the connection manner can be a fixed connection, a detachable connection, or an integral connection.
The chassis 12 is located at the bottom end of the vehicle body 1, the chassis 12 not only provides mounting positions for the vehicle head 10 and the vehicle body 11, but also can provide functions of supporting and mounting an engine and parts and assemblies thereof, and the chassis 12 is respectively connected with the vehicle head 10 and the vehicle body 11 to form a vehicle main body structure.
The vehicle detection device 2 is provided on the vehicle body 1 and detects obstacle information in a surrounding area of the vehicle, and the vehicle detection device 2 is specifically configured by a laser radar 20, an ultrasonic radar 21, a millimeter wave radar 22, and a camera 23.
Wherein, lidar 20 sets up respectively in the front end of locomotive 10 and the end of automobile body 11, and lidar 20 comprises front side lidar 200 and rear side lidar 201.
Specifically, the front lidar 200 is disposed on the left and right sides of the front windshield 102 of the vehicle head 10, and is mounted and fixed on the left and right sides of the front windshield 102 through a lidar base 2000, and the front lidar 200 specifically includes a left front lidar 2001 and a right front lidar 2002; the left front laser radar 2001 is disposed on the left side of the front windshield 102, and is configured to detect an obstacle in a preset area in front of the vehicle head 10. The front right laser radar 2002 is disposed on the right side of the front windshield 102, and is configured to detect an obstacle in a preset area on the front right of the vehicle head 10. The rear laser radar 201 is disposed at the end of the vehicle body 11, specifically at the end of the second recovery compartment 111, and is configured to detect an obstacle in a preset area behind the vehicle body 1.
The ultrasonic radars 21 are symmetrically arranged along the circumferential direction of the vehicle body 1, and the ultrasonic radars 21 are specifically composed of a first ultrasonic radar 210 and a second ultrasonic radar 211.
Specifically, the first ultrasonic radar 210 is installed horizontally or vertically in the left half of the vehicle body 1, specifically on the left side of the bumper 103 of the cab 101 and the side of the left chassis 12, for detecting obstacle information in the front, rear, and left areas of the vehicle body 1. The second ultrasonic radar 211 is horizontally or vertically installed in the right half of the vehicle body 1, specifically, on the right side of the bumper 103 of the cab 101 and the side of the right chassis 12, and is used to detect obstacle information in the front, rear, and right areas of the vehicle body 1. In this embodiment, the left and right sides of the bumper 103 are respectively provided with 2 first ultrasonic radars 210 and 2 second ultrasonic radars 211 symmetrically, and the left and right sides of the chassis 12 are respectively provided with 5 first ultrasonic radars 210 and 5 second ultrasonic radars 211. Further, 2 first ultrasonic radars 210 and 2 second ultrasonic radars 211 are symmetrically provided on the left and right sides of the end of the vehicle body 1, specifically, the bumper 103 portion located below the second recovery compartment 111.
In order to ensure the normal detection work of the ultrasonic radar 21, the radar body must be installed along the horizontal direction or the vertical direction during installation, and the installation of the radar at an oblique angle is forbidden.
The millimeter wave radar 22 is provided on the bumper 103 of the vehicle head 10 and the right side of the vehicle body 11, respectively, and the millimeter wave radar 22 is specifically composed of a first millimeter wave radar 220 and a second millimeter wave radar 221.
Specifically, the first millimeter wave radar 220 is mounted in a manner perpendicular to the ground at a middle position of the bumper 103 of the vehicle head 10, and is used for detecting obstacle information in a front area of the bumper 103. The second millimeter wave radar 221 is mounted on a right baffle of the chassis 12 in a manner perpendicular to the ground for detecting obstacle information in the right area of the vehicle body 11.
In the process of installing the millimeter wave radar 22, it is necessary to pay attention to the fact that the radar detection surfaces of the first millimeter wave radar 220 and the second millimeter wave radar 221 are prohibited from facing downward or upward, otherwise the detection accuracy of the millimeter wave radar 22 is seriously affected.
The camera 23 is disposed on the front windshield 102 of the cab 101, and the camera 23 is specifically composed of a first camera 230 and a second camera 231.
Specifically, the first camera 230 and the second camera 231 are arranged at the top end of the front windshield 102 side by side, a camera hole position reserved through the top end of the front windshield 102 is embedded on the front windshield 102, the first camera 230 is used for identifying traffic light information in front of the vehicle, and the second camera 231 is used for monitoring whether the driving route of the vehicle deviates from a lane. In this embodiment, the first camera 230 is specifically a monocular camera or a binocular camera, and the second camera 231 is specifically a monocular camera or a binocular camera, which can be set in advance according to requirements.
The garbage recycling device 3 is composed of a garbage can 30 and a mechanical arm 31; the garbage collection device 3 is configured to, after loading garbage into the garbage can 30, grasp and move the garbage can 30 to a designated collection bin by the robot arm 31 and dump the garbage.
In this embodiment, the trash bin 30 has a sensing module (not shown in the figure) and a communication module (not shown in the figure), the trash bin 30 senses the loading state of the trash in the trash bin 30 through the sensing module, and then sends a clearing instruction to the cloud server through the communication module, and the cloud server receives the instruction and then sends feedback information and executes the clearing instruction to the trash bin 30 and the garbage truck.
The mechanical arm 31 is disposed between the headstock 10 and the vehicle body 11, and is used for grabbing and moving the garbage can 30 to a position above a designated recovery bin, and then completing a garbage dumping process. The robot arm 31 is specifically composed of a fixed arm 310, a rotating arm 311, a telescopic arm 312, and a grasping arm 313.
Specifically, one side of the fixed arm 310 is fixed to the rear end of the vehicle head 10 through a fixed shaft (not shown in the figure) and the vertical base 107, and the other end of the fixed arm 310 is connected with the rotating arm 311, the telescopic arm 312 and the grabbing arm 313 sequentially through connecting shafts (not shown in the figure), so that the mechanical arm 31 has certain rigidity as a whole. In this embodiment, the fixing arm 310 is disposed along the horizontal direction and is perpendicular to the vertical base 107, a section of sliding rail capable of moving in the horizontal direction is also disposed inside the fixing arm 310, and the width of the sliding rail inside the fixing arm 310 is the same as that of the sliding rail of the vertical base 107 and is equal to the outer diameter of the fixing shaft. The fixing arm 310 is reciprocally movable in the horizontal direction and the vertical direction by a fixing shaft.
In addition, the grabber arms 313 further include side wall supports 3130 and a base arm 3131. Specifically, the side wall support 3130 is located below the grabbing arm 313, one end of the side wall support 3130 is fixed to the grabbing arm 313 by welding or assembling, and the other end is fixedly connected to the bottom supporting arm 3131. The base arm 3131 is located at the bottom end of the grabbing arm 313, and the base arm 3131 is parallel to the grabbing arm 313, and is used for lifting the bottom end of the inserted dustbin 30 when the mechanical arm 31 dumps the rubbish.
In a specific embodiment, after the mechanical arm 31 is started, the rotating arm 311 is rotated to adjust the position, the mechanical arm 31 is rotated to the outside of the vehicle body 1, the position of the trash can 30 is determined by the trash scanner 4, the telescopic arm 312 is controlled to move the mechanical arm 31 to a proper position, then the fixing arm 310 slides in the horizontal direction, the grabbing arm 313 grabs the trash can 30, the bottom supporting arm 3131 is inserted into the bottom of the trash can 30, the opening angle of the grabbing arm 313 is tightened, and the trash can 30 is locked and fixed, so that the grabbing of the trash can 30 is completed.
The garbage scanning device 4 is arranged on the vehicle body 1 and used for identifying garbage types and detecting the distance between a garbage station and the vehicle body 11. The trash scanner 4 is specifically composed of an on-arm camera 40 and a side-view camera 41.
The on-arm camera 40 is disposed on the mechanical arm 31, specifically on the grasping arm 313. The on-arm camera 40 is used to identify the kind of the trash can 30 and the position information of the trash can 30.
The side view camera 41 is disposed on a right baffle of the chassis 12, and is used for detecting a distance between the dustbin 30 and the vehicle body 11. In order to ensure the accuracy of the trash scanner 4 during recognition, the positional relationship between the on-arm camera 40 and the side-view camera 41 is set such that the on-arm camera 40 is located below the side-view camera 41, and the on-arm camera 40 is closer to the trash can 30 than the side-view camera 41.
The antennas 5 are arranged on the top of the vehicle head 10, specifically on the left and right sides of the top end of the cab 101, and are symmetrically arranged for receiving GPS signals to perform vehicle position location.
The antenna 5 is fixed to the top of the cab 101 via an antenna base 105. In order to ensure that the antenna 5 can receive the best GPS signal, the antenna 5 needs to be horizontally installed on the top of the cab 101, and the distance between the two antennas 5 is greater than 1 meter.
The central processing unit 6 is arranged in the vehicle head 10 and used for calculating unmanned algorithm operation. Specifically, the cpu 6 is installed in the cab 101 on the side close to the passenger seat.
The cleaning brushes 7 are symmetrically arranged at the left side and the right side of the chassis 12, and the cleaning brushes 7 are used for cleaning garbage on the ground. The cleaning brush 7 is composed of a connecting rod 70 and a brush head 71.
Wherein the cleaning brush 7 is located specifically below the chassis 12. One end of the connecting rod 70 is fixed below the chassis 12 through a bracket, and the other end of the connecting rod 70 is connected with the brush head 71; the cleaning brushes 7 are symmetrically arranged on the left side and the right side of the chassis 12, so that the side edge parts of a road can be cleaned in the driving process of a vehicle, and the garbage left on the two sides of the vehicle in the garbage loading and transporting process can be cleaned.
Specifically, in the non-working state, the cleaning brush 7 is retracted to the inner side of the chassis 12, and the connecting rod 70 is folded and returned; in the working state, the connecting rod 70 of the cleaning brush 7 extends outwards and drives the brush head 71 to move outwards.
The above is an introduction to each component part of the intelligent garbage classification garbage truck provided by the embodiment of the present invention and the connection relationship between them, and the following is a detailed description of the use process of the intelligent garbage classification garbage truck with reference to an embodiment and fig. 1 to 5;
in this embodiment, the user can monitor the running state of intelligent waste classification garbage truck and the rubbish quantity of rubbish website through customer end or cell-phone APP real-time supervision to handle rubbish through customer end or cell-phone APP remote control intelligent waste classification garbage truck.
Under normal conditions, the intelligent garbage classification garbage truck can automatically run according to a preset garbage clearing program, and goes to a garbage station to execute garbage clearing according to preset time and a running route. The garbage amount is monitored through the garbage can 30 arranged in the garbage station, when the garbage loading state in the garbage can 30 is below a warning line, the garbage can 30 sends garbage loading information to the cloud server through the communication module according to preset time, and the server collects, counts and sends the garbage loading information of each garbage station to the client side for reference of operators. When the sensing module in the dustbin 30 senses that the garbage loading state in the dustbin 30 exceeds the preset alarm line, the communication module sends early warning information to the cloud server, and the cloud server receives the early warning information and then respectively sends feedback information and a clearing instruction to the dustbin 30 and the intelligent garbage classification garbage truck. The intelligent garbage classification garbage truck receives the clearing instruction through the antenna 5 and pushes the clearing instruction to the central processing unit 6, the central processing unit 6 analyzes the instruction to determine the serial number of the garbage station which sends out the early warning information and calculates the truck path according to the preset unmanned calculation rule and positions the garbage station, the intelligent garbage classification garbage truck automatically drives to the positioned garbage station according to the instruction, whether barriers exist in the surrounding area of the truck body 1 is detected through the vehicle detection device 2, the side-looking camera 41 scans the distance between the garbage bin 30 and the truck body 11 in the garbage station, and the vehicle parking is assisted. The side-looking camera 41 identifies and determines the trash bin 30 within the trash site during parking assistance, particularly by the color of the trash bin 30 or the electronic information label posted by the trash bin 30 housing, with the on-arm camera 40. If the color or the electronic tag information of the garbage bin 30 in the station is different from the information of the garbage bin 30 of the garbage station sending the early warning information, automatically taking a picture to report (if the color of the garbage bin 30 sending the early warning information is that kitchen garbage is green garbage, recoverable garbage is blue garbage, other garbage is black garbage and harmful garbage is red garbage) and waiting for the online operation of operators. If the color or the electronic tag information of the garbage can 30 in the station is correct, the intelligent garbage classification garbage truck starts a garbage clearing mode, such as: and starting a working indicator lamp on the vehicle body 1 and simultaneously playing a voice prompt. Further, after the mechanical arm 31 is started, the rotating arm 311 is rotated to adjust the position, the mechanical arm 31 is rotated to the outer side of the vehicle body 1, the position of the dustbin 30 is judged through the garbage scanning device 4, the telescopic arm 312 is controlled to move the mechanical arm 31 to a proper position, then the fixed arm 310 slides along the horizontal direction, the grabbing arm 313 grabs the garbage can 30, the bottom supporting arm 3131 penetrates into the bottom of the dustbin 30, the opening angle of the grabbing arm 313 is tightened, the dustbin 30 is locked and fixed, and the grabbing of the dustbin 30 is completed. After the garbage can 30 is grabbed, the fixed arm 310 lifts the garbage can along the sliding rail of the vertical base 107 and moves to a designated recovery cabin according to the camera 40 on the arm, after a corresponding recovery cabin cover is opened under the action of the electric push rod 112, the corresponding recovery cabin cover is reversed and shaken intermittently at a small angle through the grabbing arm 313 again, after the garbage dumping is finished, the garbage can 30 is placed to the original position, and the cabin cover of the recovery cabin is closed.
And clearing the remaining garbage cans 30 in the garbage station according to the steps until all the garbage cans 30 exceeding the warning line are cleared.
After the garbage bin 30 is cleared, the mechanical arm 31 returns to the original position, the work indicator lamp and the voice prompt on the vehicle body 1 are automatically closed, and the garbage bin is cleared to the next positioned garbage station before according to the instruction of the server.
In this embodiment, in order to monitor the state of the garbage loaded in the first recovery compartment 110 and the second recovery compartment 111, the garbage collecting device further includes sensing probes respectively installed inside the four covers. Can monitor left side first recovery cabin 110a, right side first recovery cabin 110b, left side second recovery cabin 111a and right side second recovery cabin 111b respectively through the sensing probe, the sensing probe sends the monitoring result in every recovery cabin to the cloud ware, and the operator gives the instruction of pausing rubbish clearance and goes to rubbish centralized processing center and topples over rubbish according to the recovery cabin monitoring data who collects.
The method is characterized in that the loading quantity of the garbage of each recovery cabin reaches the dumping standard in the garbage cleaning process, but reaches the garbage dumping time set by the system, and the cloud server can automatically issue a garbage cleaning suspension instruction and an instruction for going to the garbage centralized processing center to dump the garbage.
The embodiment of the utility model provides an intelligence waste classification garbage truck based on image recognition and autopilot technique, realizes the same car classification transportation of automatic identification rubbish type, rubbish shipment process unmanned, rubbish, reaches and reduces the operation cost, reduces the secondary pollution to the environment and improves waste classification recovery efficiency in the rubbish transportation.
The above-mentioned embodiments, further detailed description of the objects, technical solutions and advantages of the present invention, it should be understood that the above description is only the embodiments of the present invention, and is not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. The utility model provides an intelligence waste classification garbage truck, its characterized in that, intelligence waste classification garbage truck includes: the garbage collection and recycling device comprises a vehicle body, a vehicle detection device, a garbage recycling device, a garbage scanning device, an antenna and a central processing unit;
the vehicle body comprises a vehicle head, a vehicle body and a chassis;
the vehicle head is positioned at the front end of the vehicle body, and the tail end of the vehicle head is connected with the vehicle body;
the vehicle body is positioned at the rear end of the vehicle body and consists of at least two recovery cabins;
the chassis is positioned at the bottom end of the vehicle body and is respectively connected with the vehicle head and the vehicle body;
the vehicle detection device is arranged on the vehicle body and used for detecting obstacle information in the area around the vehicle, and the vehicle detection device comprises a laser radar, an ultrasonic radar and a millimeter wave radar;
the laser radar is respectively arranged at the front end of the vehicle head and the tail end of the vehicle body; the ultrasonic radars are symmetrically arranged along the circumferential direction of the vehicle body; the millimeter wave radar is respectively arranged on a bumper of the vehicle head and the right side of the vehicle body;
the garbage recycling device comprises a garbage can and a mechanical arm; the garbage recycling device is used for grabbing and moving the garbage can to the designated recycling bin through a mechanical arm to dump after the garbage is loaded into the garbage can;
the garbage can is arranged at a garbage station and is used for classifying garbage according to categories and then collecting and storing the garbage;
the mechanical arm is arranged between the vehicle head and the vehicle body and used for grabbing and moving the garbage can to the position above the specified recovery cabin to finish a garbage dumping procedure;
the garbage scanning device is arranged on the vehicle body and used for identifying garbage types and detecting the distance between the garbage station and the vehicle body; the garbage scanning device comprises an arm camera and a side-looking camera;
the arm camera is arranged on the mechanical arm and used for identifying the type of the dustbin and the position information of the dustbin;
the side-looking camera is arranged on a right baffle of the chassis and used for detecting the distance between the dustbin and the vehicle body;
the antenna is arranged on the left side and the right side of the top of the vehicle head and used for receiving GPS signals to position the vehicle, and the antenna is fixed on the top of the vehicle head through an antenna base;
the central processing unit is arranged in the vehicle head and used for calculating unmanned algorithm operation.
2. The intelligent garbage classification garbage truck according to claim 1, further comprising: a cleaning brush;
the cleaning brushes are symmetrically arranged below the chassis and comprise connecting rods and brush heads; one end of the connecting rod is fixed on the chassis through a support, the other end of the connecting rod is connected with the brush head, and the cleaning brush is used for cleaning garbage on the ground.
3. The intelligent garbage classification garbage truck according to claim 1, wherein the laser radar comprises: a front-side lidar and a rear-side lidar;
the front laser radars are arranged on the left side and the right side of a front windshield of the vehicle head, and specifically comprise a left front laser radar and a right front laser radar;
the left front side laser radar is arranged on the left side of the front windshield and used for detecting obstacles in a preset area in front of the left side of the vehicle head;
the front right laser radar is arranged on the right side of the front windshield and used for detecting obstacles in a preset area on the front right of the vehicle head;
the rear laser radar is arranged at the tail end of the vehicle body and used for detecting obstacles in a preset area behind the vehicle body to detect.
4. The intelligent garbage classification garbage truck according to claim 1, wherein the ultrasonic radar specifically comprises: a first ultrasonic radar and a second ultrasonic radar;
the first ultrasonic radar is horizontally or vertically arranged on the left half part of the vehicle body and is used for detecting obstacle information in the front end, the rear end and the left side area of the vehicle body;
the second ultrasonic radar is horizontally or vertically arranged on the right half part of the vehicle body and used for detecting obstacle information in the front end, the rear end and the right side area of the vehicle body.
5. The intelligent garbage classification garbage truck according to claim 1, wherein the millimeter wave radar specifically comprises: a first millimeter wave radar and a second millimeter wave radar;
the first millimeter wave radar is arranged in the middle of a bumper of the vehicle head in a mode of being perpendicular to the ground and used for detecting obstacle information in a front area of the bumper;
the second millimeter wave radar is mounted on a right baffle of the chassis in a mode of being perpendicular to the ground and used for detecting obstacle information in the right area of the vehicle body.
6. The intelligent garbage classification garbage truck of claim 3, wherein the vehicle detection device further comprises: a camera;
the camera specifically comprises a first camera and a second camera; the first camera and the second camera are arranged on the top end of the front windshield side by side, the first camera is used for identifying traffic light information in front of the vehicle, and the second camera is used for monitoring whether the driving route of the vehicle deviates from a lane or not.
7. The intelligent garbage classification garbage truck according to claim 1, wherein the recycling bin comprises: a first recovery compartment and a second recovery compartment;
the first recovery cabin is positioned at the front end of the vehicle body and comprises a left first recovery cabin and a right first recovery cabin;
the second recovery cabin is located the rear end of automobile body, the second recovery cabin specifically includes left side second recovery cabin and right side second recovery cabin.
8. The intelligent garbage classification garbage truck of claim 7, wherein the recycling bin further comprises: a hatch cover and a side door;
the hatch covers are arranged at the top ends of the recovery cabins, the top ends of the left first recovery cabin, the right first recovery cabin, the left second recovery cabin and the right second recovery cabin are respectively provided with a first hatch cover, a second hatch cover, a third hatch cover and a fourth hatch cover, the hatch covers are opened and closed through electric push rods, and the top ends of each first recovery cabin and each second recovery cabin are respectively provided with the electric push rods;
the side opening doors are respectively arranged at the left side and the right side of the recovery cabin, and the opening angle is controlled by the supporting and fixing rods, so that garbage can be poured conveniently.
9. The intelligent garbage classification garbage truck according to claim 1, wherein the mechanical arm specifically comprises: the device comprises a fixed arm, a rotating arm, a telescopic arm and a grabbing arm;
one side of the fixed arm is fixed at the rear end of the vehicle head, and the other end of the fixed arm is sequentially connected with the rotating arm, the telescopic arm and the grabbing arm through connecting shafts, so that the mechanical arm has certain rigidity;
the arm during operation, the swinging boom is through rotatory, rotates the arm extremely the automobile body outside, through camera judgement on the arm the position of dustbin is controlled flexible arm removes arm to suitable position, later the fixed arm slides along the horizontal direction, will hold in the palm the end arm and insert the dustbin bottom, snatchs arm locking dustbin simultaneously, accomplishes snatching of dustbin.
10. The intelligent garbage classification can truck as claimed in claim 9, wherein the grabbing arm further comprises: a sidewall bracket and a bracket bottom arm;
the side wall support is positioned below the grabbing arm, one end of the side wall support and the grabbing arm are fixed into a whole in a welding or assembling mode, and the other end of the side wall support is fixedly connected with the support bottom arm;
the support bottom arm is located the bottom of snatching the arm, support bottom arm with snatch arm parallel arrangement, be used for when the arm is emptyd rubbish insert the bottom of dustbin is implemented and is lifted.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202020637941.7U CN212830720U (en) | 2020-04-24 | 2020-04-24 | Intelligent garbage classification garbage truck |
| PCT/CN2021/089741 WO2021213524A1 (en) | 2020-04-24 | 2021-04-25 | Intelligent garbage truck for garbage sorting |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202020637941.7U CN212830720U (en) | 2020-04-24 | 2020-04-24 | Intelligent garbage classification garbage truck |
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| CN212830720U true CN212830720U (en) | 2021-03-30 |
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| CN (1) | CN212830720U (en) |
| WO (1) | WO2021213524A1 (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
| CN113387304A (en) * | 2021-05-19 | 2021-09-14 | 宿州海翔环保科技有限公司 | Intelligent electric garbage can dumping equipment |
| WO2021213524A1 (en) * | 2020-04-24 | 2021-10-28 | 北京智行者科技有限公司 | Intelligent garbage truck for garbage sorting |
| CN116238829A (en) * | 2023-05-08 | 2023-06-09 | 淄博奥润德机电设备有限公司 | Vehicle-mounted automatic garbage can loading and unloading equipment |
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| CN114908701B (en) * | 2022-05-09 | 2024-02-09 | 英博超算(南京)科技有限公司 | Intelligent garbage cleaning equipment |
| CN114645527A (en) * | 2022-05-23 | 2022-06-21 | 深圳市国天电子股份有限公司 | Intelligent industrial robot based on millimeter wave radar and method thereof |
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| CN115285554B (en) * | 2022-08-12 | 2023-08-01 | 南京林业大学 | Intelligent clearing method and system |
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| US8146798B2 (en) * | 2008-11-07 | 2012-04-03 | Advanced Custom Engineered Systems & Equipment Co. | Method and apparatus for monitoring waste removal and administration |
| CN105600242B (en) * | 2015-12-25 | 2018-08-07 | 长沙湖大环保科技有限公司 | Garbage truck puma manipulator |
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| CN106681319A (en) * | 2016-12-09 | 2017-05-17 | 重庆长安汽车股份有限公司 | Automatic lane-changing system and method |
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| CN110641881A (en) * | 2019-09-29 | 2020-01-03 | 北京智行者科技有限公司 | Driverless garbage classification cleaning method |
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| CN110817207A (en) * | 2019-11-19 | 2020-02-21 | 佛山科学技术学院 | Garbage truck side edge feeding mechanism and feeding method thereof |
| CN110921158B (en) * | 2019-11-30 | 2021-12-14 | 江苏悦达专用车有限公司 | Side-mounted garbage truck |
| CN212830720U (en) * | 2020-04-24 | 2021-03-30 | 北京智行者科技有限公司 | Intelligent garbage classification garbage truck |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021213524A1 (en) * | 2020-04-24 | 2021-10-28 | 北京智行者科技有限公司 | Intelligent garbage truck for garbage sorting |
| 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 |
| CN113387304A (en) * | 2021-05-19 | 2021-09-14 | 宿州海翔环保科技有限公司 | Intelligent electric garbage can dumping equipment |
| CN116238829A (en) * | 2023-05-08 | 2023-06-09 | 淄博奥润德机电设备有限公司 | Vehicle-mounted automatic garbage can loading and unloading equipment |
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| WO2021213524A1 (en) | 2021-10-28 |
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Address after: B4-006, maker Plaza, 338 East Street, Huilongguan town, Changping District, Beijing 100096 Patentee after: Beijing Idriverplus Technology Co.,Ltd. Address before: B4-006, maker Plaza, 338 East Street, Huilongguan town, Changping District, Beijing 100096 Patentee before: Beijing Idriverplus Technology Co.,Ltd. |