CN214358176U - Garbage truck - Google Patents

Abstract

The utility model belongs to the environmental sanitation field, a garbage truck is disclosed, this garbage truck need not artifical participation and just can accurately accomplish the categorised input of rubbish corresponding different dustbin, including picking up the unit, acquisition element and the control unit, it has the claw of picking up to pick up the unit, acquisition element includes laser radar, monocular camera, two binocular cameras, two binocular camera correspondences are installed on two pick up claws, the control unit has treater and memory, the memory stores the rubbish image that corresponds multiple rubbish, in case laser radar detects the barrier, the treater matches the getting for instance of barrier with rubbish image with monocular camera, in case when matching successfully, the barrier is discerned as rubbish, treater control pick up the claw and towards the barrier, the treater acquires the position of barrier through binocular camera, the treater picks up the claw and picks up the rubbish image that corresponds the barrier and puts in the barrier to corresponding dustbin according to the position control of barrier .

Description

Garbage truck

Technical Field

The utility model belongs to the sanitation field discloses a garbage truck.

Background

With the increasingly strict environmental protection requirements of the nation, the classification regulations of various provinces of garbage are discharged one after another, and different types of garbage need to be thrown into corresponding garbage boxes according to the environmental protection requirements. Compared with communities with fixed and strictly managed people flows, some public places with more people flows become weak areas for garbage classification management, and the garbage cleaning problem is particularly severe in holiday days. In order to deal with the peak of people flow, the places usually arrange sanitation workers to work in shifts and in a spot, and the workload of the sanitation workers is increased.

Along with the progress of science and technology, artificial intelligence waste classification case and rubbish pick-up robot are appeared in succession, and artificial intelligence waste classification case can solve waste classification's problem, but this needs the citizen initiative to abandon rubbish to the garbage bin, needs artificial participation promptly to accomplish throwing in of rubbish, and rubbish pick-up robot can initiatively pick up rubbish, but they can not be rubbish classified in detail. Because the problem of using manpower sparingly and the detailed classification of rubbish can not be solved simultaneously to current machine, consequently it is necessary to design an unmanned car that can automatic pick up and classify rubbish.

SUMMERY OF THE UTILITY MODEL

Not enough to prior art, the utility model provides a garbage truck, this garbage truck need not artifical the participation and just can accurately accomplish the categorised input that rubbish corresponds different dustbin.

In order to achieve the above object, the utility model provides a following technical scheme does:

a garbage truck, comprising: a vehicle body having a plurality of garbage cans, wheels, and a storage battery; the acquisition unit is arranged on the vehicle body; a pickup unit provided on the vehicle body and having two pickup claws; and a control unit, which is a development mainboard of the Jetson AGX Xavier model, the collecting unit, the picking unit and the control unit are electrically connected with the storage battery, the collecting unit comprises a laser radar, a monocular camera and two binocular cameras, the two binocular cameras are correspondingly arranged on the two picking claws, the control unit is provided with a processor and a memory, the memory stores garbage images corresponding to various kinds of garbage, once the laser radar detects an obstacle, the processor matches the image of the barrier with the garbage image by the single-camera, and once the matching is successful, the barrier is discerned for rubbish, and the treater control is picked up the claw and is faced the barrier, and the treater acquires the position of barrier through binocular camera, and the treater picks up the claw and picks up the barrier and put in corresponding dustbin with the corresponding rubbish image of barrier according to the position control of barrier.

Preferably, the memory further stores a predetermined route model according to which the vehicle body travels on a predetermined route.

Preferably, the garbage truck further comprises an alarm, the memory further stores a preset size, once the laser radar detects an obstacle, the processor matches the image of the obstacle with the garbage image through the monocular camera, once the matching fails, the obstacle is identified as not garbage, the processor compares the volume of the obstacle with the preset size, once the volume of the obstacle is smaller than the preset size, the processor controls the pick-up claw to pick up and remove the obstacle, once the volume of the obstacle is larger than the preset size and the laser radar identifies the obstacle to be in a moving state, the processor controls the truck body to stop and controls the alarm to give an alarm, when the laser radar no longer detects the obstacle, the alarm stops, the truck body continues to travel, and once the laser radar identifies the obstacle to be in a static state, the truck body bypasses the obstacle.

Preferably, the picking unit comprises two corresponding sliding assemblies and two picking assemblies, the two sliding assemblies are correspondingly arranged on two corresponding side faces of the vehicle body, each sliding assembly comprises a straight guide rail and a movable block movably arranged on the straight guide rail, each picking assembly comprises a base, a mechanical arm and a picking claw, each mechanical arm comprises two arm joints which are hinged with each other, each base is arranged on the corresponding movable block, one end of each mechanical arm is hinged to the corresponding base, and each picking claw is arranged at the other end of each mechanical arm through a ball joint.

Preferably, the laser radar is model VLP-16, the monocular camera is model DS-2CD2T55F (D) -I3/I5/I8(S), and the binocular camera is model DI 300-IR-90/Color.

Compared with the prior art, the beneficial effects of the utility model are that:

1. because the acquisition unit of the utility model comprises the laser radar, the monocular camera and the two binocular cameras which are correspondingly arranged on the two picking claws, the control unit is provided with the processor and the memory which stores the garbage images corresponding to a plurality of types of garbage, once the laser radar detects the obstacle, the processor matches the image of the barrier with the garbage image by the single-camera, and once the matching is successful, the obstacle is identified as garbage, the processor controls the pick-up claw to face the obstacle, the processor acquires the position of the obstacle through the binocular camera, the processor controls the pick-up claw to pick up the garbage image corresponding to the obstacle according to the position of the obstacle and puts the obstacle into the corresponding garbage can, therefore, the utility model discloses can through respond to earlier, discern again, fix a position again and snatch and correspond the mode realization of puting in and need not artifical the participation just can accurately accomplish the categorised input that rubbish corresponds different dustbin.

2. Because the utility model discloses a memory still storage has predetermined route model, and the automobile body is marchd on predetermined route according to predetermined route model, consequently, the utility model discloses can carry out path planning according to actual conditions.

3. Because the utility model discloses still include the siren, the memory still stores predetermined size, in case laser radar detects the barrier, the treater matches the image capture rubbish image of monocular camera to the barrier, in case when the matching fails, the barrier is discerned not rubbish, the treater compares the volume of barrier with predetermined size, in case the volume of barrier is less than predetermined size, the treater control picks up the claw and snatchs and remove the barrier, in case the volume of barrier is greater than predetermined size, and when laser radar discerns the barrier for the motion state, the treater control automobile body stops, and control the siren sends out the police dispatch newspaper, when laser radar no longer detects the barrier, the alarm stops, the automobile body continues to advance, in case laser radar discerns the barrier for the static state, the treater control automobile body bypasses the barrier, therefore, when the obstacle is identified as not being trash, the processor can control the obstacle to be removed or the vehicle body to bypass the obstacle according to a comparison result of the volume of the obstacle with a predetermined size.

Drawings

Fig. 1 is a schematic structural view of a garbage truck according to an embodiment of the present invention;

fig. 2 is a schematic diagram of the sliding of the picking assembly on the sliding assembly according to the embodiment of the present invention;

fig. 3 is a schematic structural view of a pickup assembly according to an embodiment of the present invention;

fig. 4 is a flowchart illustrating the operation of the garbage truck according to the embodiment of the present invention.

In the figure: 100. the garbage truck comprises a garbage truck body 10, a garbage truck body 10a, a garbage truck head 10B, a garbage truck body 11, a garbage can 12, wheels 20, a collecting unit 21, a laser radar 22, a monocular camera 23, a binocular camera 30, a picking unit 31, a sliding assembly 311, a straight guide rail 312, a moving block A, a driving wheel B, a tensioning wheel C, a traction rope 32, a picking assembly 321, a base 322, a mechanical arm 3221, an arm joint 323, a picking claw 3231, a claw seat 3232 and a claw body.

Detailed Description

In order to make the technical means, creation features, achievement purposes and functions of the present invention easy to understand, the following embodiments are specifically illustrated with reference to the accompanying drawings, and it should be noted that the description of these embodiments is used to help understanding the present invention, but not to limit the present invention.

As shown in fig. 1, a garbage truck 100 of the present embodiment includes a truck body 10, a pickup unit 20, a pickup unit 30, a control unit (not shown in the drawings), and an alarm (not shown in the drawings).

A vehicle body 10 having a plurality of garbage cans 11, wheels 12, and a storage battery (not shown in the drawings), wherein the vehicle body 10 is divided into a head portion 10a and a body portion 10b, the wheels 12 are located at a lower portion of the vehicle body 10, and the garbage cans 11 are provided on the body portion 10b in 3 numbers, which are "dry garbage cans", "wet garbage cans", and "harmful garbage cans", respectively.

The collecting unit 20 is arranged on the vehicle body 10, the collecting unit 20 is electrically connected with the storage battery, the collecting unit 20 comprises a laser radar 21, a monocular camera 22 and two binocular cameras 23, the model of the laser radar 21 is VLP-16, the model of the monocular camera 22 is DS-2CD2T55F (D) -I3/I5/I8(S), the model of the binocular camera 23 is DI300-IR-90/Color, the monocular camera 22 has a CMOS infrared waterproof function and supports the maximum resolution of 2560 × 1920, in the embodiment, the laser radar 21 is arranged on the upper surface of the vehicle head portion 10a, and the monocular camera 22 is arranged on the front surface of the vehicle head portion 10 a.

The pickup unit 30 is provided on the vehicle body 10, the pickup unit 30 is electrically connected to the secondary battery, and the pickup unit 30 includes two corresponding slide assemblies 31 and two pickup assemblies 32.

The two sliding assemblies 31 are correspondingly disposed on two corresponding side surfaces of the vehicle body 10, each sliding assembly 31 includes a straight guide rail 311 and a moving block 312 movably mounted on the straight guide rail 311, in this embodiment, the straight guide rails 311 are respectively located on left and right side surfaces of the vehicle body portion 10B, as shown in fig. 2, each sliding assembly further includes a driving motor (not shown in the drawings), a driving wheel a, a tensioning wheel B and a traction rope C, the driving wheel a is mounted at an output end of the driving motor, the driving wheel a and the tensioning wheel B are respectively disposed at two ends of the straight guide rail 311, the traction rope C simultaneously envelops the driving wheel a and the tensioning wheel B to form a loop, the straight guide rail 311 is located inside the traction rope C, and the moving block 312 is fixed on the traction rope C, and the driving wheel a is driven to rotate by the driving motor, so that the traction rope C drives the moving block 312 to move on the straight guide rail 311.

As shown in fig. 3, the pickup assembly 32 includes a base 321, a robot arm 322, and a pickup claw 323.

The base 321 is installed on the moving block 312, one end of the mechanical arm 322 is hinged on the base 321, the mechanical arm 322 is composed of two arm joints 3221 hinged to each other, the picking-up claw 323 is installed at the other end of the mechanical arm 322 through a ball joint, the two binocular cameras 23 are correspondingly installed on the two picking-up claws 323, in the embodiment, the picking-up claw 323 is composed of a claw seat 3231 and a claw body 3232, the claw seat 3231 is installed at the end of one arm joint 3221 through a ball joint so as to be capable of freely rotating in space relative to the arm joint 3221, and the binocular camera 23 and the picking-up claw 323 are both installed on the claw seat 3231.

The control unit is a development mainboard of a Jetson AGX Xavier model, is electrically connected with the storage battery, and is in signal connection with the acquisition unit 20 and the pickup unit 30.

The control unit is provided with a processor and a memory, wherein the memory stores a preset size, a preset route model and garbage images corresponding to a plurality of types of garbage, in the embodiment, the garbage images are a plurality of garbage images, each garbage image is provided with a classification mark, and the classification marks comprise three types of dry garbage, wet garbage and harmful garbage.

As shown in fig. 4, the vehicle body 10 travels on the predetermined route according to the predetermined route model, once the laser radar 21 detects an obstacle, the processor matches the image of the obstacle with the garbage image by the monocular camera 22, and once the matching is successful, the obstacle is recognized as garbage, the processor controls the pickup claw 323 to face the obstacle, the processor obtains the position of the obstacle through the binocular camera 23, the processor controls the pickup claw 323 to pick up the obstacle according to the position of the obstacle and puts the garbage image corresponding to the obstacle into the corresponding garbage can 11, in this embodiment, the matching is to compare the image of the obstacle with the garbage image by the monocular camera 22, after the matching is successful, the corresponding obstacle is defined by the classification mark of the garbage image, the processor finally puts the obstacle into the corresponding garbage can 11 according to the classification, for example, if the classification flag of the garbage image is "dry garbage", the corresponding obstacle class is defined as "dry garbage", and the processor finally puts the obstacle into a "dry garbage bin" corresponding to the class ("dry garbage").

In the above process, once the matching of the images of the garbage is failed, the obstacle is identified as not being garbage, the processor compares the volume of the obstacle with the preset size, once the volume of the obstacle is smaller than the preset size, the processor controls the pickup claw 323 to pick up and remove the obstacle, once the volume of the obstacle is larger than the preset size and the laser radar 21 identifies the obstacle as a motion state, the processor controls the vehicle body 10 to stop and controls the alarm to give an alarm, when the laser radar 21 no longer detects the obstacle, the alarm stops, the vehicle body 10 continues to move, and once the laser radar 21 identifies the obstacle as a static state, the processor controls the vehicle body 10 to bypass the obstacle.

The above embodiments are preferred embodiments of the present invention, and are not intended to limit the scope of the present invention, and various modifications and changes that can be made by those skilled in the art without inventive work within the scope of the appended claims will still fall within the scope of the present invention.

Claims (4)

1. A garbage truck, comprising:

a vehicle body having a plurality of garbage cans, wheels, and a storage battery;

the acquisition unit is arranged on the vehicle body;

a pickup unit provided on the vehicle body and having two pickup claws; and

a control unit which is a development mainboard of Jetson AGX Xavier type and is in signal connection with the acquisition unit and the pickup unit,

the collecting unit, the picking unit and the control unit are all electrically connected with the storage battery,

wherein the acquisition unit comprises a laser radar, a monocular camera and two binocular cameras, the two binocular cameras are correspondingly arranged on the two picking claws,

the control unit is provided with a processor and a memory, and the memory stores garbage images corresponding to various types of garbage.

2. The trash cart of claim 1, wherein:

wherein the memory further stores a predetermined route model according to which the vehicle body travels on a predetermined route.

3. The trash cart of claim 1, wherein:

wherein the pick-up unit comprises two corresponding sliding assemblies and two pick-up assemblies,

the two sliding assemblies are correspondingly arranged on two corresponding side surfaces of the vehicle body and comprise a straight guide rail and a moving block movably arranged on the straight guide rail,

the picking assembly comprises a base, a mechanical arm and the picking claw, the mechanical arm consists of two arm joints which are mutually hinged,

the base is installed on the moving block, one end of the mechanical arm is hinged to the base, and the picking claw is installed at the other end of the mechanical arm through a ball joint.

4. The trash cart of claim 1, wherein:

the model of the laser radar is VLP-16, the model of the monocular camera is DS-2CD2T55F (D) -I3/I5/I8(S), and the model of the binocular camera is DI 300-IR-90/Color.

Images