WO2020114019A1 - 环卫智能洁扫作业机器人控制系统及清扫机械 - Google Patents

环卫智能洁扫作业机器人控制系统及清扫机械 Download PDF

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Publication number
WO2020114019A1
WO2020114019A1 PCT/CN2019/103304 CN2019103304W WO2020114019A1 WO 2020114019 A1 WO2020114019 A1 WO 2020114019A1 CN 2019103304 W CN2019103304 W CN 2019103304W WO 2020114019 A1 WO2020114019 A1 WO 2020114019A1
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WIPO (PCT)
Prior art keywords
information
robot
main controller
garbage
cleaning
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PCT/CN2019/103304
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English (en)
French (fr)
Inventor
李亮
张斌
袁科
龚建球
雷纲
景斌
Original Assignee
长沙中联重科环境产业有限公司
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Publication of WO2020114019A1 publication Critical patent/WO2020114019A1/zh

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    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
    • E01H1/00—Removing undesirable matter from roads or like surfaces, with or without moistening of the surface
    • E01H1/005—Mobile installations, particularly for upkeeping in situ road or railway furniture, for instance road barricades, traffic signs; Mobile installations particularly for upkeeping tunnel walls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/008—Manipulators for service tasks
    • B25J11/0085—Cleaning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning

Definitions

  • the invention relates to the technical field of environmental protection, in particular to a sanitation intelligent cleaning robot control system and cleaning machinery.
  • sanitation cleaning needs to plan a cleaning route in advance to prevent traffic jams, and the real-time location of the cleaning vehicle, and The distance to the destination depends on the cleaner's familiarity with the work route.
  • the cleaning of sanitation in the prior art mostly uses manual pushing or mechanical control to achieve the driving and obstacle avoidance of the cleaning vehicle. At least one cleaning person must be arranged, and there is a certain requirement for the cleaning staff's mechanical proficiency. In addition, the cleaning vehicles of the prior art can only clean up the ground garbage on the planned route.
  • the purpose of the embodiments of the present invention is to provide a sanitation intelligent cleaning robot control system and cleaning machinery, which can perform unmanned cleaning operations through autonomous navigation and path planning.
  • an embodiment of the present invention provides a sanitation intelligent cleaning robot control system.
  • the system includes: a navigation system for constructing global map information of the robot and providing the global map information and the position information of the robot to the main Controller; a detection module, which is used to construct local map information of the robot and provide the local map information and obstacle detection information to the main controller; the main controller, the main controller is used to provide all the information provided by the navigation system
  • the global map information and the position information of the robot are used for global operation path planning, and the local map information and the obstacle detection information provided by the detection module are used for local motion path planning;
  • the walking system is used for Controlling the robot to travel according to the local motion path planned by the main controller; and an operating system, the operating system including: a chassis garbage cleaning module for the robot to face the ground while traveling according to the local motion path Cleanup of garbage.
  • the navigation system includes: a GPS antenna for receiving the original position information of the robot and transmitting it to a GPS data processing module; a 4G module including: a 4G antenna for receiving GPS differential signals and/or Or the global map information, and transmit the GPS differential signal and/or global map information to the main controller; a GPS data processing module, which is used to receive and process the original robot provided by the GPS antenna The position information and the GPS differential signal provided by the 4G module to obtain accurate position information of the robot.
  • the navigation system may further include: an IMU unit for measuring the posture information of the robot and transmitting to the main controller, the main controller according to the posture information and the detection module provides Obstacle detection information is calculated to obtain the steering angle and direction of the steering wheel and the speed of the driving wheel.
  • an IMU unit for measuring the posture information of the robot and transmitting to the main controller, the main controller according to the posture information and the detection module provides Obstacle detection information is calculated to obtain the steering angle and direction of the steering wheel and the speed of the driving wheel.
  • the walking system includes: a steering motor and a driver for driving the movement of the steering wheel; a driving wheel motor and a driver for driving the movement of the driving wheel; and a bottom layer controller for receiving the The steering angle and direction of the steering wheel and the speed of the drive wheel provided by the main controller, and converts the steering angle and direction of the steering wheel to the rotation angle and direction of the steering motor; convert the drive wheel The speed is converted into the speed of the driving wheel motor.
  • the walking system may further include: an encoder/IMU unit, configured to collect the speed information of the driving wheel in real time and feed it back to the bottom layer controller. The target speed is compared, and finally the movement speed of the driving wheel is continuously corrected until the robot reaches or approaches the target speed.
  • an encoder/IMU unit configured to collect the speed information of the driving wheel in real time and feed it back to the bottom layer controller. The target speed is compared, and finally the movement speed of the driving wheel is continuously corrected until the robot reaches or approaches the target speed.
  • the posture information of the robot includes: the direction and angular velocity of the robot.
  • the main controller may also be used to compare the position information and direction information of the robot provided by the navigation system with the target position information and direction information, and to continuously correct the steering angle and direction of the steering wheel Until the robot reaches or approaches the target position and direction.
  • the operating system may further include: an interactive system, the interactive system includes: an intelligent voice device, the device includes: a voice output module, the module is used to ask pedestrians whether there is garbage to be processed; a voice receiving module, the A module for receiving voice information fed back by pedestrians; and a voice processing module for recognizing the voice information, judging whether the pedestrian has garbage disposal, and transmitting the judgment result to the main controller; and// Or a visual device, the device includes: a camera for acquiring image information of objects carried on pedestrians' hands; and an image processor for processing the image information acquired by the camera and performing feature extraction, which is then combined with garbage pictures Perform feature comparison to determine whether there is garbage disposal on the pedestrian's hand, and transmit the determination result to the main controller.
  • an interactive system includes: an intelligent voice device, the device includes: a voice output module, the module is used to ask pedestrians whether there is garbage to be processed; a voice receiving module, the A module for receiving voice information fed back by pedestrians; and a voice processing module for recognizing the voice information, judging whether
  • the main controller receives the garbage judgment result of the pedestrian in hand transmitted by the intelligent voice device and/or visual device, and controls the voice control module to prompt the pedestrian to throw garbage into the trash can for garbage collection Or control the robot to continue to follow the planned path.
  • the present invention also provides a cleaning machine, including the above-mentioned sanitation intelligent cleaning robot control system.
  • the present invention transmits the map information, the position information of the robot and the obstacle detection information to the main controller through the navigation system and the detection module, so as to carry out the path planning of the movement, and plan the path on the way by controlling the walking system and the operation system
  • the road surface cleaning operation and the collection of garbage in pedestrians have the following advantages:
  • the prior art mostly uses manual control of traditional mechanical methods to make the cleaning vehicle perform cleaning operations.
  • the present invention does not require manual participation to control the garbage removal of the planned route, which greatly reduces the cost of use, and the robot can also operate at high temperatures , Continuous operation in rain and snow weather, the work efficiency is higher;
  • the invention can also collect garbage carried by pedestrians, which provides convenience for pedestrians.
  • FIG. 1 is a structural block diagram of a sanitation intelligent cleaning robot control system provided by an embodiment of the present invention.
  • FIG. 2 is a structural block diagram of a navigation system provided by an embodiment of the present invention.
  • FIG. 3 is a structural block diagram of a walking system provided by an embodiment of the present invention.
  • FIG. 4 is a structural block diagram of an operating system provided by an embodiment of the present invention.
  • FIG. 5 is a working flowchart of a visual device provided by an embodiment of the present invention.
  • FIG. 6 is a flowchart of collecting pedestrian garbage according to an embodiment of the present invention.
  • FIG. 7 is an overall structural diagram of a sanitation intelligent cleaning robot provided by an embodiment of the present invention.
  • the control system includes: a navigation system for constructing global map information of the robot and providing the global map information and the position information of the robot to the main controller; a detection module for constructing local map information of the robot and providing the local map Information and obstacle detection information to the main controller; the main controller is used for global operation path planning based on the global map information provided by the navigation system and the position information of the robot, combined with the local map information and obstacles provided by the detection module Object detection information for local motion path planning; walking system, which is used to control the robot to travel according to the local motion path planned by the main controller; and work system, which is used for the robot to ground rubbish during driving according to the local motion path Cleanup and collection of pedestrian carry-on garbage.
  • the navigation system constructs the global map information of the robot and transmits the global map information and the robot position information to the main controller.
  • the main controller performs global operation path planning and selects the road at the current time The unobstructed path is used as the working path, and then the detection module detects the specific road conditions and obstacles on the working path, thereby transmitting the local map information and obstacle detection information of the working path to the main controller, and the main controller performs local operations Path planning, and drive the walking system to follow the planned motion path, and at the same time control the operating system to clean up ground garbage and collect pedestrian carry-on garbage.
  • the global map information may include road paths, destinations of cleaning operations and road traffic conditions. According to the road paths and destination information, when the main controller performs global operation path planning, multiple global operation paths can be simultaneously planned. According to the road traffic situation information, you can first select the unobstructed route for the operation to avoid traffic jams and affect the operation.
  • the local map information may include the pavement situation of the sanitation intelligent cleaning robot. Based on the local map information and obstacle detection information, local motion path planning may be performed to avoid obstacles and select a path with a better road surface environment.
  • the navigation system can continuously transmit the updated global map information and robot position information to the main controller. If it is found that the previously planned global operation path is congested during the operation, the main controller can reselect the global operation path And re-plan the local motion path according to the local map information and obstacle information of the new global working path sent by the detection module.
  • the main controller can have a route memory function.
  • the main controller can avoid the section where the cleaning operation has been performed before, and choose not to carry out Plan the roads for cleaning operations.
  • the navigation system includes: a GPS antenna for receiving the original position information of the robot and transmitting to the GPS data processing module; an information receiving module for receiving GPS differential signals and/or global map information, and combining the GPS differential signals and/or Or the global map information is transmitted to the main controller; GPS data processing module is used to receive and process the original position information of the robot provided by the GPS antenna and the GPS differential signal provided by the information receiving module, so as to obtain the accurate position information of the robot.
  • the information receiving module receives the GPS differential signal and/or global map information from the base station of the background server, and transmits the information to the main controller, and then the main controller transmits the GPS differential signal to GPS data processing module; on the other hand, the GPS antenna receives the original position information of the robot and transmits it to the GPS data processing module. Finally, the GPS data processing module performs certain algorithm processing on the received GPS differential signal and the original position information of the robot. The precise position information of the robot is sent out and sent to the main controller.
  • the receiving module can cache the global map information. When the navigation system receives the start command, if the receiving module caches newer global map information, it can directly transmit the global map information to the main controller without re-receiving Global map information.
  • the original position information of the robot received by the GPS antenna is uncorrected position information, which may have errors. Therefore, a GPS differential signal sent by the base station is required to perform position correction to obtain more accurate position information of the robot.
  • the information receiving module can choose a variety of communication methods (radio, 4G or other).
  • the main controller performs global operation path planning according to the precise position information of the robot transmitted by the GPS data processing module and the map information from the information receiving module.
  • the global map information may include road paths, destinations of cleaning operations and road traffic conditions. According to the road paths and destination information, when the main controller performs global operation path planning, multiple global operation paths can be simultaneously planned. According to the road traffic situation information, you can first select the unobstructed route for the operation to avoid traffic jams and affect the operation.
  • the information receiving module and the GPS data processing module can continuously transmit the updated global map information and the precise position information of the robot to the main controller. If it is found that the previously planned global working path is congested during the operation, the main controller The global job path can be reselected.
  • the main controller can have a route memory function.
  • the main controller can avoid the section where the cleaning operation has been performed before, and choose not to carry out Plan the roads for cleaning operations.
  • the walking system includes: a steering motor and a driver for driving the movement of the steering wheel; a driving wheel motor and a driver for driving the movement of the driving wheel; and a bottom layer controller for receiving the steering angle and the steering wheel provided by the main controller The direction and the speed of the drive wheel, and convert the steering angle and direction of the steering wheel to the rotation angle and direction of the steering motor; convert the speed of the drive wheel to the rotation speed of the drive wheel motor.
  • the main controller After the main controller completes the motion path planning, it calculates the steering angle and direction of the steering wheel and the speed of the drive wheel through a certain algorithm, and sends the steering angle and direction of the steering wheel and the speed of the drive wheel to the bottom controller, the bottom control
  • the converter converts the steering angle and direction of the steering wheel to the rotation angle and direction of the steering motor through a certain algorithm calculation; converts the speed of the driving wheel to the rotation speed of the driving wheel motor, thereby driving the steering wheel according to the calculated steering angle of the steering wheel The direction and the drive wheel move according to the calculated speed of the drive wheel.
  • the steering angle and direction of the steering wheel and the speed of the driving wheel are calculated by the main controller on the robot's attitude information and obstacle detection information provided by the detection module.
  • the robot's attitude information includes: the robot's direction and angular velocity, which can be navigated Measured by the IMU unit in the system.
  • the driving motor driver and the steering motor driver are respectively used to receive the rotation angle and direction of the steering motor and the speed of the driving motor sent by the bottom controller, and drive the steering motor according to the specified rotation angle and direction, the The driving wheel motor operates at the specified speed.
  • the walking system may also include: an encoder/IMU unit, which is used to collect the speed information of the driving wheels in real time and feed it back to the bottom controller.
  • the bottom controller compares the real-time collected speed information with the target speed and finally continuously corrects the The speed of the drive wheel is driven until the robot reaches or approaches the target speed.
  • the target speed is the speed of the robot driving wheel set under the condition of no obstacles.
  • the target speed value can be the maximum speed value required to ensure that the robot completes the floor cleaning operation. Exceeding this speed value may cause the ground cleaning to be in place, so the correction of the movement speed of the driving wheel should ensure that the target speed value is not exceeded .
  • the target speed value can be set to different values in different road sections according to the different conditions of the road section of the cleaning operation.
  • the encoder/IMU unit can also be used to collect robot mileage information, obtain the robot's position information through certain calculations, and can be used as backup information for the robot position measured by the navigation system if necessary.
  • the main controller is also used to compare the position information and direction information of the robot provided by the navigation system with the target position information and direction information, and continuously correct the steering angle and direction of the steering wheel until the robot reaches or approaches the target position and direction.
  • the target position and direction are the position and direction of the robot set when there is no obstacle, and the steering angle and direction of the steering wheel are continuously corrected according to the target position and direction to make the robot reach or approach the target position and direction.
  • the detection module also has a positioning function, which can include, for example, lidar and vision systems, and can be used indoors.
  • the navigation system can provide the robot's position information and direction information at the same time, so as to compare with the target position information and direction information; and when the robot performs indoor cleaning operations, it can pass the detection module (laser, The map information constructed by vision, etc.) determines the position and orientation information of the robot so as to be compared with the target position information and orientation information.
  • the robot's position information is provided by the GPS data processing module in the navigation system, and the robot's direction information is provided by the IMU module in the navigation system; when the robot performs indoor cleaning, the robot's position information is provided by the detection module Provided, the direction information of the robot is provided by the IMU module in the navigation system.
  • the operating system includes: a chassis trash cleaning module.
  • the module includes: a fan, a chassis operating device, and a sweeping tray, which are used for cleaning the ground trash of the chassis.
  • the chassis working device and the sweeper can be started and stopped by the instruction of the main controller.
  • the operating system may further include: an interactive system, which may include an intelligent voice device and/or a visual device, the intelligent voice device including: a voice output module for asking pedestrians whether there is garbage to be processed; a voice receiving module, It is used to receive voice information fed back by pedestrians; and a voice processing module is used to recognize the voice information, determine whether the pedestrian has garbage disposal, and transmit the judgment result to the main controller.
  • the visual device includes: a camera for acquiring image information of objects carried on pedestrians' hands; and an image processor for processing the image information acquired by the cameras and performing feature extraction, and then comparing features with garbage pictures to determine pedestrians' hands Whether there is garbage disposal on the computer, and send the judgment result to the main controller.
  • the main controller receives the judgment result of the garbage in the hands of the pedestrian sent by the intelligent voice device and/or the visual device, and controls the voice control module to prompt the pedestrian to throw the garbage into the trash can for garbage collection or control the robot to continue to follow the planned path.
  • the intelligent voice device After the main controller issues a pedestrian garbage collection instruction, the intelligent voice device asks the pedestrian whether there is any garbage that needs to be handled through the voice output module.
  • the voice receiving module receives the voice information returned by the pedestrian and recognizes the voice information through the voice processing module. Determine whether the pedestrian has garbage to carry with you, and send the judgment information to the main controller.
  • the main controller controls the robot to stop advancing, waits for the pedestrian to throw garbage into the trash can, and then continues to advance; when it is judged that the pedestrian has no garbage to be processed, the robot continues to follow the planned route.
  • the main controller After the judgment information provided by the intelligent voice module and/or visual device on whether pedestrians have garbage to be processed is transmitted to the main controller, the main controller outputs steering angle and direction and speed information of the steering wheel and the driving wheel to control The robot stops or moves on.
  • the main controller when the main controller receives the information that the pedestrian has to carry the garbage that needs to be processed, it can control the robot to drive to the vicinity of the pedestrian, and then the voice output module prompts the pedestrian to throw the garbage into the trash can.
  • FIG. 5 is a working flowchart of a visual device provided by an embodiment of the present invention. The flowchart includes the following steps:
  • Step 501 image acquisition, through the camera installed on the robot, real-time acquisition of the image information of the items carried on the pedestrian's hand, and convert it into a data format that the image processor can recognize and process (such as JPEG, TIFF, RAW, BMP, etc.) ).
  • a data format such as JPEG, TIFF, RAW, BMP, etc.
  • Step 502 feature extraction.
  • the image processor After acquiring the processed image information, the image processor first performs noise filtering on the acquired image information, and then uses edge detection and other segmentation methods to segment the image, and analyzes the key features of the image With extraction.
  • Step 503 Classification, after obtaining the key features of the picture, the image processor compares and classifies the obtained picture with the previously saved garbage picture to determine whether there is garbage in the pedestrian's hand that needs to be processed.
  • Step 504 the analysis result is output, and the image processor sends the processed result to the main controller.
  • the main controller controls the robot to drive to the vicinity of the pedestrian carrying the garbage and prompts him to throw the garbage into the trash can, and then continues to work according to the planned route; if it is determined that the pedestrian has no garbage to be disposed of , Then the main controller controller operates according to the planned route.
  • FIG. 6 is a flowchart of collecting pedestrian garbage according to an embodiment of the present invention.
  • the flowchart includes the following steps:
  • Step 601 whether the pedestrian has garbage to be processed, if the judgment result is "Yes”, then Step 602 is executed; if the judgment result is "No", Step 603 is executed.
  • the garbage information in the hands of pedestrians can be collected by intelligent voice devices and/or visual devices.
  • the intelligent voice devices include: a voice output module to ask pedestrians whether there is garbage to be processed; A voice receiving module for receiving voice information fed back by pedestrians; and a voice processing module for identifying voice information, judging whether pedestrians have garbage disposal, and transmitting the judgment result to the main controller; and/or visual device , Including: camera, used to obtain image information of objects carried on pedestrians' hands; and image processor, used to process the image information acquired by the camera and perform feature extraction, and then compare the feature with garbage pictures to determine pedestrians' hands Whether there is garbage disposal, and transfer the judgment result to the main controller.
  • Step 602 voice prompts throw garbage.
  • the main controller receives the judgment result of the garbage in the pedestrian's hands transmitted by the intelligent voice device and/or the visual device, thereby controlling the voice control module to prompt the pedestrian to throw the garbage into the trash can for garbage collection or to control the robot to continue to follow the planned path.
  • the main controller when the main controller receives the information that the pedestrian has to carry the garbage to be processed, it can control the robot to drive to the vicinity of the pedestrian, and then prompt the pedestrian to throw the garbage into the trash bin through the voice output module.
  • Step 603 continue to follow the planned route.
  • Step 603 When receiving the garbage that the pedestrian does not carry with him needs to be processed or detecting that the pedestrian has thrown the garbage into the trash, continue to work according to the planned path.
  • step 604 whether the destination is reached.
  • the cleaning operation ends; when the robot does not reach the destination, continue to repeat the above steps to periodically determine whether the pedestrian has garbage to be disposed of.
  • FIG. 7 is an overall structural diagram of a sanitation intelligent cleaning robot provided by an embodiment of the present invention.
  • the information receiving module receives the GPS differential signal and/or global map information from the base station of the background server, and transmits the information to the main controller, and then the main controller transmits the GPS differential signal to the GPS system; on the other hand, GPS The antenna receives the original position information of the robot and transmits it to the GPS system. Finally, the GPS system performs certain algorithm processing on the received GPS differential signal and the original position information of the robot to obtain the precise position information of the robot, and sends it to the main controller.
  • the main controller carries out the operation path planning according to the precise position information of the robot transmitted by the GPS system and the map information from the information receiving module, and the movement path planning is combined with the obstacle detection information provided by the lidar.
  • the receiving module can cache the global map information. When the navigation system receives the start command, if the receiving module caches newer global map information, it can directly transmit the global map information to the main controller without re-receiving Global map information.
  • the main controller After the main controller completes the motion path planning, it calculates the steering angle and direction of the steering wheel and the speed of the drive wheel through a certain algorithm, so that the robot can follow the specified motion path.
  • the fan, chassis operating device and sweeper are responsible for cleaning the ground waste on the chassis; the intelligent voice device is used to interact with pedestrians to collect the garbage carried by pedestrians.
  • the intelligent voice device After the main controller issues a pedestrian garbage collection instruction, the intelligent voice device sends out voice information asking the pedestrian if there is garbage to be processed, and receives and recognizes the voice information returned by the pedestrian to judge whether the pedestrian has garbage to be processed. , And then transfer the judgment information to the main controller.
  • the main controller controls the robot to stop advancing, waits for the pedestrian to throw the garbage into the trash bin, and then proceeds; when it is judged that the pedestrian has no garbage to be processed, the robot continues to follow the planned route.
  • the main controller outputs the steering angle and direction and speed information of the steering wheel and the driving wheel to control the robot to stop or continue to advance.
  • the main controller when the main controller receives the information that the pedestrian has to carry the garbage that needs to be processed, it can control the robot to drive to the vicinity of the pedestrian, and then prompt the pedestrian to throw the garbage into the trash bin through an intelligent voice device.
  • the robot can be powered by a DC power supply.
  • the internal configuration of the battery module can have voltage and power intelligent recognition functions, which can display voltage and power information at any time to prevent voltage jumps from causing robot failure and insufficient power to affect the operation.

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  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
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  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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Abstract

本发明实施例提供一种环卫智能洁扫作业机器人控制系统及清扫机械，属于环保技术领域。本发明通过导航系统及检测模块将地图信息和机器人的位置信息及障碍物检测信息传送至主控制器，从而进行局部运动路径规划，并通过控制行走系统及作业系统进行规划路径途中的路面洁扫作业及行人手里垃圾的收集，相比于现有技术需通过人工控制传统机械方式进行洁扫作业，本发明不需要人工参与控制即可实现规划路线的垃圾清理，大大降低了使用成本，且可实现连续作业，工作效率更高。

Description

环卫智能洁扫作业机器人控制系统及清扫机械 技术领域
本发明涉及环保技术领域，具体地涉及一种环卫智能洁扫作业机器人控制系统及清扫机械。
背景技术
随着现代科技的快速发展，智能控制技术在环卫清洁方面也越来越受到重视，现有技术中环卫清洁需事先规划好清洁路线，防止遇到交通堵塞，且清洁车的实时位置，及与目的地的距离情况依赖于清洁人员对作业路线的熟悉程度。
现有技术中环卫的清洁多通过人工推动或机械控制等方式实现清洁车的推动与避障，必须安排有至少一个清洁人员，且对清洁人员的机械操作熟练程度有一定要求。此外，现有技术的清洁车只能实现对规划路径的地面垃圾的清理。
发明内容
本发明实施例的目的是提供一种环卫智能洁扫作业机器人控制系统及清扫机械，可通过自主导航和路径规划进行无人洁扫作业。
为了实现上述目的，本发明实施例提供一种环卫智能洁扫作业机器人控制系统，该系统包括：导航系统，用于构建机器人全局地图信息并提供该全局地图信息和所述机器人的位置信息至主控制器；检测模块，该模块用于构建机器人局部地图信息并提供该局部地图信息和障碍物检测信息至所述主控制器；主控制器，该主控制器用于根据所述导航系统提供的所述全局地图信息及所述机器人的位置信息进行全局作业路径规划，并结合所述检测模块提供的所述局部地图信息和所述障碍物检测信息进行局部运动路径规划；行走系统，该系统用于控制所述机器人按照所述主控制器规划的所述局部运动路径行驶；以及作业系统，该作业系统包括：底盘垃圾清理模块，用于所述机器人在根据所述局部运动路径行驶过程中对地面垃圾的清理。
可选的，所述导航系统包括：GPS天线，用于接收所述机器人原始的位置信息，并传输至GPS数据处理模块；4G模块，该模块包括：4G天线，用于接收GPS差分信号和/或所述全局地图信息，并将该GPS差分信号和/或全局地图信息传送至所述主控制器；GPS数据处理模块，该模块用于接收并处理所述GPS天线提供的所述机器人原始的位置信息及所述4G模块提供的所述GPS差分信号，从而得到所述机器人精准的位置信息。
可选的，所述导航系统还可包括：IMU单元，用于测得所述机器人的姿态信息并传输至 所述主控制器，所述主控制器根据该姿态信息及所述检测模块提供的障碍物检测信息计算得到转向轮的转向角度和方向及驱动轮的速度。
可选的，所述行走系统包括：转向电机及驱动器，用于驱动所述转向轮运动；主动轮电机及驱动器，用于驱动所述驱动轮运动；及底层控制器，用于接收由所述主控制器提供的所述转向轮的转向角度和方向及所述驱动轮的速度，并将所述转向轮的转向角度和方向转换为所述转向电机的转动角度和方向；将所述驱动轮的速度转换为所述主动轮电机的转速。
可选的，所述行走系统还可包括：编码器/IMU单元，用于实时采集所述驱动轮的速度信息并反馈至底层控制器，所述底层控制器通过将该实时采集的速度信息与目标速度进行比较，最终不断修正所述驱动轮的运动速度直至所述机器人达到或接近目标速度。
可选的，所述机器人的姿态信息包括：所述机器人的方向及角速度。
可选的，所述主控制器还可用于将所述导航系统提供的所述机器人的位置信息和方向信息与目标位置信息和方向信息进行比较，并不断修正所述转向轮的转向角度及方向直至所述机器人达到或接近目标位置和方向。
可选的，所述作业系统还可包括：交互系统，该交互系统包括：智能语音装置，该装置包括：语音输出模块，该模块用于询问行人是否有需要处理的垃圾；语音接收模块，该模块用于接收由行人反馈回来的语音信息；及语音处理模块，该模块用于对所述语音信息进行识别，判断行人是否有垃圾处理，并将判断结果传送至所述主控制器；和/或视觉装置，该装置包括：摄像头，用于获取行人手上携带物品的图像信息；及图像处理器，该处理器用于将所述摄像头获取的图像信息进行处理并进行特征提取，进而与垃圾图片进行特征比对，判断行人手上是否有垃圾处理，并将判断结果传送至所述主控制器。
可选的，所述主控制器接收所述智能语音装置和/或视觉装置传送的所述行人手里垃圾判断结果，控制所述语音控制模块语音提示行人将垃圾扔入垃圾桶内进行垃圾收集或控制机器人继续按规划路径行驶。
相应的，本发明还提供了一种清扫机械，包括以上所述环卫智能洁扫作业机器人控制系统。
通过上述技术方案，本发明通过导航系统及检测模块将地图信息和机器人的位置信息及障碍物检测信息传送至主控制器，从而进行运动路径规划，并通过控制行走系统及作业系统进行规划路径途中的路面洁扫作业及行人手里垃圾的收集，相比于现有技术，本发明具有以下优点：
(1)现有技术多通过人工控制传统机械方式从而使清洁车进行洁扫作业，本发明不需要人工参与控制即可实现规划路线的垃圾清理，大大降低了使用成本，且机器人还可在高温、雨雪天气下连续作业，工作效率更高；
(2)本发明还可对行人随身携带的垃圾进行收集，为行人提供了便利性。
本发明实施例的其它特征和优点将在随后的具体实施方式部分予以详细说明。
附图说明
附图是用来提供对本发明实施例的进一步理解，并且构成说明书的一部分，与下面的具体实施方式一起用于解释本发明实施例，但并不构成对本发明实施例的限制。在附图中：
图1是本发明一实施例提供的环卫智能洁扫作业机器人控制系统结构框图。
图2是本发明一实施例提供的导航系统结构框图。
图3是本发明一实施例提供的行走系统结构框图。
图4为本发明一实施例提供的作业系统结构框图。
图5为本发明一实施例提供的视觉装置工作流程图。
图6为本发明一实施例提供的对行人垃圾进行收集的流程图。
图7为本发明一实施例提供的环卫智能洁扫作业机器人整体结构图。
具体实施方式
以下结合附图对本发明实施例的具体实施方式进行详细说明。应当理解的是，此处所描述的具体实施方式仅用于说明和解释本发明实施例，并不用于限制本发明实施例。
图1是本发明一实施例提供的环卫智能洁扫作业机器人控制系统结构框图。该控制系统包括：导航系统，该系统用于构建机器人全局地图信息并提供该全局地图信息和机器人的位置信息至主控制器；检测模块，该模块用于构建机器人局部地图信息并提供该局部地图信息和障碍物检测信息至主控制器；主控制器，该主控制器用于根据导航系统提供的全局地图信息及机器人的位置信息进行全局作业路径规划，并结合检测模块提供的局部地图信息和障碍物检测信息进行局部运动路径规划；行走系统，该系统用于控制机器人按照主控制器规划的局部运动路径行驶；以及作业系统，该系统用于机器人在根据局部运动路径行驶过程中对地面垃圾的清理及行人随身携带垃圾的收集。
智能洁扫作业机器人控制系统接收到启动指令后，导航系统进行机器人全局地图信息构建并将该全局地图信息和机器人位置信息传送至主控制器，主控制器进行全局作业路径规划，选取当前时刻道路畅通的路径作为作业路径，然后检测模块对该作业路径上的具体路况及障碍物进行检测，从而将该作业路径的局部地图信息及障碍物检测信息传送至主控制器，主控制器进行局部作业路径的规划，并驱动行走系统按照规划的运动路径行驶，同时控制作业系统进行地面垃圾的清理及行人随身携带垃圾的收集。
可以理解，全局地图信息可包括道路路径、洁扫作业的目的地及道路交通情况，根据道路路径及目的地信息，主控制器进行全局作业路径规划时，可同时规划出多条全局作业路径，而根据道路交通情况信息，可先选择路径畅通的路线进行作业，以免交通堵塞，影响作业的进行。
局部地图信息可包括环卫智能洁扫作业机器人所处的路面的路面情况，根据局部地图信 息和障碍物检测信息可进行局部运动路径规划，避开障碍物，且选择路面环境较好的路径。
其中，导航系统可持续将更新的全局地图信息和机器人位置信息传送至主控制器，若在作业途中发现之前规划好的全局作业路径有拥堵情况，则主控制器可进行全局作业路径的重新选择，并根据检测模块发送的新全局作业路径的局部地图信息和障碍物信息进行局部运动路径的重新规划。
可以理解，主控制器可具有路线记忆功能，当完成一条路径的清洁作业进行另一条全局作业路径的规划时，主控制器可避开之前已进行过洁扫作业的路段，而选择未进行过洁扫作业的路段进行规划。
图2是本发明一实施例提供的导航系统结构框图。该导航系统包括：GPS天线，用于接收机器人原始的位置信息，并传输至GPS数据处理模块；信息接收模块，用于接收GPS差分信号和/或全局地图信息，并将该GPS差分信号和/或全局地图信息传送至主控制器；GPS数据处理模块，用于接收并处理GPS天线提供的机器人原始的位置信息及信息接收模块提供的GPS差分信号，从而得到机器人精准的位置信息。
导航系统接收到启动指令后，一方面信息接收模块接收来自后台服务器的基站的GPS差分信号和/或全局地图信息，并将该信息传送至主控制器，然后主控制器将GPS差分信号传送至GPS数据处理模块；另一方面，GPS天线接收机器人原始的位置信息，并传送至GPS数据处理模块，最后GPS数据处理模块将接收的GPS差分信号及机器人原始的位置信息进行一定的算法处理后得出机器人精确的位置信息，并发送给主控制器。接收模块可对全局地图信息进行缓存，当导航系统接收到启动指令后，若接收模块缓存有较新的全局地图信息，则可直接将该全局地图信息传送至主控制器，而不需要重新接收全局地图信息。
其中GPS天线接收的机器人原始的位置信息为未修正的位置信息，可能存在误差，因此需要基站发送的GPS差分信号来进行位置修正，以得到机器人更准确的位置信息。
其中，信息接收模块可以选择多种通信方式(电台、4G或其他)。
主控制器根据GPS数据处理模块传送的机器人精确的位置信息及来自信息接收模块的地图信息进行全局作业路径规划。
可以理解，全局地图信息可包括道路路径、洁扫作业的目的地及道路交通情况，根据道路路径及目的地信息，主控制器进行全局作业路径规划时，可同时规划出多条全局作业路径，而根据道路交通情况信息，可先选择路径畅通的路线进行作业，以免交通堵塞，影响作业的进行。
其中，信息接收模块及GPS数据处理模块可持续将更新的全局地图信息和机器人精确的位置信息传送至主控制器，若在作业途中发现之前规划好的全局作业路径有拥堵情况，则主控制器可进行全局作业路径的重新选择。
可以理解，主控制器可具有路线记忆功能，当完成一条路径的清洁作业进行另一条全局作业路径的规划时，主控制器可避开之前已进行过洁扫作业的路段，而选择未进行过洁扫作业的路段进行规划。
图3是本发明一实施例提供的行走系统结构框图。该行走系统包括：转向电机及驱动器，用于驱动转向轮运动；主动轮电机及驱动器，用于驱动驱动轮运动；及底层控制器，用于接收由主控制器提供的转向轮的转向角度和方向及驱动轮的速度，并将转向轮的转向角度和方向转换为转向电机的转动角度和方向；将驱动轮的速度转换为主动轮电机的转速。
主控制器完成运动路径规划后，经过一定的算法计算出转向轮的转向角度和方向及驱动轮的速度，并将转向轮的转向角度和方向及驱动轮的速度发送至底层控制器，底层控制器通过一定的算法运算将转向轮的转向角度和方向转换为转向电机的转动角度和方向；将驱动轮的速度转换为主动轮电机的转速，从而驱动转向轮按照计算出的转向轮的转向角度和方向、驱动轮按照计算出的驱动轮的速度运动。
其中，转向轮的转向角度和方向及驱动轮的速度是通过主控制器对机器人姿态信息及检测模块提供的障碍物检测信息计算得到的，机器人的姿态信息包括：机器人的方向及角速度，可由导航系统中的IMU单元测量得到。
可以理解，主动轮电机驱动器和转向电机驱动器分别用于接收底层控制器发送的该转向电机的转动角度和方向及该主动轮电机的速度，并驱动该转向电机按照指定的转动角度和方向、该主动轮电机按照指定的速度运作。
行走系统还可包括：编码器/IMU单元，用于实时采集驱动轮的速度信息并反馈至底层控制器，底层控制器通过将该实时采集的速度信息与目标速度进行比较，最终不断修正所述驱动轮的运动速度直至所述机器人达到或接近目标速度。
其中，目标速度为无障碍物情况下设定的机器人驱动轮的速度，通过对驱动轮的运动速度进行不断修正，可保证完成清洁作业的同时避免浪费不必要的时间。
可以理解，目标速度值可为保证机器人完成地面清洁作业所需的最大速度值，超过该速度值则可能导致地面清洁不到位，因此对驱动轮的运动速度的修正应保证不超过该目标速度值。当然，根据洁扫作业路段状况的不同，该目标速度值可在不同路段设置为不同值。
编码器/IMU单元还可用于采集机器人里程信息，通过一定计算得到机器人的位置信息，必要情况下可作为导航系统测得的机器人位置的备用信息。
主控制器还用于将导航系统提供的机器人的位置信息和方向信息与目标位置信息和方向信息进行比较，并不断修正转向轮的转向角度及方向直至机器人达到或接近目标位置和方向。
目标位置和方向为无障碍物时设定的机器人的位置和方向，根据该目标位置和方向不断修正转向轮的转向角度及方向以使机器人达到或接近目标位置和方向。
检测模块还具有定位功能，可例如包括激光雷达和视觉系统等，可用于室内。当机器人进行室外洁扫作业时，导航系统可同时提供机器人的位置信息和方向信息，从而与目标位置信息和方向信息进行比较；而当机器人进行室内洁扫作业时，可通过检测模块(激光、视觉等)构建的地图信息确定机器人位置和方向信息，从而与目标位置信息和方向信息进行比较。
机器人进行室外洁扫作业时，机器人的位置信息由导航系统中的GPS数据处理模块提供， 机器人的方向信息由导航系统中IMU模块提供；机器人进行室内洁扫作业时，机器人的位置信息由检测模块提供，机器人的方向信息由导航系统中IMU模块提供。
图4为本发明一实施例提供的作业系统结构框图。该作业系统包括：底盘垃圾清理模块，该模块包括：风机、底盘作业装置及扫盘，用于底盘地面垃圾的清理。其中，底盘作业装置和扫盘可通过主控制器的指令进行启动和停止。
所述作业系统还可包括：交互系统，该交互系统可包括智能语音装置和/或视觉装置，该智能语音装置包括：语音输出模块，用于询问行人是否有需要处理的垃圾；语音接收模块，用于接收由行人反馈回来的语音信息；及语音处理模块，用于对语音信息进行识别，判断行人是否有垃圾处理，并将判断结果传送至主控制器。视觉装置包括：摄像头，用于获取行人手上携带物品的图像信息；及图像处理器，用于将摄像头获取的图像信息进行处理并进行特征提取，进而与垃圾图片进行特征比对，判断行人手上是否有垃圾处理，并将判断结果传送至主控制器。
其中，主控制器接收智能语音装置和/或视觉装置传送的行人手里垃圾判断结果，控制语音控制模块语音提示行人将垃圾扔入垃圾桶内进行垃圾收集或控制机器人继续按规划路径行驶。
主控制器发出行人垃圾收集指令后，智能语音装置通过语音输出模块询问行人是否有随身携带的垃圾需要处理，语音接收模块接收由行人反馈回来的语音信息并通过语音处理模块对语音信息进行识别，判断行人是否有随身携带的垃圾需要处理，并将判断信息传送至主控制器。当判断出行人有垃圾需要处理时，由主控制器控制机器人停止前进，等待行人将垃圾扔入垃圾桶，然后继续前进；当判断出行人没有垃圾需要处理时，机器人继续按照规划的路线前进。
其中，由智能语音模块和/或视觉装置提供的行人是否有垃圾需要处理的判断信息传送至主控制器后，主控制器通过输出转向轮和驱动轮的转向角度和方向及速度信息，从而控制机器人停止或者继续前进。
作为一实施例，当主控制器接收到行人有随身携带的垃圾需要处理的信息时，可控制机器人行驶至行人附近，再通过语音输出模块语音提示行人将垃圾扔入垃圾桶。
图5为本发明一实施例提供的视觉装置工作流程图。该流程图包括以下步骤：
步骤501，图像采集，通过安装在机器人上的摄像头，实时获取行人手上携带物品的图像信息，并将其转换为图像处理器可以识别与处理的数据格式(如JPEG、TIFF、RAW、BMP等)。
步骤502，特征提取，在获取到已处理过的图像信息后，图像处理器首先对获取的图像信息进行噪声过滤，然后采用边缘检测等分割方法对图像进行分割，并对图像的关键特征进行分析与提取。
步骤503，分类，获取图片的关键特征后，图像处理器会将获取的图片与之前保存的垃圾图片进行关键特征比对分类，从而判断行人手上是否有垃圾需要处理。
步骤504，分析结果输出，图像处理器将图片处理后的结果发送给主控制器。
其中，当判定行人有垃圾需要处理，则主控制器控制机器人行驶至携带垃圾的行人附近并语音提示其将垃圾扔入垃圾桶内，之后继续按规划路线进行作业；如果判定行人没有垃圾需要处理，则主控制器控制器人按规划路线进行作业。
图6为本发明一实施例提供的对行人垃圾进行收集的流程图。该流程图包括以下步骤：
步骤601，行人是否有垃圾需要处理，若判断结果为“是”，则执行步骤602；若判断结果为“否”，则执行步骤603。
判断行人是否有垃圾需要处理可通过智能语音装置和/或视觉装置对行人手里的垃圾信息进行采集，其中，智能语音装置，包括：语音输出模块，用于询问行人是否有需要处理的垃圾；语音接收模块，用于接收由行人反馈回来的语音信息；及语音处理模块，用于对语音信息进行识别，判断行人是否有垃圾处理，并将判断结果传送至主控制器；和/或视觉装置，包括：摄像头，用于获取行人手上携带物品的图像信息；及图像处理器，用于将摄像头获取的图像信息进行处理并进行特征提取，进而与垃圾图片进行特征比对，判断行人手上是否有垃圾处理，并将判断结果传送至主控制器。
步骤602，语音提示扔垃圾。主控制器接收智能语音装置和/或视觉装置传送的行人手里垃圾判断结果，从而控制语音控制模块语音提示行人将垃圾扔入垃圾桶内进行垃圾收集或控制机器人继续按规划路径行驶。
其中，当主控制器接收到行人有随身携带的垃圾需要处理的信息时，可控制机器人行驶至行人附近，再通过语音输出模块语音提示行人将垃圾扔入垃圾桶。
步骤603，继续按规划路径行驶。当接收到行人没有随身携带的垃圾需要处理或检测到行人已经将垃圾扔入垃圾桶内时，继续按规划路径作业。
其中，当检测到行人已经将垃圾扔入垃圾桶内时，还需确定行人已退到安全距离后，才可继续按规划路径作业。
步骤604，是否到达目的地。当机器人到达目的地时，洁扫作业结束；当机器人没有到达目的地时，继续重复以上步骤，周期性判断行人是否有垃圾需要处理。
图7为本发明一实施例提供的环卫智能洁扫作业机器人整体结构图。
一方面信息接收模块接收来自后台服务器的基站的GPS差分信号和/或全局地图信息，并将该信息传送至主控制器，然后主控制器将GPS差分信号传送至GPS系统；另一方面，GPS天线接收机器人原始的位置信息，并传送至GPS系统，最后GPS系统将接收的GPS差分信号及机器人原始的位置信息进行一定的算法处理后得出机器人精确的位置信息，并发送给主控制器，主控制器根据GPS系统传送的机器人精确的位置信息及来自信息接收模块的地图信息进行作业路径规划，并结合激光雷达提供的障碍物检测信息进行运动路径规划。接收模块可对全局地图信息进行缓存，当导航系统接收到启动指令后，若接收模块缓存有较新的全局地图信息，则可直接将该全局地图信息传送至主控制器，而不需要重新接收全局地图信息。
主控制器完成运动路径规划后，经过一定的算法计算出转向轮的转向角度和方向及驱动轮的速度，从而使机器人按照指定的运动路径行驶。
机器人行驶过程中，风机、底盘作业装置及扫盘负责底盘地面垃圾的清理；智能语音装置用于与行人进行交互，从而对行人随身携带的垃圾进行收集。
主控制器发出行人垃圾收集指令后，智能语音装置发出询问行人是否有随身携带的垃圾需要处理的语音信息，并接收和识别由行人反馈回来的语音信息，判断行人是否有随身携带的垃圾需要处理，然后将判断信息传送至主控制器。当判断出行人有垃圾需要处理时，由主控制器控制机器人停止前进，等待行人将垃圾扔入垃圾桶，然后继续前进；当判断出行人没有垃圾需要处理时，机器人继续按照规划的路线前进。
其中，主控制器通过输出转向轮和驱动轮的转向角度和方向及速度信息，从而控制机器人停止或者继续前进。
作为一实施例，当主控制器接收到行人有随身携带的垃圾需要处理的信息时，可控制机器人行驶至行人附近，再通过智能语音装置语音提示行人将垃圾扔入垃圾桶。
机器人可采用直流电源供电，内部配置可具有电压和电量智能识别功能的电池模块，随时显示电压和电量信息，防止电压跳变而引起机器人故障及电量不足而影响作业的进行。
以上结合附图详细描述了本发明实施例的可选实施方式，但是，本发明实施例并不限于上述实施方式中的具体细节，在本发明实施例的技术构思范围内，可以对本发明实施例的技术方案进行多种简单变型，这些简单变型均属于本发明实施例的保护范围。
另外需要说明的是，在上述具体实施方式中所描述的各个具体技术特征，在不矛盾的情况下，可以通过任何合适的方式进行组合。为了避免不必要的重复，本发明实施例对各种可能的组合方式不再另行说明。
此外，本发明实施例的各种不同的实施方式之间也可以进行任意组合，只要其不违背本发明实施例的思想，其同样应当视为本发明实施例所公开的内容。

Claims (10)

  1. 一种环卫智能洁扫作业机器人控制系统，其特征在于，该系统包括：
    导航系统，用于构建机器人全局地图信息并提供该全局地图信息和所述机器人的位置信息至主控制器；
    检测模块，用于构建机器人局部地图信息并提供该局部地图信息和障碍物检测信息至所述主控制器；
    主控制器，用于根据所述导航系统提供的所述全局地图信息及所述机器人的位置信息进行全局作业路径规划，并结合所述检测模块提供的所述局部地图信息和所述障碍物检测信息进行局部运动路径规划；
    行走系统，用于控制所述机器人按照所述主控制器规划的所述局部运动路径行驶；以及
    作业系统，包括：
    底盘垃圾清理模块，用于所述机器人在根据所述局部运动路径行驶过程中对地面垃圾的清理。
  2. 根据权利要求1所述的控制系统，其特征在于，所述导航系统包括：
    GPS天线，用于接收所述机器人原始的位置信息，并传输至GPS数据处理模块；
    信息接收模块，用于接收GPS差分信号和/或所述全局地图信息，并将该GPS差分信号和/或所述全局地图信息传送至所述主控制器；
    GPS数据处理模块，用于接收并处理所述GPS天线提供的所述机器人原始的位置信息及所述信息接收模块提供的所述GPS差分信号，从而得到所述机器人精准的位置信息。
  3. 根据权利要求1所述的控制系统，其特征在于，所述导航系统还包括：IMU单元，用于测得所述机器人的姿态信息并传输至所述主控制器，所述主控制器根据该姿态信息及所述检测模块提供的障碍物检测信息计算得到转向轮的转向角度和方向及驱动轮的速度。
  4. 根据权利要求1所述的控制系统，其特征在于，所述行走系统包括：
    转向电机及驱动器，用于驱动所述转向轮运动；
    主动轮电机及驱动器，用于驱动所述驱动轮运动；及
    底层控制器，用于接收由所述主控制器提供的所述转向轮的转向角度和方向及所述驱动轮的速度，并将所述转向轮的转向角度和方向转换为所述转向电机的转动角度和方向；将所述驱动轮的速度转换为所述主动轮电机的转速。
  5. 根据权利要求1所述的控制系统，其特征在于，所述行走系统还包括：编码器/IMU单元，用于实时采集所述驱动轮的速度信息并反馈至所述底层控制器，所述底层控制器通过将 该实时采集的速度信息与目标速度进行比较，最终不断修正所述驱动轮的运动速度直至所述机器人达到或接近目标速度。
  6. 根据权利要求3所述的控制系统，其特征在于，所述机器人的姿态信息包括：所述机器人的方向及角速度。
  7. 根据权利要求6所述的控制系统，其特征在于，所述主控制器还用于将所述导航系统提供的所述机器人的位置信息和方向信息与目标位置信息和方向信息进行比较，并不断修正所述转向轮的转向角度及方向直至所述机器人达到或接近目标位置和方向。
  8. 根据权利要求1所述的控制系统，其特征在于，所述作业系统还包括：
    交互系统，包括：
    智能语音装置，和/或
    视觉装置，
    所述智能语音装置包括：
    语音输出模块，用于询问行人是否有需要处理的垃圾；
    语音接收模块，用于接收由行人反馈回来的语音信息；及
    语音处理模块，用于对所述语音信息进行识别，判断行人是否有垃圾处理，并将判断结果传送至所述主控制器；
    所述视觉装置包括：
    摄像头，用于获取行人手上携带物品的图像信息；及
    图像处理器，用于将所述摄像头获取的图像信息进行处理并进行特征提取，进而与垃圾图片进行特征比对，判断行人手上是否有垃圾处理，并将判断结果传送至所述主控制器。
  9. 根据权利要求8所述的控制系统，其特征在于，所述主控制器接收所述智能语音装置和/或视觉装置传送的所述行人手里垃圾判断结果，控制所述语音控制模块语音提示行人将垃圾扔入垃圾桶内进行垃圾收集或控制机器人继续按规划路径行驶。
  10. 一种清扫机械，其特征在于，该清扫机械包括权利要求1所述的控制系统。
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