CN110077749A - A kind of automatically walk refuse collector - Google Patents

Abstract

The present invention relates to a kind of automatically walk refuse collectors, including dustbin ontology, the dustbin body bottom portion is equipped with walking mechanism, controller, cam device, image processor, GPS positioning system and power module are additionally provided on the dustbin ontology, the output end of the cam device and the input terminal of image processor connect, the output end of image processor and the input terminal of controller connect, controller is also connect with the GPS positioning system, and the power module is electrically connected with the controller, cam device, image processor, GPS positioning system respectively.The present invention can remind people around to tip rubbish by voice signal on the move, while can identify rubbish type, open corresponding rubbish upper cover, and intelligent cleaning facilitates rubbish subsequent processing.

Description

A self-propelled garbage collection vehicle

technical field

The invention belongs to the field of environmental protection, and in particular relates to an automatic walking garbage collection vehicle.

Background technique

At present, the cleaning work in domestic airports, high-speed rail, industrial parks, shopping malls and other places is mainly done by cleaners or manned cleaning vehicles. However, with the increase in the cost of employment and the decline in the technical threshold and cost threshold of new garbage collection vehicles, a more complete and advanced automatic garbage collection vehicle has emerged as the times require.

SUMMARY OF THE INVENTION

The purpose of the present invention is to overcome the shortcomings of the above-mentioned prior art, and provide a self-propelled garbage collection vehicle.

In order to solve the problems of the technologies described above, the technical solution of the present invention is:

An automatic walking garbage collection vehicle, comprising a garbage can body, a running mechanism is provided at the bottom of the garbage can body, a controller, a camera device, an image processor, a GPS positioning system and a power supply module are also arranged on the garbage can body, The output end of the camera device is connected with the input end of the image processor, the output end of the image processor is connected with the input end of the controller, the controller is also connected with the GPS positioning system, and the power supply module is respectively connected with the control device, camera device, image processor, and GPS positioning system are electrically connected, wherein the controller adopts a single-chip microcomputer series.

Preferably, the traveling mechanism is four rollers driven by motors, and the motors are connected to the controller.

Preferably, the trash can body has two inner cavities, the inner cavities are respectively provided with inner barrels, and the inner cavities are respectively provided with semicircular upper covers, and the bottom of the inner cavity is provided with a gravity sensor and a lifting mechanism. The upper cover is flipped by the driving mechanism, and the bottom of the upper cover is also provided with a distance sensor, the gravity sensor, the distance sensor and the driving mechanism are respectively connected with the controller, and the top of the upper cover is provided with an item rack with a side opening, and the opening is closed. Page connection end caps.

Preferably, the camera device is a camera matrix, which is arranged around the trash can body, and speakers, a microphone matrix, and a human body sensor respectively connected to the controller are also provided around the trash can body.

Preferably, the image processor is an image processor capable of sorting and identifying garbage and identifying roadblocks.

Preferably, a human-computer interaction operation panel is provided outside the trash can body, and the operation panel adopts a flexible OLED screen.

Preferably, the lifting mechanism adopts a hydraulic rod.

Preferably, a dust suction device is provided at the bottom of the dustbin body, and a pipe of the dust suction device communicates with the inner bucket.

Preferably, the garbage bin body is also provided with a communication module and a storage module connected to the controller, the communication module is used for mutual communication between the self-propelled garbage collection vehicles, and the storage module is used to store the working route of the self-propelled garbage collection vehicles , working status, working area, working hours, load and other data.

Preferably, the power module is a rechargeable storage battery, and a charging port electrically connected to the storage battery is provided outside the trash can body.

Compared with the prior art, the present invention can remind people around to take out the garbage through sound signals while moving, and at the same time can identify the type of garbage, open the upper cover of the corresponding garbage, intelligently clean, and facilitate the subsequent treatment of garbage.

Description of drawings

Fig. 1 is a structural representation of the present invention;

Fig. 2 is the top view of the present invention;

In the figure: 1-Trash bin body, 2-Inner cavity, 3-Inner barrel, 4-Hydraulic rod, 5-Top cover, 6-Camera matrix, 7-Microphone matrix, 8-Operation panel, 9-Speaker, 10-Suction Dust device, 11-item rack, 12-roller, 13-battery, 14-charging port, 15-pipe.

Detailed ways

The present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments.

As shown in Figure 1, a kind of self-propelled garbage collection vehicle comprises a garbage can body 1, the bottom of the garbage can body is provided with a walking mechanism, and the garbage can body is also provided with a controller, a camera device, an image processor, GPS positioning system and power supply module, the output end of the camera device is connected with the input end of the image processor, the output end of the image processor is connected with the input end of the controller, and the controller is also connected with the GPS positioning system, and the The power supply module is electrically connected with the controller, the camera device, the image processor and the GPS positioning system respectively.

Preferably, the traveling mechanism is four rollers 12 respectively driven by motors, and the motors are connected to the controller.

Preferably, the trash can body has two inner cavities 2, and inner barrels 3 are respectively arranged in the inner cavities for classification of recyclable and non-recyclable, and semicircular upper covers 5 are respectively arranged on the inner cavities. A gravity sensor and a lifting mechanism are provided at the bottom of the inner cavity, and the upper cover is flipped by a driving mechanism. The bottom of the upper cover is also provided with a distance sensor. The top of the cover is provided with an article rack 11 with side openings, and the opening hinges are connected to the end covers.

The distance sensor uses an infrared distance sensor, which can detect whether the inner bucket occupied by garbage is close to full. The gravity sensor can obtain the current total weight of garbage in real time, and can record the garbage increment in each area at each time accordingly. These garbage incremental data will also be uploaded to the background. The background can know whether the garbage collection vehicles are working in a timely manner through the garbage increment. If the amount of garbage collected at one time in a certain area is too large, it means that the work efficiency is not enough, and more garbage collection vehicles can be added.

Preferably, the camera device is a camera matrix 6, which is arranged around the trash can body, and the trash can body is also provided with a loudspeaker 9, a microphone matrix 7 and a human body sensor respectively connected to the controller, and the loudspeaker 9 is used to send voice signals Remind people around to take out the garbage. The microphone matrix can recognize command voices from different directions, such as "come to the garbage truck" and go to collect the garbage. It can also recognize the voiceprint characteristics of the administrator and respond to the administrator's "take out the garbage" and other commands.

The camera matrix 6 can identify the obstacles around the garbage truck, the surrounding wall landmarks, the ground, the garbage bags to be cleaned up, and the category of individual garbage through the image processor. Identifying obstacles is to avoid obstacles; identifying wall landmarks is to calculate the vertical distance from the garbage truck to the surrounding walls, so as to obtain the positioning of the garbage truck. In outdoor places such as work parks, the external walls of buildings can be identified as landmarks; identification The ground is to find out the area where the garbage truck needs to work. All the ground that is connected to the current location of the garbage collection vehicle is the reachable area, and it is the range where the garbage collection vehicle travels; after identifying the category of a single garbage, it will open the corresponding Garbage can lid, and make a voice prompt of the type of garbage.

Preferably, the dustbin body is provided with a human-computer interaction operation panel 8, and the operation panel 8 adopts a flexible OLED screen without entering the human-computer interaction work interface. When there are people around, the advertisement screen can be displayed, and the effect is controlled by the human body. The sensors work together.

Preferably, the lifting mechanism adopts a hydraulic rod 4. After the hydraulic rod 4 rises, the inner barrel 3 is lifted, and a mechanical arm is provided outside the trash can body 1 to assist in the dumping action. A series of working machines are automated without manual assistance, reducing manpower ,Improve efficiency.

Preferably, a dust suction device 10 is provided at the bottom of the trash can body, the pipe 15 of the dust suction device communicates with the inner bucket, and the dust suction device can suck light and small paper scraps, plastic bags and the like.

Preferably, the garbage bin body is also provided with a communication module and a storage module connected to the controller, the communication module is used for mutual communication between the self-propelled garbage collection vehicles, and the storage module is used to store the working route of the self-propelled garbage collection vehicles , working status, working area, working hours, load status, power status and other data, which can be used for task planning and path planning of the car itself, and can be sent back to the background for big data analysis. Historical data such as area is transmitted to other garbage collection vehicles to coordinate the working area.

Multiple garbage collection vehicles will send each other the area unit data that has been served during the working cycle, and the area that is planned to be served. When the garbage collection vehicle receives the shared data, it will give up going to the area that has been served. For the conflict area in the plan, the garbage collection vehicle agrees on a conflict resolution strategy, such as declaring the time stamp and ID of each conflict area introduced into the plan, as long as Specify a comparison strategy, such as the priority of the earlier timestamp, the priority of the smaller ID, other cars voluntarily give up and exit, and the conflict can be resolved.

Preferably, the power module is a rechargeable storage battery 13, and a charging port 14 electrically connected to the storage battery is provided outside the trash can body.

Furthermore, the image processor can also identify the charging device, and when the battery is low, find the nearby charging device and identify and locate it for charging.

When the present invention is used, the garbage collection vehicle with sufficient power is positioned through the GPS system, and the camera matrix and image processor can be used to identify the distance of obstacles and move to avoid obstacles, record and store the moved areas, and mark them as serviced. Area, and communicate with other garbage collection vehicles. During the garbage collection process, the sound signal reminds people around to take out the garbage. At the same time, it can identify the type of garbage, open the corresponding garbage cover, intelligent cleaning, and facilitate the subsequent treatment of garbage. When the bucket is full or overweight, it will return to carry out Dump trash and return to unserved areas to continue working.

The above descriptions are only preferred embodiments of the present invention, and all equivalent changes and modifications made according to the scope of the patent application of the present invention shall fall within the scope of the present invention.

Claims (10)

1. a kind of automatically walk refuse collector, it is characterised in that: including dustbin ontology, the dustbin body bottom portion is equipped with Walking mechanism is additionally provided with controller, cam device, image processor, GPS positioning system and power supply on the dustbin ontology Module, the output end of the cam device and the input terminal of image processor connect, the output end of image processor and control The input terminal of device connects, and controller is also connect with the GPS positioning system, the power module respectively with the controller, take the photograph As head device, image processor, GPS positioning system electrical connection.

2. automatically walk refuse collector according to claim 1, it is characterised in that: the walking mechanism is four difference The idler wheel being driven by motor, motor are connect with the controller.

3. automatically walk refuse collector according to claim 1, it is characterised in that: there are two the dustbin ontology tools Inner cavity, it is interior it is intracavitary be respectively equipped with interior bucket, be respectively equipped with semicircular upper cover on inner cavity, the intracavity bottom is equipped with gravity sensor And elevating mechanism, the upper cover are renovated by driving mechanism, the upper cover bottom further respectively has range sensor, and gravity passes Sensor, range sensor and driving mechanism are connect with controller respectively, and the upper tops are equipped with the article rack of side openings, are opened Mouth hinge connection end cap.

4. automatically walk refuse collector according to claim 1, it is characterised in that: the cam device is camera Matrix, is set to the surrounding of dustbin ontology, and dustbin ontology surrounding is additionally provided with the loudspeaker being separately connected with controller, Mike Wind matrix and human body sensor.

5. automatically walk refuse collector according to claim 1, it is characterised in that: described image processor is can rubbish The image processor that Classification and Identification, roadblock identify.

6. automatically walk refuse collector according to claim 1, it is characterised in that: described dustbin ontology peripheral hardware someone The operation panel of machine interaction, the operation panel is using flexible OLED screen curtain.

7. automatically walk refuse collector according to claim 1, it is characterised in that: the elevating mechanism is using hydraulic Bar.

8. automatically walk refuse collector according to claim 3, it is characterised in that: the dustbin body bottom portion is also set There are dust exhaust apparatus, the pipeline of the dust exhaust apparatus and the interior bucket connection.

9. automatically walk refuse collector according to claim 1, it is characterised in that: be additionally provided on the dustbin ontology Communication module and memory module connected to the controller, communication module are used between automatically walk refuse collector mutually communicate, Memory module is used to store the operating path of automatically walk refuse collector, working condition, working region, operating time, negative The various data such as weight situation.

10. automatically walk refuse collector according to claim 1, it is characterised in that: the power module is chargeable Battery, the dustbin body exterior is equipped with the charge port that is electrically connected with battery.