Automatic garbage sorting street cleaning machine and method based on visual recognition technology

Abstract

The invention discloses an automatic garbage sorting street cleaning machine based on visual recognition technology, comprising a shell, a collecting mechanism, a delivering mechanism, a driving mechanism and a recognition system. The collecting mechanism is used for cleaning and collecting garbage on the street, the delivering mechanism is used for delivering the collected garbage into a classified garbage bin in a classified manner, the driving mechanism is used for driving the entire machine to run along the street, and the recognition system is used for identifying obstacles and garbage. Through the above structure, garbage cleaning is stable, and the cleaned garbage can be classified by the visual recognition system during the cleaning process. The machine is easy to use, and can sense the presence of people and obstacles through cameras and ultrasonic ranging sensors, so that it can respond to complex situations such as street traffic in a timely manner, automatically clean and classify street garbage, and avoid waste of human resources.

Description

Technical Field

[0001] The present invention relates to the technical field of garbage classification and cleaning, and in particular to an automatic garbage classification street cleaning machine based on visual recognition technology, and a street cleaning method. Background Art

[0002] Existing garbage collection machines are bulky, require manual control, and are unable to autonomously sort the collected garbage.

[0003] Chinese patent document CN207295573U, published (announced) on May 1, 2018, discloses a new type of municipal road cleaning device, which belongs to the field of municipal machinery. The water tank is installed above the vehicle chassis, the first bracket is installed on the water tank, the angle adjustment valve is installed on the slide, the second bracket is installed on the guide plate, the guide plate is fixed on the second bracket, and the nozzle is installed at the bottom of the car. Its characteristics are: the scanning of the road trajectory is completed through the machine vision technology of the camera, so that the controller controls the rotation of the motor to complete the device to move forward along the preset route; the water pump is controlled by the controller to work, and then the nozzle is driven to work, so that the garbage on the road is pushed onto the skateboard, and the watering of the road surface is completed at the same time; the cooperation of the skateboard and the guide plate is completed by adjusting the angle adjustment valve, so that the garbage is transported to the car through the skateboard and the guide plate through the pushing action of the nozzle, thereby completing the garbage collection work, replacing manual labor and improving work efficiency; its shortcomings are: the garbage is transported to the car through the skateboard and the guide plate through the pushing action of the nozzle, which consumes a lot of water, and the garbage moistened by water is easy to adhere to the guide plate, resulting in failure of garbage recycling; in addition, the recycled garbage is not classified. Summary of the invention

[0004] The first technical problem to be solved by the present invention is to solve the problems existing in the above-mentioned background technology and provide an automatic garbage sorting street cleaning machine based on visual recognition technology which has stable garbage cleaning function and can sort recycled garbage.

[0005] Another technical problem to be solved by the present invention is to provide a cleaning method using an automatic garbage sorting street cleaning machine based on visual recognition technology.

[0006] In order to realize the above-mentioned technical features, the purpose of the present invention is achieved as follows: an automatic garbage sorting street cleaning machine based on visual recognition technology, comprising a shell, a collection mechanism, a delivery mechanism, a driving mechanism and an identification system, wherein the collection mechanism comprises a side brush installed at the front end of the shell and a roller brush located at the bottom of the shell behind the side brush, a dust suction fan is provided on the shell behind the roller brush, the collection box is located between the side brush (101) and the roller brush, the delivery mechanism is located at the upper part of the shell behind the collection mechanism, and comprises a plurality of garbage bins installed on the shell and a feeding device located above the garbage bins, the feeding device comprises a slide device and a feeding device A feed box, a bracket is connected to the shell to support and fix the slide device, a feed box base is provided on the side of the feed box, the feed box base is connected to the slide device, the feed box base drives the feed box to move up and down, an opening and closing device is provided at the bottom of the feed box, the driving mechanism includes a plurality of Mecanum wheels installed at the lower part of the shell, the visual recognition system includes a first camera installed at a high position of the shell, a second camera and an ultrasonic ranging sensor installed around the shell; the collection box includes collection areas located on both sides of the collection box and a lifting device located in the middle of the collection area, and a groove-shaped fixed slide inclined from the collection box to the feeding box is provided between the collection box and the feed box.

[0007] The upper part of the side brush is connected to the side brush device bracket, the two ends of the roller brush are connected to the roller brush device bracket, the roller brush device bracket is connected to the collection box and the side brush device bracket, and the first electric push rod is installed on the shell, and the movable end is connected to the roller brush device bracket.

[0008] The bottom plate of the collection area is provided with a slide groove, and a movable first connecting rod is provided in the slide groove, and two push plates are respectively installed at one end of the first connecting rod on both sides, the other end of the first connecting rod is connected to one end of the first transmission rod, and the steering gear is connected to the other end of the first transmission rod; the lifting device includes a lifting bin and a limiting bin located above the collection box, the lifting bin is connected to the first screw rod and the second screw rod through a screw rod pair, driving the lifting bin to rise or fall along the guide rod; the lower ends of the first screw rod and the second screw rod are respectively connected to the lifting servo motor installed at the bottom of the collection box, the height of the first screw rod is higher than that of the second screw rod, the upper end of the first screw rod is connected to the limiting bin, and the upper end of the second screw rod is connected to the clamping ring on the upper edge of the fixed slide; the first camera and the second camera are installed on the top of the limiting bin, the first camera faces the running direction, and the second camera faces the fixed slide; the steering gear is installed at the bottom of the collection box.

[0009] The sliding table device includes a longitudinal sliding component and a transverse sliding component. The longitudinal sliding component includes a longitudinal moving track fixedly connected to both sides of the bracket and a longitudinal sliding seat that cooperates with the longitudinal moving track for movement. The longitudinal sliding seat is provided with a longitudinal driving wheel and a limiting wheel. The longitudinal driving wheel is installed in the longitudinal moving track. The longitudinal servo motor is installed on one side of the longitudinal driving wheel to drive the longitudinal driving wheel to move along the longitudinal moving track. The limiting wheel is installed at the lower part of the longitudinal moving track and is close to the bottom end of the longitudinal moving track; the transverse sliding component includes a transverse sliding rod and a screw rod connected to the longitudinal sliding seat at both ends. The transverse sliding seat is installed on the transverse sliding rod and the screw rod. The transverse servo motor installed on the longitudinal sliding seat drives the screw rod to rotate, thereby driving the transverse sliding seat to move transversely; the feeding box base is connected and fixed to the transverse sliding seat.

[0010] The feeding box base includes a traction wheel installed in the base, the traction wheel is driven to rotate by a lifting motor installed on one side of the traction wheel, the guide wheel is located at the lower part of the traction wheel, the telescopic sleeve connects the feeding box base and the feeding box, and the traction steel cable is fixedly connected to the feeding box after passing through the traction wheel and the guide wheel; the opening and closing device includes a second electric push rod installed at the bottom of the feeding box, the second electric push rod is connected to the second transmission rod, the loading plates are two symmetrical pieces, which are slidably installed at the bottom of the feeding box, and the loading plates are respectively installed with second connecting rods, the second connecting rods and the second transmission rods are connected by connecting rod pairs, and the second electric push rod pushes and pulls the second transmission rod to drive the two loading plates to open and close relative to each other.

[0011] A solar power generation system and / or an alarm and / or a buzzer are installed on the top of the shell or the bracket.

[0012] A lighting lamp is installed on the shell.

[0013] It also includes a spray system, which includes a spray head installed at the rear of the shell and a water storage tank below the garbage bin. A water pump is arranged inside the water storage tank and connected to the spray head through a pipeline.

[0014] The bottom end of the collecting box is provided with a first gravity sensor, the bottom end of the feeding box is provided with a second gravity sensor, and the bottom end of the garbage bin is provided with a third gravity sensor.

[0015] A cleaning method of an automatic garbage sorting street cleaning machine based on visual recognition technology comprises the following steps:

[0016] S1: Receive instructions and drive in a straight line along the street line to the garbage cleaning area through the GPS navigation system;

[0017] S2: When going to the garbage cleaning area, the first camera and ultrasonic ranging sensor sense the situation in front of and around the machine, and upload the information to the processing board, which determines whether it is garbage. If it is garbage, the machine collects and classifies the garbage. If it is a pedestrian, the control board controls the buzzer to remind the pedestrian to avoid it. If it is an obstacle, the control board cooperates with the GPS system to re-plan the route and drive to the designated location to avoid the obstacle;

[0018] S3: After it is determined to be garbage, the first electric push rod controls the roller brush device bracket and the side brush device bracket, as well as the collection box to descend, and the stepper motor controls the two side brushes to rotate in different directions, controls the rotation of the roller brush, and controls the dust suction fan and the nozzle to start by the control panel;

[0019] S4: When the first gravity sensor no longer senses the change in gravity, it is determined that the garbage has entered the collection box. At this time, the control panel controls the steering gear to rotate, so that the push plate pushes the garbage in the collection area of ​​the collection box into the lifting bin of the lifting device, and the push plates on both sides prevent the garbage from scattering;

[0020] S5: When the first gravity sensor at the bottom of the lifting bin of the collection box no longer senses gravity, the control panel controls the lifting servo motors of the first screw rod and the second screw rod to rotate, driving the lifting bin and the garbage on the lifting bin to rise to the limit bin; at the same time, the lifting motor in the base of the feeding box controls the feeding box to descend to the lowest point of the fixed slide;

[0021] S6: Since the height of the first screw rod is higher than that of the second screw rod, the lifting bin is blocked by the clamping ring when it rises to the highest point of the second screw rod, and the other end of the lifting bin continues to rise along the second screw rod, the lifting bin tilts, and the garbage slides out of the lifting bin and enters the feeding box at the lowest point of the fixed slide through the inclined groove-shaped fixed slide; and in the process of the garbage falling from the fixed slide to the feeding box, the second camera collects the garbage image information above the fixed slide and transmits it to the processing board;

[0022] S7: When the second gravity sensor at the bottom of the feeding box no longer senses the change in gravity, it is detected that the garbage has been collected in the feeding box, and the information is transmitted to the processing board, which controls the lifting motor to drive the feeding box to rise through the control board;

[0023] S8: After the feeding box reaches the top of the trash bin, the processing board controls the horizontal servo motor and the vertical servo motor through the control board according to the type of garbage, moves the feeding box to the top of the designated trash bin, and then drives the second electric push rod to open the loading plate, and the garbage falls into the corresponding trash bin;

[0024] S9: When the third gravity sensor at the bottom of the trash bin detects that the trash bin is full, or the water level sensor in the water tank detects that the water storage tank is insufficient, the control panel controls the driving mechanism to return to the garbage collection station for processing.

[0025] The present invention has the following beneficial effects:

[0026] 1. The first camera identifies the garbage on the street, and the side brush and roller brush can clean the street garbage. The garbage is swept into the collection area on both sides of the collection box by the side brush, and then the garbage enters the lifting device to lift the garbage. When it reaches the high point, the garbage falls into the feeding box through the fixed slide. When passing the fixed slide, the second camera identifies the garbage passing through the fixed slide, and the feeding box base drives the feeding box to move upward to the top of the garbage bin. The slide device moves, driving the feeding box base and the feeding box to move to the top of the corresponding garbage bin, opening the opening and closing device at the bottom of the feeding box, and the garbage falls into the garbage bin. Through the above structure, the garbage cleaning is stable. During the cleaning process, the visual recognition system can be used to classify the cleaned garbage. Through the Mecanum wheel drive movement, the movement is convenient, flexible and fast. Through the camera and ultrasonic ranging sensor, the presence of people and obstacles can be sensed, and complex situations such as street traffic can be responded to in time, and street garbage can be automatically cleaned and classified, avoiding the waste of human resources.

[0027] 2. The garbage in the collection area is pushed onto the lifting bin by the push plate. The first screw rod and the second screw rod rotate, and the lifting bin is clamped between the two push plates and moves upward to reach the limit bin. The height of the first screw rod is higher than that of the second screw rod. When it rises to the top of the second screw rod, it is limited by the clamping ring, and the first screw rod continues to rotate, driving the lifting bin to tilt toward the fixed slide, so that the garbage rolls onto the fixed slide for classification and scanning.

[0028] 3. The longitudinal driving wheel and the limiting wheel are arranged up and down, clamping the longitudinal moving track. The longitudinal servo motor drives the transverse sliding assembly to move longitudinally, and the transverse servo motor drives the transverse sliding seat to move transversely. The entire sliding assembly runs stably and accurately, without slipping, and the feeding position is more accurate.

[0029] 4. The feeding box is connected to the feeding box base through a telescopic sleeve. The lifting motor drives the traction wheel to rotate, thereby pulling the feeding box upward. The telescopic sleeve is a multi-section pipe with different diameters that are connected together, which has a limiting guide function. When the feeding box moves downward, it can fall by its own gravity. When falling, the lifting motor needs to rotate in the opposite direction to release the traction cable. The two loading plates can open and close relative to each other in a small space, and the cleaning device structure is more compact.

[0030] 5. The cleaning machine also includes a spray system, which includes a nozzle installed at the rear of the shell and a water tank under the trash can. A water pump is arranged inside the water tank and connected to the nozzle through a pipe, so as to facilitate watering and disinfecting the road surface. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a schematic diagram of the three-dimensional structure of the invention.

[0032] Figure 2 It is a schematic diagram of the three-dimensional structure from another angle of the invention.

[0033] Figure 3 This is a schematic diagram of the main structure of the present invention after partially hiding the shell.

[0034] Figure 4 It is a schematic diagram of the structure of the collecting mechanism of the present invention.

[0035] Figure 5 It is a schematic diagram of the structure of the collection box of the present invention.

[0036] Figure 6 It is a structural schematic diagram of the lifting device of the present invention in the state of collecting garbage.

[0037] Figure 7 It is a schematic diagram of the structure of the lifting device of the present invention.

[0038] Figure 8 It is a schematic diagram of the structure of the delivery mechanism of the present invention.

[0039] Fig. 9 It is a schematic diagram of the structure of the feeding box of the present invention.

[0040] Fig.10 for Figure 8 Enlarged structural diagram at K in the middle.

[0041] Fig.11 It is a schematic diagram of the base structure of the feeding box of the present invention.

[0042] Fig.12 It is a schematic diagram of the driving mechanism structure of the present invention.

[0043] In the figure, solar power generation system 001, buzzer 002, alarm 003, battery 004, lighting lamp 006, ultrasonic ranging sensor 005, lighting lamp 006, water storage tank 007, nozzle 008, bracket 009, control board 11, processing board 12;

[0044] Collection mechanism 100, side brush 101, roller brush 102, guide rod 103, steering gear 104, lifting servo motor 105, fan 108, fixed slide 109, first electric push rod 110, collection box 111, first connecting rod 112, first transmission rod 113, first screw rod 114, second screw rod 115, snap ring 116, side brush device bracket 118, roller brush device bracket 119, first camera 120, push plate 121, lifting bin 130, limit bin 131;

[0045] The delivery mechanism 200, the second electric push rod 201, the second connecting rod 202, the second transmission rod 203, the transverse sliding rod 204, the screw rod 205, the longitudinal moving track 206, the transverse servo motor 207, the longitudinal servo motor 208, the traction cable 209, the feeding box base 210, the transverse sliding seat 211, the feeding box 212, the guide wheel 219, the telescopic sleeve rod 220, the lifting motor 221, the traction wheel 222, the loading plate 223, the garbage bin 224, the second camera 225, the longitudinal sliding seat 226, the longitudinal driving wheel 227, and the limiting wheel 228;

[0046] Driving mechanism 300 , reduction motor 301 , Mecanum wheel 302 . DETAILED DESCRIPTION

[0047] Embodiment 1:

[0048] See also Figure 1-12, an automatic garbage sorting street cleaning machine based on visual recognition technology, including a shell, a collection mechanism 100, a delivery mechanism 200, a driving mechanism 300 and an identification system, the collection mechanism 100 includes a side brush 101 installed at the front end of the shell and a roller brush 102 located at the bottom of the shell behind the side brush 101, a dust suction fan 108 is provided on the rear shell of the roller brush 102, a collection box 111 is located between the side brush 101 and the roller brush 102, the delivery mechanism 200 is located at the upper part of the shell behind the collection mechanism 100, including a plurality of garbage bins 224 installed on the shell and a feeding device located above the garbage bins 224, the feeding device includes a slide device and a feeding box 212, a bracket 009 is connected to the shell An upper support and fixed slide device, a feeding box base 210 is provided on the side of the feeding box 212, the feeding box base 210 is connected to the slide device, the feeding box base 210 drives the feeding box 212 to move up and down, an opening and closing device is provided at the bottom of the feeding box 212, the driving mechanism 300 includes a plurality of Mecanum wheels 302 installed at the lower part of the shell, the visual recognition system includes a first camera 120, a second camera 225 and an ultrasonic ranging sensor 005 installed around the shell; the collecting box 111 includes collecting areas located on both sides of the collecting box 111 and a lifting device located in the middle of the collecting area, and a groove-shaped fixed slide 109 inclined from the collecting box 111 to the feeding box 212 is provided between the collecting box 111 and the feeding box 212. The collecting mechanism 100 is used to clean and collect garbage on the street, the delivery mechanism 200 is used to deliver the collected garbage to the classified garbage bin in a classified manner, the driving mechanism 300 is used to drive the entire machine to run along the street, the recognition system is used to recognize obstacles and garbage, and the battery 004 supplies power to each mechanism. The first camera 120 recognizes garbage on the street, and the side brush 101 and the roller brush 102 can clean the street garbage. The side brush 101 is driven to rotate by the motor on its top, and the roller brush 102 is driven to rotate by a common belt drive. The structure is simple and easy to replace. The machine moves through the Mecanum wheel 302, and the movement is convenient, flexible and fast. The Mecanum wheel 302 is driven by the reduction motor 301, or is driven by the built-in hub motor in the Mecanum wheel 302. During the movement, the first camera 120 scans and identifies the garbage on the ground. The garbage is swept into the collection areas on both sides of the collection box 111 by the side brush 101, and then the garbage enters the lifting device to lift the garbage. When it reaches the high point, the garbage passes through the fixed slide 109 and falls into the feeding box 212. When passing through the fixed slide 109, the second camera 225 identifies the garbage passing through the fixed slide 109, and the feeding box base 210 drives the feeding box 212 to move upward to above the garbage bin 224. The slide device moves, driving the feeding box base 210 and the feeding box 212 to move to above the corresponding garbage bin 224, opening the opening and closing device at the bottom of the feeding box 212, and the garbage falls into the garbage can.Through the above structure, garbage cleaning is stable, and the cleaned garbage can be classified through the visual recognition system during the cleaning process. It is easy to use, and can sense the presence of people and obstacles through cameras and ultrasonic ranging sensors. It can respond to complex situations such as street traffic in a timely manner, automatically clean and classify street garbage, and avoid waste of human resources.

[0049] In a preferred embodiment, see Figure 3 , 4 The upper part of the side brush 101 is connected to the side brush device bracket 118, the two ends of the roller brush 102 are connected to the roller brush device bracket 119, the roller brush device bracket 119 is connected to the collection box 111 and the side brush device bracket 118, and the first electric push rod 110 is installed on the housing, and the movable end is connected to the roller brush device bracket 119. When the cleaning device moves to the location where the garbage is located, the first electric push rod 110 is retracted, so that the side brush 101, the roller brush 102 and the collection box 111 are away from the ground, reducing wear and increasing life.

[0050] In a preferred embodiment, see Figure 5-7The bottom plate of the collection area is provided with a slide groove, in which a movable first connecting rod 112 is provided, and two push plates 121 are respectively installed at one end of the first connecting rod 112 on both sides, and the other end of the first connecting rod 112 is connected to one end of the first transmission rod 113, and the steering gear 104 is connected to the other end of the first transmission rod 113; the lifting device includes a lifting bin 130 and a limit bin 131 located above the collection box 111, and the lifting bin 130 is connected with the first screw rod 114 and the second screw rod 115 screw rod pair to drive the lifting bin 130 to rise or fall along the guide rod 103; the first screw rod 114 The lower end of the first screw rod 114 and the lower end of the second screw rod 115 are respectively connected to the lifting servo motor 105 installed at the bottom of the collecting box 111. The height of the first screw rod 114 is higher than the height of the second screw rod 115. The upper end of the first screw rod 114 is connected to the limiting bin 131, and the upper end of the second screw rod 115 is connected to the retaining ring 116 on the upper edge of the fixed slide 109; the first camera 120 and the second camera 225 are installed on the top of the limiting bin 131, the first camera 120 faces the running direction, and the second camera 225 faces the fixed slide 109; the servo 104 is installed at the bottom of the collecting box 111. When the garbage is swept in the collection area, the steering gear 104 rotates to drive the first transmission rods 113 on both sides. The first transmission rods 113 pull the first connecting rod 112, so that the two push plates 121 move inward at the same time, pushing the garbage onto the lifting bin 130. The lifting bin 130 is an L-shaped structure. When the two push plates 121 are not opened, a boxed container is formed. The first screw rod 114 and the second screw rod 115 rotate, and the lifting bin 130 is clamped between the two push plates 121 and moves upward to the limit bin 131. The limit bin 131 is open front and back, and the two sides cooperate with the lifting bin 130 to form a lifting bin. The bin body, since the height of the first screw rod 114 is higher than that of the second screw rod 115, is limited by the retaining ring 116 when it rises to the top of the second screw rod 115, and the first screw rod 114 continues to rotate, driving the lifting bin 130 to tilt toward the fixed slide 109, causing the garbage to roll onto the fixed slide 109, and then the first screw rod 114 flips over in the opposite direction to restore the lifting bin 130 to a horizontal state, and the second screw rod 115 rotates in the opposite direction synchronously to cause the lifting bin 130 to fall back to the bottom of the collection box 111, and at the same time, the servo 104 rotates in the opposite direction to cause the push plates 121 on both sides to lean against the two sides of the collection box 111.

[0051] In a preferred embodiment, see Figure 8-10The slide device includes a longitudinal sliding assembly and a transverse sliding assembly. The longitudinal sliding assembly includes a longitudinal moving track 206 fixedly connected to both sides of the bracket 009 and a longitudinal sliding seat 226 that moves in coordination with the longitudinal moving track 206. The longitudinal sliding seat 226 is provided with a longitudinal driving wheel 227 and a limiting wheel 228. The longitudinal driving wheel 227 is installed in the longitudinal moving track 206. The longitudinal servo motor 208 is installed on one side of the longitudinal driving wheel 227 to drive the longitudinal driving wheel 227 to move along the longitudinal moving track 206. , the limiting wheel 228 is installed at the lower part of the longitudinal moving track 206, close to the bottom end of the longitudinal moving track 206; the transverse sliding assembly includes a transverse slide bar 204 and a screw rod 205 connected to the longitudinal sliding seat 226 at both ends, and the transverse sliding seat 211 is installed on the transverse slide bar 204 and the screw rod 205, and the transverse servo motor 207 installed on the longitudinal sliding seat 226 drives the screw rod 205 to rotate, thereby driving the transverse sliding seat 211 to move horizontally; the feeding box base 210 is connected and fixed to the transverse sliding seat 211. The longitudinal driving wheel 227 and the limiting wheel 228 are arranged up and down to clamp the longitudinal moving track 206, the longitudinal servo motor 208 drives the transverse sliding assembly to move longitudinally, and the transverse servo motor 207 drives the transverse sliding seat 211 to move horizontally. The entire sliding assembly runs stably, the running position is accurate, there is no slipping, and the feeding position is more accurate.

[0052] In a preferred embodiment, see Fig.11 The feeding box base 210 includes a traction wheel 222 installed in the base, the traction wheel 222 is driven to rotate by a lifting motor 221 installed on one side of the traction wheel 222, the guide wheel 219 is located at the lower part of the traction wheel 222, the telescopic sleeve rod 220 connects the feeding box base 210 and the feeding box 212, and the traction steel cable 209 is fixedly connected to the feeding box 212 after passing through the traction wheel 222 and the guide wheel 219; the opening and closing device includes a second electric push rod 201 installed at the bottom of the feeding box 212, the second electric push rod 201 is connected to the second transmission rod 203, the loading plates 223 are two symmetrical pieces, which are slidably installed at the bottom of the feeding box 212, and the loading plates 223 are respectively installed with second connecting rods 202, the second connecting rods 202 and the second transmission rods 203 are connected by connecting rod pairs, and the second electric push rod 201 pushes and pulls the second transmission rod 203 to drive the two loading plates 223 to open and close relative to each other. The feeding box 212 is movably connected to the feeding box base 210 through the telescopic sleeve rod 220, and the lifting motor 221 drives the traction wheel 222 to rotate, thereby pulling the feeding box 212 to move upward. The telescopic sleeve rod 220 is a plurality of pipes of different diameters that are mutually sleeved together, and has a limiting guiding function. When the feeding box 212 moves downward, it can fall by its own gravity. When falling, the lifting motor 221 needs to rotate in the opposite direction to release the traction cable 209. The two loading plates 223 can be relatively opened and closed in a narrow space, and the cleaning device structure is more compact.

[0053] In a preferred embodiment, see Figure 1-3 The top of the housing or bracket 009 is equipped with a solar power generation system 001 and / or a warning device 003 and / or a buzzer 002. The solar power generation system 001 can provide continuous power energy, the warning device 003 instructs people and other vehicles to avoid the road by light, and the buzzer 002 instructs people and other vehicles to avoid the road by voice.

[0054] In a preferred embodiment, see Figure 1-3 The shell is equipped with a lighting lamp 006 to facilitate the first camera 120 to identify ground garbage. It is suitable for working in dim light or at night and has a wider range of application time.

[0055] In a preferred solution, a first gravity sensor is provided at the bottom of the collection box 111 to sense whether there is garbage in the collection box 111; a second gravity sensor is provided at the bottom of the feeding box 212 to sense whether there is garbage in the feeding box 212; a third gravity sensor is provided at the bottom of the garbage bin 224 to sense whether the garbage in the feeding box 212 is full. For ease of installation, each gravity sensor can be produced by Beijing Detian Chiding Technology Co., Ltd., model DT-WS132 wireless gravity sensor. The processing board 12 is installed in the shell, not shown in the figure, and the specific installation position is convenient for laying cables.

[0056] Embodiment 2:

[0057] The difference from Example 1 is that it also includes a spray system, which includes a nozzle 008 installed at the rear of the shell and a water tank 007 under the garbage bin 224. The water pump is arranged inside the water tank 007 and connected to the nozzle 008 through a pipe, so as to facilitate watering and disinfecting the road surface.

[0058] A cleaning method of an automatic garbage sorting street cleaning machine based on visual recognition technology comprises the following steps:

[0059] S1: Receive instructions and drive in a straight line along the street line to the garbage cleaning area through the GPS navigation system;

[0060] S2: In the process of going to the garbage cleaning area, the first camera 120 and the ultrasonic ranging sensor 005 sense the situation in front of and around the machine, and the information is uploaded to the processing board 12, which determines whether it is garbage. If it is garbage, the machine collects and classifies the garbage. If it is a pedestrian, the control board 11 controls the buzzer 002 to remind the pedestrian to avoid it. If it is an obstacle, the control board 11 cooperates with the GPS system to re-plan the route and drive to the designated location to avoid the obstacle;

[0061] S3: After it is determined to be garbage, the first electric push rod 110 controls the roller brush device bracket 119 and the side brush device bracket 118, as well as the collection box 111 to descend, and the stepper motor controls the two side brushes to rotate in different directions, controls the roller brush 101 to rotate, and at the same time, the control panel 11 controls the dust suction fan 108 and the nozzle 008 to start;

[0062] S4: When the first gravity sensor no longer senses the change in gravity, it is determined that the garbage has entered the collection box 111. At this time, the control panel 11 controls the steering gear 104 to rotate, so that the push plate 121 pushes the garbage in the collection area of ​​the collection box 111 into the lifting bin 130 of the lifting device, and the push plates 121 on both sides prevent the garbage from scattering;

[0063] S5: When the first gravity sensor at the bottom of the lifting bin 130 of the collection box 111 no longer senses gravity, the control board 11 controls the lifting servo motor 105 of the first screw rod 114 and the second screw rod 115 to rotate, driving the lifting bin 130 and the garbage on the lifting bin 130 to rise to the limit bin 131; at the same time, the lifting motor 221 in the feeding box base 210 controls the feeding box 212 to descend to the lowest point of the fixed slide 109;

[0064] S6: Since the height of the first screw rod 114 is higher than that of the second screw rod 115, the lifting bin 130 is blocked by the clamping ring 116 when it rises to the highest point of the second screw rod 115, and the other end of the lifting bin 130 continues to rise along the second screw rod 115, the lifting bin 130 tilts, and the garbage slides out of the lifting bin 130 and enters the feeding box 212 located at the lowest point of the fixed slide 109 through the inclined groove-shaped fixed slide 109; and in the process of the garbage falling from the fixed slide 109 to the feeding box 212, the second camera 225 collects the garbage image information above the fixed slide 109 and transmits it to the processing board 12;

[0065] S7: When the second gravity sensor at the bottom of the feeding box 212 no longer senses the change in gravity, it is detected that the garbage has been collected in the feeding box 212, and the information is transmitted to the processing board 12, which controls the lifting motor 221 to drive the feeding box 212 to rise via the control board 11;

[0066] S8: After the feeding box 212 reaches the top of the garbage bin 224, the processing board 12 controls the horizontal servo motor 207 and the vertical servo motor 208 via the control board 11 according to the type of garbage, and moves the feeding box 212 to the top of the designated garbage bin 224, and then drives the second electric push rod 201 to open the loading plate 223, and the garbage falls into the corresponding garbage bin 224;

[0067] S9: When the third gravity sensor at the bottom of the trash bin 224 detects that the trash bin 224 is full, or the water level sensor in the water tank 007 detects that the water is insufficient, the control board 11 controls the driving mechanism to return to the garbage collection station for processing.

[0068] Working process and principle of the present invention:

[0069] After receiving the user's instruction, the machine drives in a straight line along the street line to the garbage cleaning area through the GPS navigation system. In the process of going to the garbage cleaning area, the first camera and ultrasonic ranging sensor sense the situation in front of and around the machine, and the information is uploaded to the processing board, which determines whether it is garbage. If it is garbage, the machine collects and classifies the garbage. If it is a pedestrian, the control board controls the buzzer to remind the pedestrian to avoid it. If it is an obstacle, the control board cooperates with the GPS system to re-plan the route and avoid the obstacle to the designated location. When it is determined to be garbage, the first electric push rod controls the roller brush bracket and the side brush bracket, as well as the collection box to descend, and the stepper motor controls the two side brushes to rotate in different directions to control the rotation of the roller brush. At the same time, the control board controls the fan and the nozzle to start. When the first gravity sensor no longer senses the change in gravity, it is determined that the garbage has entered the collection box. At this time, the control board controls the steering gear to rotate, so that the push plate pushes the garbage in the collection area of ​​the collection box into the lifting bin of the lifting device, and the push plates on both sides prevent the garbage from scattering. When the first gravity sensor at the bottom of the lifting bin of the collection box no longer senses gravity, the control panel controls the lifting servo motors of the first and second screw rods to rotate respectively, driving the lifting bin and the garbage on the lifting bin to rise to the limit bin; at the same time, the lifting motor in the base of the feeding box controls the feeding box to descend to the lowest point of the fixed slide. Since the height of the first screw rod is higher than that of the second screw rod, the lifting bin is blocked by the clamping ring when it rises to the highest point of the second screw rod, and the other end of the lifting bin continues to rise along the second screw rod, the lifting bin tilts, and the garbage slides out of the lifting bin and enters the feeding box at the lowest point of the fixed slide through the inclined groove-shaped fixed slide; and in the process of the garbage falling to the feeding box via the fixed slide, the second camera collects the garbage image information above the fixed slide and transmits it to the processing board. When the second gravity sensor at the bottom of the feeding box no longer senses the change in gravity, it detects that the garbage has been collected in the feeding box, and transmits the information to the processing board, which controls the operation of the lifting motor via the control board to drive the feeding box to rise. After the feeding box reaches the top of the trash bin, the processing board controls the horizontal servo motor and the vertical servo motor through the control board according to the type of garbage, moves the feeding box to the top of the designated trash bin, and then drives the second electric push rod to open the loading plate, and the garbage falls into the corresponding trash bin. When the third gravity sensor at the bottom of the trash bin detects that the trash bin is full, or the water level sensor in the water tank detects that the water storage is insufficient, the control board controls the drive mechanism to return to the garbage collection station for processing.

Claims

1. An automatic garbage sorting street cleaning machine based on visual recognition technology, comprising a housing, characterized in that: The invention also comprises a collecting mechanism (100), a delivery mechanism (200), a driving mechanism (300) and an identification system. The collecting mechanism (100) comprises a side brush (101) mounted on the front end of a housing and a roller brush (102) located at the bottom of the housing behind the side brush (101). A dust suction fan (108) is provided on the housing behind the roller brush (102). The collecting box (111) is located between the side brush (101) and the roller brush (102). The delivery mechanism (200) is located on the upper part of the housing behind the collecting mechanism (100). The delivery mechanism (200) comprises a plurality of garbage bins (224) mounted on the housing and a feeding device located above the garbage bins (224). The feeding device comprises a slide device and a feeding box (212). A bracket (009) is connected to the housing to support and fix the slide device. The feeding box (212) A feeding box base (210) is provided on the side, the feeding box base (210) is connected to a slide device, the feeding box base (210) drives the feeding box (212) to move up and down, an opening and closing device is provided at the bottom of the feeding box (212), the driving mechanism (300) comprises a plurality of Mecanum wheels (302) installed at the lower part of the shell, the visual recognition system comprises a first camera (120) installed at a high position of the shell, a second camera (225) and an ultrasonic distance measuring sensor (005) installed around the shell; the collection box (111) comprises collection areas located on both sides of the collection box (111) and a lifting device located in the middle of the collection area, and a groove-shaped fixed slide (109) is provided between the collection box (111) and the feeding box (212) and is inclined from the collection box (111) to the feeding box (212); The bottom plate of the collection area is provided with a slide groove, and a movable first connecting rod (112) is provided in the slide groove. Two push plates (121) are respectively installed on one end of the first connecting rod (112) on both sides. The other end of the first connecting rod (112) is connected to one end of the first transmission rod (113), and the steering gear (104) is connected to the other end of the first transmission rod (113). The lifting device includes a lifting bin (130) and a limit bin (131) located above the collection box (111). The lifting bin (130) is connected to the first screw rod (114) and the second screw rod (115) through a screw rod pair, so as to drive the lifting bin (130) to rise or fall along the guide rod (103). The first screw rod (114) The lower ends of the first screw rod (114) and the second screw rod (115) are respectively connected to a lifting servo motor (105) installed at the bottom of the collection box (111); the height of the first screw rod (114) is higher than that of the second screw rod (115); the upper end of the first screw rod (114) is connected to the limit bin (131); the upper end of the second screw rod (115) is connected to a clamping ring (116) on the upper edge of the fixed slide (109); a first camera (120) and a second camera (225) are installed on the top of the limit bin (131); the first camera (120) faces the running direction, and the second camera (225) faces the fixed slide (109); the steering gear (104) is installed at the bottom of the collection box (111).

2. The automatic garbage sorting street cleaning machine based on visual recognition technology according to claim 1 is characterized by: The upper portion of the side brush (101) is connected to a side brush device bracket (118), the two ends of the roller brush (102) are connected to a roller brush device bracket (119), the roller brush device bracket (119) is connected to the collection box (111) and the side brush device bracket (118), and the first electric push rod (110) is mounted on the housing, with a movable end connected to the roller brush device bracket (119).

3. The automatic garbage sorting street cleaning machine based on visual recognition technology according to claim 2 is characterized by: The slide device comprises a longitudinal sliding assembly and a transverse sliding assembly, wherein the longitudinal sliding assembly comprises a longitudinal moving track (206) fixedly connected to both sides of the bracket (009) and a longitudinal sliding seat (226) moving in coordination with the longitudinal moving track (206), wherein the longitudinal sliding seat (226) is provided with a longitudinal driving wheel (227) and a limiting wheel (228), wherein the longitudinal driving wheel (227) is installed in the longitudinal moving track (206), and the longitudinal servo motor (208) is installed on one side of the longitudinal driving wheel (227) to drive the longitudinal driving wheel (227) to move along the longitudinal moving track (206), and the limiting wheel (228) is installed in the longitudinal moving track (206). The wheel (228) is installed at the lower part of the longitudinal moving track (206) and is close to the bottom end of the longitudinal moving track (206); the transverse sliding assembly includes a transverse sliding rod (204) and a screw rod (205) connected to the longitudinal sliding seat (226) at both ends; the transverse sliding seat (211) is installed on the transverse sliding rod (204) and the screw rod (205); the transverse servo motor (207) installed on the longitudinal sliding seat (226) drives the screw rod (205) to rotate, thereby driving the transverse sliding seat (211) to move horizontally; the feeding box base (210) is connected and fixed to the transverse sliding seat (211).

4. The automatic garbage sorting street cleaning machine based on visual recognition technology according to claim 3 is characterized by: The feeding box base (210) comprises a traction wheel (222) installed in the base, the traction wheel (222) is driven to rotate by a lifting motor (221) installed on one side of the traction wheel (222), the guide wheel (219) is located below the traction wheel (222), the telescopic sleeve rod (220) connects the feeding box base (210) and the feeding box (212), and the traction steel cable (209) is fixedly connected to the feeding box (212) after passing through the traction wheel (222) and the guide wheel (219); the opening and closing device comprises a traction wheel (209) installed on the feeding box A second electric push rod (201) is provided at the bottom of the feeding box (212), the second electric push rod (201) is connected to the second transmission rod (203), the loading plates (223) are two symmetrical plates, and are slidably mounted at the bottom of the feeding box (212), the loading plates (223) are respectively mounted with second connecting rods (202), the second connecting rods (202) and the second transmission rod (203) are connected via connecting rod pairs, the second electric push rod (201) pushes and pulls the second transmission rod (203), thereby driving the two loading plates (223) to open and close relative to each other.

5. The automatic garbage sorting street cleaning machine based on visual recognition technology according to claim 4 is characterized by: A solar power generation system (001) and / or an alarm (003) and / or a buzzer (002) are installed on the top of the housing or the bracket (009).

6. The automatic garbage sorting street cleaning machine based on visual recognition technology according to claim 1 is characterized by: A lighting lamp (006) is installed on the shell.

7. The automatic garbage sorting street cleaning machine based on visual recognition technology according to claim 5 is characterized by: It also includes a spray system, which includes a spray head (008) installed at the rear of the shell and a water storage tank (007) below the garbage bin (224); a water pump is arranged inside the water storage tank (007) and connected to the spray head (008) through a pipeline.

8. The automatic garbage sorting street cleaning machine based on visual recognition technology according to claim 7 is characterized by: The bottom end of the collecting box (111) is provided with a first gravity sensor, the bottom end of the feeding box (212) is provided with a second gravity sensor, and the bottom end of the garbage box (224) is provided with a third gravity sensor.

9. The cleaning method of the automatic garbage sorting street cleaning machine based on visual recognition technology according to claim 8 is characterized in that: The steps include: S1: Receive instructions and drive in a straight line along the street line to the garbage cleaning area through the GPS navigation system; S2: When going to the garbage cleaning area, the first camera (120) and the ultrasonic ranging sensor (005) sense the situation in front of and around the machine, and upload the information to the processing board (12). The processing board (12) determines whether it is garbage. If it is garbage, the machine collects and classifies the garbage. If it is a pedestrian, the control board (11) controls the buzzer (002) to prompt the pedestrian to avoid it. If it is an obstacle, the control board (11) cooperates with the GPS system to re-plan the route and drive to the designated location to avoid the obstacle; S3: After determining that the waste is garbage, the first electric push rod (110) controls the roller brush device bracket (119) and the side brush device bracket (118), as well as the collection box (111) to descend, and the stepper motor controls the two side brushes to rotate in different directions, controls the roller brush (102) to rotate, and at the same time, the control panel (11) controls the dust suction fan (108) and the nozzle (008) to start; S4: When the first gravity sensor no longer senses a change in gravity, it is determined that the garbage has entered the collection box (111), and the control panel (11) controls the steering gear (104) to rotate, so that the push plate (121) pushes the garbage in the collection area of ​​the collection box (111) into the lifting bin (130) of the lifting device, and the push plates (121) on both sides prevent the garbage from scattering; S5: When the first gravity sensor at the bottom of the lifting bin (130) of the collection box (111) no longer senses gravity, the control panel (11) controls the lifting servo motor (105) of the first screw rod (114) and the second screw rod (115) to rotate, thereby driving the lifting bin (130) and the garbage on the lifting bin (130) to rise to the limit bin (131); at the same time, the lifting motor (221) in the feeding box base (210) controls the feeding box (212) to descend to the lowest point of the fixed slide (109); S6: Since the height of the first screw rod (114) is higher than the height of the second screw rod (115), the lifting bin (130) is blocked by the clamping ring (116) when it rises to the highest point of the second screw rod (115), and the other end of the lifting bin (130) continues to rise along the second screw rod (115), the lifting bin (130) tilts, and the garbage slides out of the lifting bin (130) and enters the feeding box (212) located at the lowest point of the fixed slide (109) through the inclined groove-shaped fixed slide (109); and in the process of the garbage falling from the fixed slide (109) to the feeding box (212), the second camera (225) collects the garbage image information above the fixed slide (109) and transmits it to the processing board (12); S7: When the second gravity sensor at the bottom of the feeding box (212) no longer senses the change in gravity, it is detected that the garbage has been collected in the feeding box (212), and the information is transmitted to the processing board (12), and the processing board (12) controls the lifting motor (221) to operate via the control board (11) to drive the feeding box (212) to rise; S8: After the feeding box (212) reaches the top of the garbage bin (224), the processing board (12) controls the horizontal servo motor (207) and the vertical servo motor (208) via the control board (11) according to the type of garbage, so that the feeding box (212) moves to the top of the designated garbage bin (224), and then drives the second electric push rod (201) to open the loading plate (223), so that the garbage falls into the corresponding garbage bin (224); S9: When the third gravity sensor at the bottom of the garbage bin (224) detects that the garbage bin (224) is full, or the water level sensor in the water storage tank (007) detects that the water storage is insufficient, the control panel (11) controls the driving mechanism to return to the garbage collection station for processing.

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