Intelligent garbage can based on slam algorithm

Abstract

This invention relates to a smart trash can based on the SALM algorithm, belonging to the field of trash can devices. It includes a tracked vehicle with an outer bin fixed to the upper wall of its chassis. A cover plate is rotatably connected to the outer bin. An inner bin is located inside the outer bin. A support plate is located at the lower end of the inner bin, and the lower wall of the inner bin is rotatably connected to the support plate. An electric telescopic rod is located inside the inner bin. The tracked vehicle's forward direction is defined as right to left (X-direction), and the horizontal direction perpendicular to the X-direction is defined as the Y-direction. The left end of the inner bin is rotatably connected to the support plate. A first passive rod is located on the inner bin, and a second passive rod is located at the other end of the first passive rod. A strip-shaped hole is formed on the outer bin. Depth cameras are fixed to both the left and right side walls of the outer bin, and a controller is fixed to the side wall of the outer bin. The two depth cameras are electrically connected to the controller. The controller is electrically connected to the tracked vehicle. A gripping component is located on the outer bin. This device can collect trash from indoor trash cans into the inner bin and then empty it into a centralized trash collection area.

Description

Technical Field

[0001] This invention belongs to the field of trash can devices, specifically relating to intelligent trash cans based on SLAM algorithms. Background Technology

[0002] As living standards continue to improve, smart trash cans are becoming increasingly common.

[0003] Currently, each floor of the residential building has a centralized garbage collection area for collecting indoor garbage generated by residents on that floor. Specifically, each floor houses several households, and garbage from each household is first collected into their individual indoor garbage bins. Each household may have multiple garbage bins. Once one or more of their indoor garbage bins are full, residents empty them into the outdoor centralized garbage collection area, where garbage disposal personnel then process the garbage from each floor's collection area.

[0004] Current smart trash cans are only used in individual households. For people who find it inconvenient or too lazy to go out, these smart trash cans cannot fulfill the purpose of emptying trash from indoor bins into a centralized trash collection area. Therefore, there is a need to design a smart trash can based on the SLAM algorithm that collects trash from indoor bins before throwing it into the centralized trash collection area. Summary of the Invention

[0005] The intelligent trash can based on the SLAM algorithm of this invention can automatically dump trash into the trash station and overcome stair obstacles encountered on the way to the trash station.

[0006] To achieve the above objectives, the present invention provides a smart trash can based on the SLAM algorithm, comprising a tracked vehicle, an outer bin fixed to the upper wall of the chassis of the tracked vehicle, an opening at the upper end of the outer bin, and a cover plate rotatably connected to the outer bin for closing the opening of the outer bin.

[0007] The outer tub contains an inner tub with an opening at the top; the lower end of the inner tub is equipped with a support plate, and the lower surface of the inner tub is rotatably connected to the support plate; the inner tub is equipped with an electric telescopic rod for raising and lowering the support plate.

[0008] Assume the tracked vehicle's forward direction is from right to left, i.e., the X direction, and define the horizontal direction perpendicular to the X direction as the Y direction. The left end of the inner bucket is rotatably connected to the support plate, and the axis of rotation between the inner bucket and the support plate is along the Y direction. A first passive rod is provided at the left end of the inner bucket, one end of which is rotatably connected to the left side wall of the inner bucket, and a second passive rod is provided at the other end of the first passive rod. One end of the second passive rod is rotatably connected to the other end of the first passive rod, and the other end of the second passive rod is rotatably connected to the outer bucket. The axes of both ends of the first and second passive rods are along the Y direction. A strip-shaped hole is provided on the outer bucket for the first and second passive rods to pass through. Depth cameras are fixed on both the left and right side walls of the outer bucket, and a controller is fixed on the side wall of the outer bucket. The two depth cameras are electrically connected to the controller. The controller is electrically connected to the tracked vehicle. A gripping component is provided on the outer bucket for emptying garbage from the trash can into the inner bucket.

[0009] Furthermore, let point A be the upper end of the left side of the inner barrel, point O be the lower end of the left side of the inner barrel, and point B be a point on the lower end line segment of the inner barrel. Then ∠AOB is an obtuse angle.

[0010] Because the left side of the inner bucket is slanted, it is easier for the inner bucket to rotate to the left when emptying trash. If the left side of the inner bucket were vertical, according to the principle of force decomposition, the pulling force of the first and second passive rods on the left side of the inner bucket would be more decomposed into vertical pressure, thus reducing the horizontal pulling force generated by the first and second passive rods on the left side of the inner bucket, making it less likely to pull the inner bucket to rotate.

[0011] Furthermore, when the axes of the first passive rod and the second passive rod coincide, point O is located above the outer barrel.

[0012] Because tilting the inner tub when the lower end of the inner tub is completely higher than the upper end of the outer tub can minimize friction between the inner and outer tubs due to tilting, this design only starts to subject the inner tub to the tension of the first and second passive rods when point O is higher than the upper surface of the outer tub. This avoids the situation where the inner tub rubs against the inner surface of the outer tub due to the tension of the first and second passive rods inside the outer tub.

[0013] Furthermore, the right side wall of the tracked vehicle chassis is provided with an obstacle avoidance component, which includes:

[0014] The articulated mount is fixed to the right end of the tracked vehicle chassis;

[0015] The connecting rod is rotatably connected to the hinge seat at one end, and the axis of rotation of the connecting rod is along the Y direction;

[0016] The abutment wheel is rotatably connected to the other end of the connecting rod, and the axis of rotation of the abutment wheel is along the Y direction.

[0017] Tracked vehicles inevitably need to cross thresholds during movement, so obstacle avoidance components are designed to assist them in navigating these thresholds.

[0018] Further, let the centerline of the tracked vehicle chassis along the X direction be line G, and the vertical surface passing through line G be surface P. There are two gripping components, symmetrically arranged along surface P. Each gripping component includes:

[0019] The first linkage rod is rotatably connected at one end to the side wall of the outer barrel; the axis of rotation of the first linkage rod is along the Y direction.

[0020] The second linkage is located at the other end of the first linkage, and the other end of the first linkage is rotatably connected to the second linkage via a shaft; the axis of the shaft is along the Y direction.

[0021] A linkage block is fixed on the second linkage rod, and the linkage block is equipped with two sets of mechanical claws for gripping the trash can.

[0022] A guide post is fixed on the second linkage rod, and a guide groove is provided on the side wall of the outer barrel. The guide post can slide along the guide groove, and the second linkage rod can rotate relative to the guide groove around the axis of the guide post.

[0023] The guide groove includes a first arc segment, a second arc segment, and a third arc segment arranged sequentially; with the right end axis of the first linkage rod as the center M, a circle C with radius R is drawn, and the first arc segment and the third arc segment are both arcs on circle C; the second arc segment is an arc with radius T centered at a point on circle C, where T is the distance between the point where axis one is located and the point where the guide post is located.

[0024] A second arc segment is designed because when the guide post is within this segment, the diameter T of the second arc segment is smaller than R. Therefore, when the second linkage rod rotates around the axis of the guide post, the entire assembly of the second linkage rod, linkage block, and mechanical claw will rotate rapidly due to the second arc segment. The existing technology in CN211002902U cannot achieve rapid rotation. The reason for rapid rotation is to generate a greater throwing force, allowing the garbage to be thrown into the inner bin. The aforementioned existing technology can only rotate slowly, making it difficult to empty sticky, stubborn garbage from the bin. Furthermore, in the existing technology mentioned above, it is necessary to rotate the trash can 1 / 4 turn to tilt it. In this solution, tilting can be achieved at the second arc segment. From the first arc segment to the second arc segment, the first linkage rod rotates less than 1 / 4 turn. Therefore, the timing of trash tilting in this solution is more reasonable. For example, it can be tilted at 1 / 5 turn. In terms of use, it reduces the stroke required for tipping, thereby reducing the space occupied by tipping and making the trash can more compact and saving more operation time. The third arc segment serves as a buffer because the guide column will exceed the second arc segment due to inertia and enter the third arc segment.

[0025] Furthermore, a follower groove is provided on the side wall of the outer barrel, and the first shaft is located in the follower groove. The first shaft can move along the follower groove, and the second linkage rod can rotate relative to the follower groove around the axis of the first shaft. The follower groove is wavy. An elongated hole is provided on the first linkage rod, and the first shaft is located in the elongated hole. The first shaft can slide in the elongated hole, and the second linkage rod can rotate relative to the elongated hole around the axis of the first shaft. A spring is provided in the elongated hole, one end of the spring abuts against the first shaft, and the other end is fixed in the elongated hole. The spring is in a compressed state.

[0026] A follower groove is provided, allowing shaft one to slide within it. Because the guide post slides within the guide groove, the distance between the follower groove and the guide groove causes the second linkage rod to rotate around the axis of the end of the first linkage rod while continuously vibrating. This causes the trash in the bin held by the gripping component to vibrate continuously. When the guide post is in the first arc segment, the gripping component and the second linkage rod vibrate as a whole, causing the trash in the gripping component to loosen due to the vibration, making it easier for the trash in the bin to fall out.

[0027] The beneficial effects achieved are as follows: This device features a tiltable inner bin and a gripping component, allowing the trash can to grip the column trash can along its path and empty the trash from the column into the inner bin. Then, the device moves to the trash collection area, emptying the trash from the inner bin into the collection area. This device allows users to dispose of trash without leaving home. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the overall structure of this trash can;

[0029] Figure 2 This is a structural diagram of the obstacle-crossing components of a tracked vehicle;

[0030] Figure 3 This is a structural diagram of a tracked vehicle during obstacle crossing.

[0031] Figure 4 This is a structural diagram showing the inner tub inside the outer tub;

[0032] Figure 5 This is a structural diagram showing the inner tub completely outside the outer tub;

[0033] Figure 6 This is a schematic diagram of the structure when the inner tub is completely tilted.

[0034] Figure 7 This is a structural diagram of the guide post and guide groove;

[0035] Figure 8 This is a schematic diagram of the structure of the device when the garbage in the indoor garbage bin is poured into the inner bin;

[0036] Figure 9Top view of gears and mechanical grippers;

[0037] Figure 10 This is a schematic diagram of the structure of a smart trash can based on the SLAM algorithm when it is moving.

[0038] Figure 11 This is a schematic diagram of the structure of Example 2.

[0039] 1. Tracked vehicle; 2. Chassis; 3. Obstacle crossing assembly; 31. Articulated seat; 32. Linkage rod; 33. Abutment wheel; 4. Outer barrel; 5. Depth camera; 6. Cover plate; 7. Opening and closing cover motor; 8. Inner barrel; 9. First passive rod; 10. Second passive rod; 11. Support plate; 12. Electric telescopic rod; 13. Strip hole; 14. Rope; 15. First linkage rod; 16. Second linkage rod; 17. Guide groove; 171. First arc segment; 172. Second arc segment; 173. Third arc segment; 18. Guide column; 19. Linkage block; 20. Mechanical claw; 21. Collecting motor; 22. Gear; 23. Long strip hole; 24. Shaft one; 25. Spring; 26. Follower groove. Detailed Implementation

[0040] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0041] Example 1: See Figure 1 A smart trash can based on the SLAM algorithm, including a tracked vehicle 1. The tracked vehicle 1 may be, but is not limited to, an R3 series tracked vehicle 1.

[0042] The chassis 2 of the tracked vehicle 1 is a horizontally placed rectangular plate. Let the forward direction of the tracked vehicle 1 be the X direction; let one side of the chassis 2 be parallel to the X direction; let the horizontal and perpendicular side to the X direction be the Y direction.

[0043] The smart trash can based on the SLAM algorithm also includes an obstacle-crossing component 3. Figure 1 The X-direction is from right to left, so the obstacle-crossing component 3 is located at the right end of the chassis 2. When a smart trash can based on the SLAM algorithm moves from inside a house to a hallway or vice versa, it needs to repeatedly cross the thresholds of each household. The obstacle-crossing component 3 ensures that the tracked vehicle can cross the thresholds.

[0044] See Figure 2 and Figure 3 The obstacle crossing component 3 includes:

[0045] The articulated seat 31 is fixed to the right end of the chassis 2 of the tracked vehicle 1.

[0046] Link 32 is rotatably connected at one end to hinge seat 31, and the axis of rotation of link 32 is along the Y direction.

[0047] The abutment wheel 33 is rotatably connected to the other end of the connecting rod 32, and the axis of rotation of the abutment wheel 33 is along the Y direction. The connecting rod 32 can rotate to make the abutment wheel 33 abut against the ground, and through the continuous rotation of the connecting rod 32, the right end of the tracked vehicle 1 is raised, ensuring that the right end of the tracked vehicle 1 is higher than the top of the sill. As the tracked vehicle 1 moves from left to right, it can ensure that this end of the tracked vehicle 1 crosses the sill, so that the entire tracked vehicle 1 can cross the sill.

[0048] An obstacle-crossing motor (not shown) is mounted on the hinge base 31 and is used to drive the connecting rod 32 to rotate. Specifically, the non-rotating shaft end of the obstacle-crossing motor is fixed on the hinge base 31, the rotating shaft of the obstacle-crossing motor is fixedly connected to the rotating shaft of the connecting rod 32, and the rotating shaft of the obstacle-crossing motor coincides with the rotating shaft axis of the connecting rod 32. The rotating shaft of the connecting rod 32 and the connecting rod 32 are fixed as a whole, and this whole can rotate relative to the hinge base 31.

[0049] An outer barrel 4 is fixed to the upper surface of the chassis 2 of the tracked vehicle 1. In this embodiment, the outer barrel 4 is a rectangular barrel with an opening at the top and a rectangular end face.

[0050] A depth camera 5 is fixed on each of the left and right sides of the outer barrel 4, and a controller (not shown) is installed on the side wall of the outer barrel 4. Both depth cameras 5 are electrically connected to the controller, and both depth cameras 5 can transmit the captured images to the controller. The aforementioned obstacle-crossing component 3 and tracked vehicle 1 are also electrically connected to the controller, and the controller controls the movement of the obstacle-crossing component 3 and tracked vehicle 1.

[0051] A cover plate 6 is hinged to the top of the outer tub 4. The cover plate 6 is used to cover the opening at the top of the outer tub 4 by rotation. An opening and closing cover motor 7 is installed on the side wall of the outer tub 4. The opening and closing cover motor 7 is used to drive the cover plate 6 to rotate and cover the opening of the outer tub 4. Specifically, a through groove is formed on the upper surface wall of the outer tub 4. A hinge shaft is fixed on the cover plate 6. The hinge shaft is rotatably arranged on two opposite side walls of the through groove. In this embodiment, the axis of the hinge shaft is arranged along the Y direction, and the hinge shaft is located at the right end of the outer tub 4. The non-rotating shaft end of the opening and closing cover motor 7 is fixed to the side wall of the outer tub 4. The rotating shaft of the opening and closing cover motor 7 is connected to a reducer. The output end of the reducer extends into the through groove and is fixedly connected to the hinge shaft. The output end of the reducer coincides with the axis of the hinge shaft, and the cover plate 6 is driven to rotate by the opening and closing cover motor 7.

[0052] See Figure 4The outer bin 4 has an inner bin 8 inside, which is used to collect indoor garbage. The upper end of the inner bin 8 has an opening. The bottom of the inner bin 8 is provided with a support plate 11, which is horizontally positioned.

[0053] The left end of the support plate 11 is rotatably connected to the lower end of the inner tub 8, and the hinge axis between the support plate 11 and the inner tub 8 is along the Y direction. There are small gaps of about 2-3 cm between the left and right ends of the inner tub 8 and the left and right ends of the inner tub 4 to prevent the inner tub 8 from getting stuck inside the outer tub 4.

[0054] See Figure 4 Viewed along the Y direction, a first passive rod 9 is provided on the left outer wall of the inner tub 8. End a of the first passive rod 9 is rotatably connected to the left outer wall of the inner tub 8, and the axis of rotation of end a of the first passive rod 9 is along the Y direction. A second passive rod 10 is provided at end b of the first passive rod 9. End a of the second passive rod 10 is rotatably connected to end b of the first passive rod 9, and the axes of rotation of ends a and b of the second passive rod 10 are along the Y direction. End b of the second passive rod 10 is rotatably connected to the outer tub 4, and the axis of rotation of end b of the second passive rod 10 is along the Y direction. A strip-shaped hole 13 is provided on the left outer wall of the outer tub 4 for the first passive rod 9 and the second passive rod 10 to pass through.

[0055] See Figure 4 Looking along the Y direction, let point A be the upper left end of the inner tub 8, point O be the lower left end of the inner tub 8, and point B be a point on the line segment where the lower end of the inner tub 8 lies. Then ∠AOB is an obtuse angle. In other words, the left side wall of the inner tub 8 is tilted. This is so that the inner tub 8 can rotate counterclockwise and tilt to the left about its axis of rotation with the support plate 11.

[0056] Keeping the lower surface of the inner tub 8 in contact with the upper surface of the support plate 11, gradually move the support plate 11 upwards until the axes of the first passive rod 9 and the second passive rod 10 coincide. At this point, the device is in [position missing]. Figure 5 In this state, if the support plate 11 continues to rise, the inner tub 8 will rotate counterclockwise and tip over. The hinge point between the inner tub 8 and the support plate 11 is higher than the upper surface of the outer tub 4. This is so that the inner tub 8 can completely pass through the upper opening of the outer tub 4 before it begins to tip over under the tension of the first passive rod 9 and the second passive rod 10. Figure 5 Based on this state, as the support plate 11 continues to rise, the inner tub 8 rotates counterclockwise to present... Figure 6In the Y-direction view, a rope 14 is attached to the right end of the support plate 11. One end of the rope 14 is tied to the right end of the support plate 11, and the other end is tied to the right end of the lower surface wall of the inner tub 8. The inner tub 8 is subjected to the tension of the first passive rod 9 and the second passive rod 10. After the inner tub 8 rotates counterclockwise, when point O on the left side surface wall of the inner tub 8 is higher than point A, the rope 14 becomes taut. The rope 14 is used to prevent the inner tub 8 from continuously rotating counterclockwise around its axis of rotation with respect to the support plate 11.

[0057] The outer tub 4 is also equipped with an electric telescopic rod 12. The axis of the electric telescopic rod 12 is arranged vertically. The non-telescopic end of the electric telescopic rod 12 is fixed to the inner bottom wall of the outer tub 4, and the telescopic end of the electric telescopic rod 12 is fixedly connected to the lower surface wall of the support plate 11. The electric telescopic rod 12 is electrically connected to the aforementioned controller and is used to drive the support plate 11 to rise and fall.

[0058] by Figure 6 See, the reset process of the inner bin 8 of this SLAM-based smart trash can is as follows: the electric telescopic rod 12 lowers the support plate 11. First, the left side wall of the inner bin 8 abuts against the upper end of the left side wall of the outer bin 4. Then, as the support plate 11 continues to descend, the left side wall of the outer bin 4 restricts the inner bin 8, forcing the inner bin 8 to rotate clockwise. Finally, the inner bin 8 is completely reset inside the outer bin 4, presenting... Figure 4 state.

[0059] See Figure 1 From a top view, let the centerline of chassis 2 along the X direction be line G. Then, the plane passing through line G and perpendicular to it is plane P. Two sets of gripping components are symmetrically arranged along plane P. The gripping components are used to pour the garbage from the household into the inner bin 8. The gripping components include:

[0060] The collecting motor 21 has its non-rotating shaft end fixed to the side wall of the outer barrel 4 along the Y direction; the rotating shaft of the collecting motor is connected to a reducer, and the output axis of the reducer is parallel to the Y direction.

[0061] The first linkage rod 15 has one end sleeved on the output end of the reducer. This end of the first linkage rod 15 is fixedly connected to the reducer, and this end of the first linkage rod 15 rotates with the rotation of the output end of the reducer.

[0062] See Figure 1 and Figure 7 The second linkage rod 16 is rotatably connected to the other end of the first linkage rod 15 via a shaft. A guide post 18 is fixed on the side wall of the second linkage rod 16 facing the outer barrel 4. The guide post 18 is a cylinder, and its axis is along the Y direction.

[0063] A guide groove 17 is formed on the side wall of the outer barrel 4. A guide post 18 can slide relative to the guide groove 17 and can also rotate relative to the guide groove 17 around its own axis. The side wall of the guide post 18 along the X direction abuts against the circumferential side wall of the guide post 18. The guide groove 17 consists of three arc segments, denoted as the first arc segment 171, the second arc segment 172, and the third arc segment 173, which are connected sequentially. See [link / reference needed]. Figure 7 Looking along the Y direction, let the point where the reducer output end is located be the center M. Let circle C be the circle with center M and radius R. The first arc segment 171 and the third arc segment 173 are both arcs on circle C. The second arc segment 172 is an arc with center N on circle C and radius T, where T is the distance between the point on the shaft and the point where the guide post 18 is located. The second arc segment 17 is inside circle C. The guide groove 17 is designed in this shape to... Figure 7 When the first linkage 15 rotates clockwise, the second linkage 16 can rotate in reverse as a whole with the mechanical claw 20, emptying the trash from the trash can into the inner bin 4. Figure 8 state.

[0064] See Figure 1 Linkage block 19 is fixed to the other end of the second linkage rod 16, and linkage block 19 is located on the left side of the outer barrel 4.

[0065] See Figure 9 Two sets of mechanical grippers 20 are arranged vertically side-by-side on the linkage block 19; Figure 1 In the current state, the upper and lower surfaces of the linkage block 19 are horizontally positioned, and two sets of mechanical claws 20 are respectively positioned on the upper and lower surfaces of the linkage block 19. Each set of mechanical claws 20 includes two gripping claws, and a gear 22 is fixed to one end of each gripping claw. The gear 22 is rotatably connected to the linkage block 19. At this time, the axis of rotation of the gear 22 is vertically positioned, and the gears 22 of the two gripping claws mesh with each other. Viewed from the top, let the line connecting the centers of the two gears 22 be line segment E, the line perpendicular to line segment E be line L, and the plane passing through line L and vertically be plane H. Then, the two gripping claws are symmetrically positioned along plane H.

[0066] Taking a linkage block 19 as an example, each linkage block 19 is equipped with two clamping motors, which are used to control the movement of two sets of mechanical grippers 20 respectively. The non-rotating shaft end of the clamping motor is fixed on the linkage block 19, and the rotating shaft of the clamping motor is fixedly connected to one of the gears 22, with the rotating shaft of the clamping motor and the rotating shaft axis of the gear coinciding.

[0067] Introduction to the path-walking principle of this device:

[0068] The operator needs to pre-walk the route with this device. Specifically, the operator carries the device from point M at home to point N in the garbage collection area, allowing the device's depth camera to scan the environmental data along this route. The controller's SLAM algorithm is a technology that uses real-time positioning in unknown environments to build an environmental map. Based on the environmental images captured by the depth camera between points M and N, an environmental map from point M to point N can be constructed, and the device can determine its current position coordinates and orientation within the environmental map. The SLAM algorithm for building environmental maps is a mature and readily available technology.

[0069] In addition, with Figure 10 During the actual movement of the tracked vehicle, the controller also reads speed and angular velocity data fed back from the wheels. This speed and angular velocity data is acquired by the speed and angular velocity sensors onboard the tracked vehicle and transmitted to the controller. Combined with the current position coordinates and pose obtained from the SLAM algorithm, the position coordinates and pose of the tracked vehicle at the next moment can be calculated. Therefore, the position coordinates and attitude of this device are clear throughout the entire path, and the controller only needs to sequentially control the tracked vehicle's forward movement.

[0070] Finally, the controller is also equipped with a path planning algorithm, which uses an objective function and constraints to plan a feasible path from M to N. This enables the device to avoid obstacles such as people and objects.

[0071] In summary, when this device receives the command to empty the trash can, it can move accurately from point M to point N, and similarly, it can move accurately from point N to point M.

[0072] In this embodiment, the process of using the smart trash can based on the SLAM algorithm is as follows:

[0073] S1: Assume that the vector formed by the continuous discrete points of the coordinates of each position in this device from point M to point N is: Indoor trash cans are placed P 3 positions.

[0074] When the operator presses the trash emptying button on the device, the controller receives a trash emptying command. The device moves from point M, with the depth camera 5 on the left side along the X direction continuously capturing images and transmitting them to the controller. The controller's image recognition algorithm identifies the trash cans in the path, and based on the SLAM algorithm, the controller also determines the coordinates of the trash cans. P 3.

[0075] S2: The controller controls the tracked vehicle 1 to move along the above path. PNear 3, until the image captured by the depth camera 5 on the left side along the X direction, the controller determines that the trash can is between the mechanical claw 20 between the two linkage blocks 19. At this time, it indicates that the mechanical claw 20 can grab the trash can, and the controller controls the tracked vehicle 1 to stop.

[0076] S3: See Figure 9 The controller controls the clamping motor to rotate, and the motor's shaft drives the gear to rotate, causing the ends of the two gripping claws furthest from the gear to move closer together. This allows the gripping claws to grip the outer wall of the trash can. In other words, the four sets of mechanical claws 20 on the two linkage blocks 19 simultaneously and collaboratively grip the trash can. Because indoor trash cans are of standard specifications, the controller only needs to control the clamping motor to rotate a set number of revolutions U to ensure that the controller can ensure the clamping motor grips the trash can.

[0077] S4: The controller controls the cover opening and closing motor 7 to rotate a preset number of revolutions S, and the cover 6 is fully opened, i.e., from... Figure 10 Status: Open cover 6.

[0078] S5: The collecting motor drives the first linkage rod 15 to rotate, and the guide post 18 of the second linkage rod 16 moves in the guide groove 17. The controller controls the collecting motor to rotate a preset number of revolutions Q. Under the power of the collecting motor, the garbage in the indoor garbage bin, grasped by the gripper, is continuously lifted upwards and finally poured into the inner bin 8. The state of the gripper pouring the garbage from the garbage bin into the inner bin 8 is as follows. Figure 8 .

[0079] S6: The controller controls the collection motor to reverse the rotation a preset number of times Q. The controller controls the clamping motor to reverse the rotation a preset number of times U, releasing the empty trash can; the controller controls the lid opening / closing motor 7 to reverse the rotation a preset number of times S, closing the lid 6 again. The controller continues to control the tracked vehicle 1 along... Figure 10 Walk in the X direction and so on, collecting trash from all the trash cans along the path and putting all the trash from the trash cans into the inner bucket 8.

[0080] S7: When the image of the threshold captured by the depth camera 5 on the left side of the X direction is sent to the controller, and the controller determines that the distance between the threshold and the device is within the set threshold range V, the controller controls the device to rotate 180 degrees, so that the depth camera 5, which was originally on the right side of the X direction, turns to face the threshold. The depth camera 5 recaptures an image and sends it to the controller. The controller re-determines that the distance between the device and the threshold is within the set threshold range V. If so, the controller controls the obstacle avoidance motor to rotate a preset number of revolutions W, so that the abutment wheel 33 touches the ground, and the tracked vehicle 1 is tilted up along the right end of the X direction, presenting... Figure 3 state.

[0081] S8: The controller then controls the tracked vehicle 1 to move from left to right a set distance F, so that the right end of the tracked vehicle 1 crosses the threshold. Then, the controller reverses the preset number of revolutions W, and the obstacle avoidance component 3 resets. The controller then controls the tracked vehicle 1 to move from left to right again until the controller determines that the tracked vehicle 1 has completely crossed the threshold in the image captured by the left depth camera 5. The controller then controls the tracked vehicle 1 to rotate 180 degrees, so that it faces the left side again from the left depth camera 5.

[0082] S9: As the device moves towards the centralized waste collection area, the image of the waste collection area captured by the depth camera 5 on the left is recognized by the controller, and the waste collection area is within the specified threshold. The controller stops the tracked vehicle 1, and controls the cover opening and closing motor 7 to rotate a preset number of revolutions S, fully opening the cover 6. Then, the controller controls the electric telescopic rod 12 to extend to a predetermined length J. After the electric telescopic rod 12 extends to the predetermined length J, the controller stops for 5 seconds, and the waste in the inner bucket 8 is completely emptied out of the inner bucket 8. Then, the controller controls the electric telescopic rod 12 to shorten and reset, and controls the cover opening and closing motor 7 to reverse a preset number of revolutions S, fully closing the cover 6. The controller then controls the device to return from point M to point N indoors. The obstacle avoidance process from point M to point N is the same as the aforementioned obstacle avoidance process and will not be described again.

[0083] Example 2: See Figure 11 The difference from Embodiment 1 is that, in this embodiment, an elongated hole 23 is provided on the first linkage rod 15. The length direction of the elongated hole 23 is along the axial direction of the first linkage rod 15. The shaft 24 fixed on the aforementioned second linkage rod 16 can slide along the length direction of the elongated hole 23 and can also rotate relative to the elongated hole 23 around its own axis. A spring 25 is provided in the elongated hole 23. One end of the spring 25 abuts against the shaft 24, and the other end is fixed in the elongated hole 23. The spring 25 is in a compressed state.

[0084] Similarly, a follower groove 26 is provided on the side wall of the outer barrel 4, and the shaft 24 also passes through the second linkage rod 16 toward the side of the outer barrel 4. The end of the shaft 24 toward the side wall of the outer barrel 4 can also slide along the follower groove 26, and the shaft 24 can also rotate relative to the follower groove 26 around its own axis.

[0085] In this embodiment, the follower groove 26 is wavy in shape. In other embodiments, it can also be other shapes. Viewed in the Y direction, the first linkage rod 15 rotates clockwise. Because the shaft 24 is in the follower groove 26 and the guide post 18 is in the guide groove 17, the distance between the shaft and the guide post 18 is constantly changing, so the shaft 24 will also slide and adjust its position in the elongated hole 23.

[0086] Because shaft 24 is in the follower groove 26, the second linkage rod 16 will continuously rotate around the axis of the guide post 18. Since the second linkage rod 16 itself rotates around the axis of the reducer at the right end of the first linkage rod 15, the garbage held by the gripping component at the end of the second linkage rod 16 will continuously shake during the process of being poured into the inner bucket 4 due to the rotation of the second linkage rod 16 around the axis of the guide post 18, which makes it easier for the garbage stuck in the garbage can to fall off due to the shaking.

[0087] Example 3: The difference from Example 1 is that the mechanical claw 20 in this example is equipped with a pressure sensor, which is electrically connected to the controller. When the force of the mechanical claw 20 gripping the trash can reaches the set threshold, the controller controls the gripping motor to stop rotating. The advantage of this design is that it can adapt to trash cans of different sizes.

[0088] Based on the above-described preferred embodiments of the present invention, and through the foregoing description, those skilled in the art can make various changes and modifications without departing from the inventive concept. The technical scope of this invention is not limited to the contents of the specification, but must be determined according to the scope of the claims.

Claims

1. A smart trash can based on the SLAM algorithm, characterized in that, Includes a tracked vehicle (1), and an outer barrel (4) is fixed to the upper wall of the chassis (2) of the tracked vehicle (1). The upper end of the outer barrel (4) is open, and a cover plate (6) for closing the opening of the outer barrel (4) is rotatably connected to the outer barrel (4). The outer barrel (4) is provided with an inner barrel (8), and the upper part of the inner barrel (8) is open; the lower end of the inner barrel (8) is provided with a support plate (11), and the lower surface wall of the inner barrel (8) is rotatably connected to the support plate (11); the inner barrel (8) is provided with an electric telescopic rod (12) for lifting the support plate (11). Let the forward direction of the tracked vehicle (1) be from right to left, i.e., the X direction, and let the horizontal and perpendicular direction to the X direction be the Y direction; the left end of the inner barrel (8) is rotatably connected to the support plate (11), and the right end of the lower surface wall of the inner barrel (8) is connected to the right end of the support plate (11) by a rope (14); the axis of rotation of the inner barrel (8) and the support plate (11) is along the Y direction; the left end of the inner barrel (8) is provided with a first passive rod (9), and one end of the first passive rod (9) is rotatably connected to the inner barrel (8). On the left side wall of the outer barrel (4), the other end of the first passive rod (9) is provided with a second passive rod (10). One end of the second passive rod (10) is rotatably connected to the other end of the first passive rod (9), and the other end of the second passive rod (10) is rotatably connected to the outer barrel (4). The axes of both ends of the first passive rod (9) and the second passive rod (10) are along the Y direction. The outer barrel (4) is provided with a strip hole (13) for the first passive rod (9) and the second passive rod (10) to pass through. Depth cameras (5) are fixed on both the left and right side walls of the outer bucket (4), and a controller is fixed on the side wall of the outer bucket (4). The two depth cameras (5) are electrically connected to the controller. The controller is electrically connected to the tracked vehicle (1). The outer bucket (4) is equipped with a gripping component for pouring garbage from the trash can into the inner bucket (8). Let point A be the upper end of the left side surface wall of the inner bucket (8), point O be the lower end of the left side of the inner bucket (8), and point B be a certain point on the lower end line segment of the inner bucket (8). Then ∠AOB is an obtuse angle.

2. The smart trash can based on the SLAM algorithm according to claim 1, characterized in that, When the axes of the first passive rod (9) and the second passive rod (10) coincide, point O is located above the outer barrel (4).

3. The smart trash can based on the SLAM algorithm according to claim 2, characterized in that, The tracked vehicle (1) has an obstacle avoidance assembly on the right side wall of its chassis (2). The obstacle avoidance assembly includes: The articulated seat (31) is fixed to the right end of the chassis (2) of the tracked vehicle (1); The connecting rod (32) is rotatably connected at one end to the hinge seat (31), and the axis of rotation of the connecting rod (32) is along the Y direction; The abutment wheel (33) is rotatably connected to the other end of the connecting rod (32), and the axis of rotation of the abutment wheel (33) is along the Y direction.

4. The intelligent trash can based on the SLAM algorithm according to claim 2, characterized in that, Let the centerline of the tracked vehicle (1) chassis (2) along the X direction be line G, and the vertical surface passing through line G be surface P. There are two gripping components, which are symmetrically arranged along surface P. The gripping components include: The first linkage rod (15) is rotatably connected at one end to the side wall of the outer barrel (4); the axis of rotation of the first linkage rod (15) is along the Y direction; The second linkage (16) is located at the other end of the first linkage (15). The other end of the first linkage (15) is rotatably connected to the second linkage (16) via a shaft (24). The axis of the shaft (24) is along the Y direction. A linkage block (19) is fixed on the second linkage rod (16), and the linkage block (19) is provided with two sets of mechanical claws (20) for gripping the trash can; A guide post (18) is fixed on the second linkage rod (16), and a guide groove (17) is provided on the side wall of the outer barrel (4). The guide post (18) can slide along the guide groove (17), and the second linkage rod (16) can rotate relative to the guide groove (17) around the axis of the guide post (18). The guide groove (17) includes a first arc segment (171), a second arc segment (172) and a third arc segment (173) arranged in sequence; with the right end axis of the first linkage rod (15) as the center M, a circle C with radius R is drawn. The first arc segment (171) and the third arc segment (173) are both arcs on the circle C; the second arc segment (172) is an arc with radius T centered on a point on the circle C, where T is the distance between the point where the shaft one (24) is located and the point where the guide post (18) is located.

5. The intelligent trash can based on the SLAM algorithm according to claim 4, characterized in that, The outer barrel (4) has a follower groove (26) on its side wall. Shaft 1 (24) is located in the follower groove (26) and can move along the follower groove (26). The second linkage rod (16) can rotate around the axis of shaft 1 (24) relative to the follower groove (26). The follower groove (26) is wavy. The first linkage rod (15) has an elongated hole (23) on it. Shaft 1 (24) is located in the elongated hole (23) and can slide in the elongated hole (23). The second linkage rod (16) can rotate around the axis of shaft 1 (24) relative to the elongated hole (23). A spring (25) is provided in the elongated hole (23). One end of the spring (25) abuts against shaft 1 (24), and the other end is fixed in the elongated hole (23). The spring (25) is in a compressed state.

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