Intelligent garbage collection and treatment robot and control system thereof

Abstract

The invention relates to the field of operation track obstacle clearance, in particular to an intelligent garbage collection and treatment robot and a control system thereof.The robot comprises a U-shaped garbage containing box, and advancing devices are installed on the left side and the right side of the lower end of the garbage containing box; obstacle removing motors are hung at the positions, close to the front end, of the left side and the right side of the garbage containing box, first bevel gears are arranged at the lower ends of the obstacle removing motors, the first bevel gears are hung at the lower ends of the obstacle removing motors and fixedly connected with output shafts of the obstacle removing motors, and the lower end of the garbage containing box is provided with an inter-rail obstacle removing device. The inter-rail obstacle removing device comprises an inter-rail dust sweeping mechanism and a conveying mechanism, the inter-rail dust sweeping mechanism and the conveying mechanism are arranged in the middle of the garbage containing box, and a rail surface cleaning device is further hoisted at the lower end of the garbage containing box, so that ore can be effectively collected while being cleaned; and meanwhile, ores and dust on the cabinet surface can be cleaned while the ores between the rails are cleaned.

Description

Technical Field

[0001] The invention relates to the field of mine operation track obstacle removal, in particular to an intelligent garbage collection and processing robot and a control system thereof. Background Art

[0002] During underground mining operations, mining vehicles are needed to transport minerals, so relevant tracks need to be laid. However, when transporting minerals, as time goes by, fallen minerals will accumulate on and between the tracks. If these minerals are not cleaned up, it will affect the movement of the mine cars, thereby bringing related safety hazards. Therefore, relevant equipment or personnel are needed to clean up the above-mentioned fallen minerals.

[0003] Existing cleaning equipment or manpower can often perform good cleaning, but since the track and the ground are not flat, the existing equipment cannot collect debris well while cleaning. At the same time, the existing equipment is difficult to clean the debris on the track surface while cleaning the debris between the tracks. Summary of the invention

[0004] The present invention provides an intelligent garbage collection and processing robot and a control system thereof, which can effectively collect while cleaning ore, and can also clean ore and dust on a cabinet surface while cleaning ore between tracks.

[0005] The present invention provides an intelligent garbage collection and processing robot, comprising a garbage holding box, which is U-shaped, and a traveling device is installed on the left and right sides of the lower end of the garbage holding box, an obstacle removal motor is fixedly suspended on the left and right sides of the garbage holding box near the front end, a first bevel gear is suspended at the lower end of the obstacle removal motor and fixedly connected to the output shaft of the obstacle removal motor, and an inter-rail obstacle removal device comprises an inter-rail dust sweeping mechanism and a conveying mechanism, the inter-rail dust sweeping mechanism and the conveying mechanism are arranged in the middle of the garbage holding box, and the dust sweeping device is driven by the first bevel gear.

[0006] Preferably, the inter-rail dust sweeping mechanism includes a dust sweeping bevel gear, an inter-rail dust sweeping roller, a mounting rod, a swing rod, a driving pulley and a driving belt. The mounting rod is fixedly suspended at the lower end of the garbage holding box, the mounting rod is rotatably connected to the dust sweeping bevel gear, the dust sweeping bevel gear is meshed with the first bevel gear, the mounting rod is rotatably connected to the swing rod, the inter-rail dust sweeping roller is rotatably connected between the left and right swing rods, a driving pulley is provided at each end of the swing rod, one of the two driving pulleys is fixedly connected to the inter-rail dust sweeping roller, and the other is fixedly connected to the dust sweeping bevel gear, and the two driving pulleys are connected by a driving belt.

[0007] Preferably, a swing slider is slidably connected to the swing rod, a swing spring rod is arranged between the swing slider and the erection rod, and two ends of the swing spring rod are respectively hinged to the erection rod and the swing slider.

[0008] Preferably, the conveying mechanism includes a conveying hanging plate, a conveying belt, a conveying roller and a shovel bucket. The conveying mounting plate is fixedly mounted on the left and right side walls of the middle recess of the garbage holding box. Conveying rollers rotatably connected to the conveying hanging plates are evenly arranged between the two conveying hanging plates. All conveying rollers are connected by a conveying belt. A shovel bucket is arranged at the lower end of the corresponding conveying belt and the position of the dust sweeping roller between the rails. The shovel bucket is fixedly hung at the lower end of the mounting rod.

[0009] Preferably, the upper end of the conveyor belt is evenly arranged with grooves opened in the left and right lateral directions.

[0010] Preferably, a material shaking mechanism is provided between the conveyor belt and the shovel bucket, and the material shaking mechanism includes a material shaking plate, a material shaking roller and a material shaking spring. One end of the material shaking plate is hinged to the shovel bucket, and the other end is rotatably connected to the material shaking roller, and the material shaking roller is rolled and pressed on the conveyor belt. A material shaking spring is provided between the lower end of the material shaking plate and the shovel bucket, and both ends of the material shaking spring are fixedly connected to the material shaking plate and the shovel bucket.

[0011] Preferably, a track cleaning device is also provided at the lower end of the garbage holding box, and the track cleaning device includes a track cleaning roller, a third bevel gear and a side mounting mechanism. The side mounting mechanism is suspended at the lower end of the garbage holding box, and the track cleaning roller is rotatably connected to the side mounting mechanism in an inclined state. The track cleaning roller is fixedly connected to the third bevel gear, and the third bevel gear is meshed with the first bevel gear.

[0012] Preferably, the side mounting mechanism includes a side mounting guide rail, a side spring guide rod, a side guide spring and a side guide slider. The side mounting guide rail is arc-shaped and fixedly mounted at the lower end of the garbage holding box. A side guide groove is provided in the side mounting guide rail, and a side guide slider is slidably connected in the side guide groove. The side mounting guide rail has a side spring guide rod fixedly mounted in the side guide groove, and the side spring guide rod is slidably connected to the side guide slider. A side guide spring is sleeved on the side spring guide rod, and both ends of the side guide spring are respectively fixedly mounted on the outer sides of the side guide slider and the side mounting guide rail.

[0013] Preferably, the traveling device includes a steering seat and traveling rollers, the steering seat is rotatably connected to the four corners of the lower end of the garbage holding box, the lower end of the garbage holding box is rotatably connected to the traveling rollers, and the outer sides of the traveling rollers are processed into raised edge strips.

[0014] The present invention also provides a control system applied to the above-mentioned intelligent garbage collection and processing robot, the control system comprising: The teaching and trajectory acquisition module is used in the teaching and trajectory acquisition stage of the robot. During the teaching process, the robot follows the instructor to move and synchronously acquires the status information of the robot body, the robot and the operation object, and the environment, including posture, speed, torque, stiffness, and relative posture relationship; The modeling and learning module uses the viscous hierarchical Dirichlet process hidden Markov model to model and learn the robot's operating skills, including automatic extraction of parameterized dynamic primitives, motion primitive parameter learning, and structure and parameter learning of task-directed operation graphs. The experience data is encapsulated through parameterized dynamic motion primitives and task-directed operation graphs to form a skill model. On the execution side, the robot uses intelligent perception technology to identify and locate the targets of new tasks and adapt the learned skill models to changes in the environment.

[0015] The beneficial effects of the present invention are:

[0016] (1) The present invention moves on the track through the traveling device, and at the same time, the obstacle removal motor drives the rotation of the first bevel gear, and at the same time, the first bevel gear drives the inter-track dust sweeping mechanism to clean the minerals between the tracks, and the minerals are sent to the conveying garbage storage box through the conveying mechanism, so that the fallen minerals can be collected during the cleaning process.

[0017] (2) When encountering larger particles of minerals, the inter-track dust sweeping roller of the present invention will move upward, and at the same time, the swing spring rod will be compressed. After completing the cleaning of the larger minerals, the inter-track dust sweeping roller will reset under the rebound effect of the swing spring rod, which can effectively prevent the inter-track dust sweeping roller from being damaged.

[0018] (3) The first bevel gear of the present invention drives the third bevel gear to rotate, and the third bevel gear drives the rail surface cleaning roller to clean the surface of the rail, thereby achieving the goal of cleaning the debris on the rail surface while cleaning the debris between the rails. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0020] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0021] Figure 2 It is a schematic diagram of the bottom structure of the present invention.

[0022] Figure 3 For the present invention Figure 2 A schematic diagram of the enlarged structure in the middle.

[0023] Figure 4 For the present invention Figure 2 Enlarged schematic diagram of the structure at point B in the middle.

[0024] Figure 5 It is a structural schematic diagram of the dust sweeping mechanism between rails in the present invention.

[0025] Figure 6 It is a structural schematic diagram of the material shaking mechanism in the present invention.

[0026] Figure 7 This is a control system diagram of the present invention.

[0027] In the figure: 1, garbage storage box; 2, traveling device; 21, steering seat; 22, traveling roller; 3, obstacle removal motor; 4, first bevel gear; 5, inter-track obstacle removal device; 51, inter-track dust sweeping mechanism; 511, dust sweeping bevel gear; 512, inter-track dust sweeping roller; 513, erection rod; 514, swing rod; 515, driving pulley; 516, driving belt; 517, swing slider; 518, swing spring rod; 52, conveying mechanism; 521, conveying Delivery lifting plate; 522, conveyor belt; 523, conveyor roller; 524, shovel bucket; 6, material shaking mechanism; 61, material shaking plate; 62, material shaking roller; 63, material shaking spring; 7, track surface cleaning device; 71, track surface cleaning roller; 72, third bevel gear; 73, side mounting mechanism; 731, side mounting guide rail; 7311, side guide groove; 732, side spring guide rod; 733, side guide spring; 734, side guide slider. DETAILED DESCRIPTION

[0028] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below in conjunction with specific implementation methods.

[0029] First embodiment:

[0030] like Figures 1 to 7 As shown, the present invention provides an intelligent garbage collection and processing robot, including a garbage holding box 1, which is U-shaped, and a traveling device 2 is installed on the left and right sides of the lower end of the garbage holding box 1. The obstacle removal motor 3 is fixedly suspended on the left and right sides of the garbage holding box 1 near the front end, and the first bevel gear 4 is suspended at the lower end of the obstacle removal motor 3 and fixedly connected to the output shaft of the obstacle removal motor 3. The inter-rail obstacle removal device 5 includes an inter-rail dust sweeping mechanism 51 and a conveying mechanism 52. The inter-rail dust sweeping mechanism 51 and the conveying mechanism 52 are arranged in the middle of the garbage holding box 1, and the dust sweeping device is driven by the first bevel gear 4.

[0031] During the process of cleaning the track, the traveling device 2 moves on the track, and the obstacle removal motor 3 drives the first bevel gear 4 to rotate. At the same time, the first bevel gear 4 drives the inter-track dust sweeping mechanism 51 to clean the minerals between the tracks, and the minerals are transported to the garbage storage box 1 through the conveying mechanism 52.

[0032] Second embodiment:

[0033] like Figure 1 , Figure 2 , Figure 3 and Figure 5 As shown, the inter-track dust sweeping mechanism 51 includes a dust sweeping bevel gear 511, an inter-track dust sweeping roller 512, a mounting rod 513, a swing rod 514, a driving pulley 515 and a driving belt 516. The mounting rod 513 is fixedly suspended at the lower end of the garbage holding box 1, and the mounting rod 513 is rotatably connected to the dust sweeping bevel gear 511, which meshes with the first bevel gear 4. The mounting rod 513 is rotatably connected to the swing rod 514, and the inter-track dust sweeping roller 512 is rotatably connected between the left and right swing rods 514. A driving pulley 515 is provided at each end of the swing rod 514, one of the two driving pulleys 515 is fixedly connected to the inter-track dust sweeping roller 512, and the other is fixedly connected to the dust sweeping bevel gear 511, and the two driving pulleys 515 are connected by a driving belt 516.

[0034] like Figure 5 As shown, a swing slider 517 is slidably connected to the swing rod 514, a swing spring rod 518 is arranged between the swing slider 517 and the erection rod 513, and two ends of the swing spring rod 518 are hinged to the erection rod 513 and the swing slider 517 respectively.

[0035] In the process of cleaning the minerals between the tracks by the inter-track dust sweeping mechanism 51, the first bevel gear 4 drives the dust sweeping bevel gear 511 to rotate, and the dust sweeping bevel gear 511 drives the driving pulley 515 fixedly connected thereto to rotate, and the dust sweeping pulley drives the driving pulley 515 fixedly connected to the inter-track dust sweeping roller 512 to rotate, so that the inter-track dust sweeping roller 512 rotates, and the inter-track dust sweeping roller 512 cleans the minerals between the tracks. When encountering larger particles of minerals, the inter-track dust sweeping roller 512 will move upward and compress the swing spring rod 518 at the same time. After completing the cleaning of the larger minerals, the inter-track dust sweeping roller 512 will reset under the rebound action of the swing spring rod 518.

[0036] Third embodiment:

[0037] like Figure 1 , Figure 2 and Figure 5As shown, the conveying mechanism 52 includes a conveying hanging plate 521, a conveying belt 522, a conveying roller 523 and a shoveling bucket 524. The conveying mounting plate is fixedly installed on the left and right side walls of the middle concave part of the garbage holding box 1. Conveying rollers 523 rotatably connected to the conveying hanging plates 521 are evenly arranged between the two conveying hanging plates 521. All the conveying rollers 523 are connected by a conveying belt 522. A shoveling bucket 524 is arranged at the lower end of the corresponding conveying belt 522 and the position of the dust sweeping roller 512 between the rails. The shoveling bucket 524 is fixedly suspended at the lower end of the erection rod 513.

[0038] In the process of conveying the minerals through the conveying mechanism 52, the dust sweeping roller 512 between the rails will sweep the minerals onto the shovel hopper 524. The shovel hopper 524 will convey the minerals to the conveying belt 522, and drive one of the conveying rollers 523 to rotate through an external driving device such as a motor, thereby driving the conveying belt 522 to transport the minerals to the garbage storage box 1. Figure 5 As shown, the upper end of the conveyor belt 522 is evenly arranged with grooves opened in the left and right lateral directions, which can increase the friction between the conveyor belt 522 and the minerals, thereby improving the transportation efficiency.

[0039] Fourth embodiment:

[0040] like Figure 5 and Figure 6 As shown, a material shaking mechanism 6 is arranged between the conveying belt 522 and the shoveling bucket 524, and the material shaking mechanism 6 includes a material shaking plate 61, a material shaking roller 62 and a material shaking spring 63. One end of the material shaking plate 61 is hinged to the shoveling bucket 524, and the other end is rotatably connected to the material shaking roller 62, and the material shaking roller 62 is rolled and pressed on the conveying belt 522. A material shaking spring 63 is arranged between the lower end of the material shaking plate 61 and the shoveling bucket 524, and both ends of the material shaking spring 63 are fixedly connected to the material shaking plate 61 and the shoveling bucket 524.

[0041] When the mineral enters the conveyor belt 522, the mineral will first enter the shaking plate 61, and the shaking roller 62 and the groove on the conveyor belt 522 will impact each other. At the same time, under the pulling action of the shaking spring 63, the shaking plate 61 will produce a shaking effect, so that the mineral can be evenly placed on the conveyor belt 522.

[0042] Fifth embodiment:

[0043] like Figure 1 , Figure 2 and Figure 3As shown, a track cleaning device 7 is also provided at the lower end of the garbage holding box 1. The track cleaning device 7 includes a track cleaning roller 71, a third bevel gear 72 and a side mounting mechanism 73. The side mounting mechanism 73 is suspended at the lower end of the garbage holding box 1. The track cleaning roller 71 is rotatably connected to the side mounting mechanism 73 in an inclined state. The track cleaning roller 71 is fixedly connected to the third bevel gear 72, and the third bevel gear 72 is meshed with the first bevel gear 4.

[0044] In order to clean the minerals and dust on the rail surface at the same time, the first bevel gear 4 will drive the third bevel gear 72 to rotate, and the third bevel gear 72 will drive the rail surface cleaning roller 71 to clean the surface of the rail.

[0045] Sixth embodiment:

[0046] like Figure 1 , Figure 2 and Figure 3 As shown, the side mounting mechanism 73 includes a side mounting guide rail 731, a side spring guide rod 732, a side guide spring 733 and a side guide slider 734. The side mounting guide rail 731 is in an arc shape and is fixedly mounted on the lower end of the garbage holding box 1. A side guide groove 7311 is provided in the side mounting guide rail 731. A side guide slider 734 is slidably connected in the side guide groove 7311. The side mounting guide rail 731 is fixedly mounted with a side spring guide rod 732 in the side guide groove 7311. The side spring guide rod 732 is slidably connected to the side guide slider 734. A side guide spring 733 is sleeved on the side spring guide rod 732. The two ends of the side guide spring 733 are respectively fixedly mounted on the outer sides of the side guide slider 734 and the side mounting guide rail 731.

[0047] When the track cleaning roller 71 is cleaning the track surface and encounters a larger obstacle, the track cleaning roller 71 will deflect and the side guide slider 734 will compress the side guide spring 733, thereby preventing the track cleaning roller 71 from being damaged by a hard impact. When crossing the obstacle, the track cleaning roller 71 will return to its original position under the rebound action of the side guide spring 733.

[0048] Seventh embodiment:

[0049] like Figure 4 As shown, the traveling device 2 includes a steering seat 21 and a traveling roller 22. The steering seat 21 is rotatably connected to the four corners of the lower end of the garbage holding box 1. The lower end of the garbage holding box 1 is rotatably connected to the traveling roller 22, and the outer side of the traveling roller 22 is processed into a raised edge strip shape.

[0050] This can prevent the inspection robot from detaching from the track surface while satisfying the turning requirements.

[0051] The present invention also provides a control system applied to the above-mentioned intelligent garbage collection and processing robot, the control system comprising: The teaching and trajectory acquisition module is used for the robot's teaching and trajectory acquisition stage. During the teaching process, the robot follows the instructor to move and synchronously collects the status information of the robot body, the robot and the operation object, and the environment, including posture, speed, torque, stiffness, and relative posture relationship. It should be noted that the teaching trajectory is carried out using RGB-3D, and the robot's proprioception uses RTK-GPS+IMU. The teaching trajectory and proprioception data are transmitted to the Gaussian autoregression model. At the same time, the Gaussian regression model transmits the data to the convolutional neural network. The convolutional neural network simultaneously obtains the environmental perception RGB+3D LIDAR data to control the modeling and learning modules. The modeling and learning module uses the viscous hierarchical Dirichlet process hidden Markov model to model and learn the robot's operating skills, including automatic extraction of parameterized dynamic primitives, motion primitive parameter learning, and structure and parameter learning of task-directed operation graphs. The empirical data is encapsulated through parameterized dynamic motion primitives and task-directed operation graphs to form a skill model. Specifically, the Gaussian autoregressive model transmits data to demonstration learning, and the control module inside the robot learns, including variational learning and inference after the sHDP-HMM operation skill learning model. After demonstration learning, task reproduction is performed, and task reproduction is task reasoning. After reasoning, it is output to the robot for action execution. Demonstration learning and task reproduction are both connected to the skill operation graph , abnormal (repair) operation graph task primitives, abnormal primitives and abnormal repair primitives, while skill operation graphs, abnormal (repair) operation graph task primitives, abnormal primitives and abnormal repair primitives can control demonstration learning and task reproduction on the one hand, and classify abnormal detection and autonomously repair abnormalities on the other hand. Abnormal monitoring and classification include abnormal classification model learning and abnormal behavior monitoring. The abnormal classification model learning data comes from the teaching and trajectory acquisition module. Abnormal autonomous repair includes repair skill model learning and autonomous abnormal repair. Abnormal autonomous repair is controlled by abnormal monitoring and classification; modeling and learning module also includes autonomous navigation and obstacle avoidance. Autonomous navigation and obstacle avoidance are controlled by convolutional neural network for demonstration learning, reinforcement learning and motion control; On the execution side, the robot uses intelligent perception technology to identify and locate the targets of new tasks and adapt the learned skill models to changes in the environment.

[0052] The working principle of the present invention is that in the process of cleaning the track, the traveling device 2 travels on the track, and at the same time, the obstacle removal motor 3 drives the first bevel gear 4 to rotate, and at the same time, the first bevel gear 4 drives the inter-track dust sweeping mechanism 51 to clean the minerals between the tracks. In the process of cleaning the minerals between the tracks by the inter-track dust sweeping mechanism 51, the first bevel gear 4 drives the dust sweeping bevel gear 511 to rotate, and the dust sweeping bevel gear 511 drives the rotation of the driving pulley 515 fixedly connected thereto, and the dust sweeping pulley drives the rotation of the driving pulley 515 fixedly connected to the inter-track dust sweeping roller 512, so that the inter-track dust sweeping roller 512 rotates, and the inter-track dust sweeping roller 512 cleans the minerals between the tracks. When encountering larger particles of minerals, the inter-track dust sweeping roller 512 will move upward and compress the swing spring rod 518. After completing the cleaning of the larger minerals, the inter-track dust sweeping roller 512 will reset under the rebound effect of the swing spring rod 518 and transport the minerals to the garbage storage box 1 through the conveying mechanism 52. In the process of transporting the minerals through the conveying mechanism 52, the inter-track dust sweeping roller 512 will sweep the minerals onto the shovel hopper 524. The shovel hopper 524 transports the minerals to the conveying belt 522 and drives one of the conveying rollers 523 to rotate through an external driving device such as a motor, thereby driving the conveying belt 522 to transport the minerals to the garbage storage box 1. Figure 5 As shown, the upper end of the conveyor belt 522 is evenly arranged with grooves opened along the left and right lateral directions, which can increase the friction between the conveyor belt 522 and the mineral, thereby improving the transportation efficiency. The two ends of the shaking spring 63 are fixedly connected to the shaking plate 61 and the shovel bucket 524. When the mineral enters the conveyor belt 522, the mineral will first enter the shaking plate 61, and the shaking roller 62 and the grooves on the conveyor belt 522 will impact each other. At the same time, under the pulling action of the shaking spring 63, the shaking plate 61 will produce a shaking effect, so that the mineral can be evenly placed on the conveyor belt 522. In order to The first bevel gear 4 will drive the third bevel gear 72 to rotate, and the third bevel gear 72 will drive the track cleaning roller 71 to clean the surface of the track. In the process of the track cleaning roller 71 cleaning the track surface, when encountering a larger obstacle, the track cleaning roller 71 will deflect, and the side guide slider 734 will compress the side guide spring 733, which can prevent the track cleaning roller 71 from being damaged by a hard impact. When crossing an obstacle, the track cleaning roller 71 will return to its original position under the rebound effect of the side guide spring 733.

[0053] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of the present invention is defined by the attached claims and their equivalents.

Claims

1. An intelligent garbage collection and processing robot, comprising a garbage storage box (1), characterized in that: Traveling devices (2) are installed on the left and right sides of the lower end of the garbage storage box (1); The obstacle removal motor (3) is fixedly suspended on the left and right sides of the garbage storage box (1) near the front end; A first bevel gear (4), the first bevel gear (4) being suspended at the lower end of the obstacle removal motor (3) and fixedly connected to the output shaft of the obstacle removal motor (3); The inter-track obstacle removal device (5) comprises an inter-track dust sweeping mechanism (51) and a conveying mechanism (52). The inter-track dust sweeping mechanism (51) and the conveying mechanism (52) are arranged in the middle of the garbage storage box (1), and the dust sweeping device is driven by the first bevel gear (4).

2. The intelligent garbage collection and processing robot according to claim 1, characterized in that: The inter-rail dust sweeping mechanism (51) comprises a dust sweeping bevel gear (511) and a mounting rod (513), wherein the dust sweeping bevel gear (511) is meshed with a first bevel gear (4), a swing rod (514) is rotatably connected to the mounting rod (513), an inter-rail dust sweeping roller (512) is rotatably connected between the left and right swing rods (514), a driving pulley (515) is provided at each end of the swing rod (514), and the two driving pulleys (515) are connected via a driving belt (516).

3. The intelligent garbage collection and processing robot according to claim 2, characterized in that: A swing slider (517) is slidably connected to the swing rod (514), a swing spring rod (518) is arranged between the swing slider (517) and the erection rod (513), and two ends of the swing spring rod (518) are respectively hinged to the erection rod (513) and the swing slider (517).

4. The intelligent garbage collection and processing robot according to claim 3, characterized in that: The conveying mechanism (52) comprises a conveying hanging plate (521), and conveying rollers (523) rotatably connected to the conveying hanging plates (521) are evenly arranged between the two conveying hanging plates (521). All the conveying rollers (523) are connected by conveying belts (522). A shoveling bucket (524) is arranged at the position corresponding to the lower end of the conveying belt (522) and the position of the dust sweeping roller (512) between the rails, and the shoveling bucket (524) is fixedly hung at the lower end of the erection rod (513).

5. The intelligent garbage collection and processing robot according to claim 4, characterized in that: The upper end of the conveying belt (522) is evenly provided with grooves opened in the left and right transverse directions.

6. The intelligent garbage collection and processing robot according to claim 5, characterized in that: A material shaking mechanism (6) is provided between the conveyor belt (522) and the shovel bucket (524), and the material shaking mechanism (6) comprises a material shaking plate (61), a material shaking roller (62) and a material shaking spring (63). One end of the material shaking plate (61) is hinged to the shovel bucket (524), and the other end is rotatably connected to the material shaking roller (62). The material shaking roller (62) is rolled and pressed on the conveyor belt (522). A material shaking spring (63) is provided between the lower end of the material shaking plate (61) and the shovel bucket (524), and both ends of the material shaking spring (63) are fixedly connected to the material shaking plate (61) and the shovel bucket (524).

7. The intelligent garbage collection and processing robot according to claim 3, characterized in that: A track cleaning device (7) is also provided at the lower end of the garbage storage box (1). The track cleaning device (7) comprises a track cleaning roller (71), a third bevel gear (72) and a side mounting mechanism (73). The track cleaning roller (71) is rotatably connected to the side mounting mechanism (73) in an inclined manner, and the track cleaning roller (71) is fixedly connected to the third bevel gear (72).

8. The intelligent garbage collection and processing robot according to claim 7, characterized in that: The side mounting mechanism (73) comprises a side mounting guide rail (731), a side spring guide rod (732) and a side guide slider (734); the side spring guide rod (732) is slidably connected to the side guide slider (734); a side guide spring (733) is sleeved on the side spring guide rod (732); two ends of the side guide spring (733) are respectively fixedly mounted on the side guide slider (734) and the outer side of the side mounting guide rail (731).

9. The intelligent garbage collection and processing robot according to claim 8, characterized in that: The side guide rail (731) is arc-shaped and fixedly mounted on the lower end of the garbage storage box (1). A side guide groove (7311) is provided in the side guide rail (731), a side guide slider (734) is slidably connected in the side guide groove (7311), and a side spring guide rod (732) is fixedly mounted in the side guide groove (7311) of the side guide rail (731).

10. A control system applied to the intelligent garbage collection and processing robot according to any one of claims 1 to 9, characterized in that: The control system includes: The teaching and trajectory acquisition module is used in the teaching and trajectory acquisition stage of the robot. During the teaching process, the robot follows the instructor to move and synchronously acquires the status information of the robot body, the robot and the operation object, and the environment, including posture, speed, torque, stiffness, and relative posture relationship; The modeling and learning module uses the viscous hierarchical Dirichlet process hidden Markov model to model and learn the robot's operating skills, including automatic extraction of parameterized dynamic primitives, motion primitive parameter learning, and structure and parameter learning of task-directed operation graphs. The experience data is encapsulated through parameterized dynamic motion primitives and task-directed operation graphs to form a skill model. On the execution side, the robot uses intelligent perception technology to identify and locate the targets of new tasks and adapt the learned skill models to changes in the environment.

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