Building garbage can carrying robot system

Abstract

The invention relates to the field of garbage can carrying robots, and discloses a building garbage can carrying robot system which comprises a chassis movement module used for the displacement process of a robot; the lifting module is used for carrying out lifting operation on the clamped garbage can; the clamping module is used for clamping and fixing the garbage can; the sub-control system is used for navigation obstacle avoidance, garbage can sensing and positioning, garbage can clamping and lifting, inspection security and chassis control processes of the robot, and the sub-control system comprises an upper computer master control module, a lower computer slave control module and an execution module. And meanwhile, polling in the building is facilitated.

Description

Technical Field

[0001] The invention relates to the field of garbage can transporting robots, and in particular to a building garbage can transporting robot system. Background Art

[0002] As one of the key branches of the robotics industry, the application field of mobile robots is constantly expanding with the advancement of technology. From traditional industrial manufacturing to the application of service robots in household services, logistics warehousing, fault detection, medical assistance, etc., it shows the continuous improvement of the diversification of mobile robot functions and the degree of intelligence. This development trend not only promotes the improvement of the technical level of the robotics industry, but also makes robotics technology more and more frequently involved in people's daily lives, greatly improving the efficiency of social production and life. However, in the context of rapid economic development and continuous advancement of modern urban construction, new social needs and challenges are constantly emerging. Especially in urban areas with dense populations and limited land resources, the continuous growth in the number of high-rise residential and commercial buildings has triggered a number of challenges, including the effective management and cleaning of high-rise building waste. At present, this problem mainly relies on manpower to solve, that is, cleaning staff manually carry garbage up and down the floors, which is not only labor-intensive and time-consuming, but also extremely inefficient. For this reason, the present invention proposes a building garbage can handling robot system to solve the above problems. Summary of the invention

[0003] The object of the present invention is to provide a building garbage bin transporting robot system to solve the problems raised in the above background technology.

[0004] To achieve the above object, the present invention provides the following technical solution: a building garbage bin transport robot system, comprising:

[0005] Chassis motion module, used for the robot's displacement process;

[0006] A lifting module, used for lifting and lowering the clamped trash can;

[0007] A clamping module, used for clamping and fixing the trash can;

[0008] The sub-control system is used for the robot's navigation and obstacle avoidance, trash can perception and positioning, trash can clamping and lifting, inspection and security, and chassis control processes. The sub-control system includes an upper computer master control module, a lower computer slave control module, and an execution module.

[0009] Preferably, the execution module comprises a sensor system and a plurality of execution mechanisms, and the sensor system is respectively connected to the host computer master control module and the slave computer slave control module by signals.

[0010] Preferably, the slave control module of the lower machine includes a plurality of drivers electrically connected to the chassis motion module and the clamping and lifting modules, and each driver is electrically connected to a corresponding actuator of the execution module.

[0011] Preferably, the host control module of the upper computer is connected to the slave control module of the lower computer by a bidirectional signal.

[0012] Preferably: the host computer main control module includes a laser radar and a depth camera connected to the host computer PC via USB.

[0013] According to any one of the above-mentioned methods for operating a building garbage bin transporting robot system, the method comprises the following steps:

[0014] Step 1: After receiving the work instruction, the robot starts working and determines whether the task to be performed is a trash can moving task or a building inspection task according to the received work instruction;

[0015] Step 2: If the task to be performed is a trash can transport task, the robot will rely on SLAM positioning and navigation technology to update the path of movement to the area near the trash can in real time. After arriving at the area near the trash can, the robot will locate the trash can through the camera installed on the building trash can transport robot, and grasp and lift the trash can by sensing the location information of the trash can, and then transport the trash can to the designated target point to complete the trash can transport task.

[0016] Step 3: If the task to be performed is a building security inspection task, the robot will move according to the preset route. The preset path will be discretized into multiple target points according to the distance length. If the preset path is occupied by obstacles, it will rely on SLAM technology to avoid the obstacles and return to the preset path until the building security inspection task is completed;

[0017] Step 4: After completing the task, the building trash bin handling robot returns to the initial set position autonomously and waits for the next task instruction to be issued.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] The system proposed in the present invention reduces labor costs and improves the intelligence level of building management by introducing the development and application of intelligent building garbage bin handling robots. It can effectively solve the problem of garbage cleaning in high-rise buildings and facilitate robots to carry garbage bins in buildings and perform inspection tasks between buildings. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is the overall framework diagram of the present invention;

[0021] Figure 2 This is a structural diagram of the sub-control system of the present invention;

[0022] Figure 3 is a flow chart of the system of the present invention;

[0023] Figure 4 This is a framework diagram of the host computer main control module of the present invention;

[0024] Figure 5 This is a control signal hardware block diagram of the lower computer of the present invention;

[0025] Figure 6 This is a circuit diagram of the control system of the present invention;

[0026] Figure 7 This is a flow chart of the inspection task of the present invention;

[0027] Figure 8 This is a flow chart of the perception task of the present invention. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0029] Example

[0030] See also Figure 1-Figure 2 The building trash can handling robot system shown in the figure includes: a chassis movement module, which is used for the robot's displacement process; a lifting module, which is used to lift and lower the clamped trash can; a clamping module, which is used to clamp and fix the trash can; a sub-control system, which is used for the robot's navigation and obstacle avoidance, trash can perception and positioning, trash can clamping and lifting, inspection and security, and chassis control process, and the sub-control system includes an upper computer master control module, a lower computer slave control module, and an execution module.

[0031] See also Figure 4-6 In this embodiment, the execution module includes a sensor system and multiple actuators, and the sensor system is respectively connected to the upper computer main control module and the lower computer slave control module by signal. The lower computer slave control module includes multiple drivers electrically connected to the chassis motion module and the clamping and lifting modules, and each driver is respectively electrically connected to the corresponding actuator of the execution module. The upper computer main control module is bidirectionally signal-connected to the lower computer slave control module. The upper computer main control module includes a laser radar and a depth camera connected to the upper computer PC via USB.

[0032] according to Figure 3The workflow of the building garbage can handling robot is analyzed. The system of the present invention needs to have navigation and obstacle avoidance functions, garbage can perception and positioning functions, garbage can clamping and lifting functions, inspection and security functions, and chassis control functions. Following the idea of ​​high cohesion and low coupling of the control system, the functional modules of the building garbage can handling robot are divided into three modules: motion navigation module, perception and positioning module, and underlying control module. According to the functional modules of the building garbage can handling robot, the control subsystem is divided into three modules, namely, the upper computer master control module, the lower computer slave control module, and the execution module.

[0033] Further, such as Figure 4 As shown in the figure, the host computer main control module includes navigation and obstacle avoidance functions, trash can perception and positioning functions, and patrol and security functions. According to the functional requirements of the building trash can robot, at the hardware level, the vehicle-mounted PC is selected as the host computer main control module controller of the building trash can robot. At the software level, the Linux system is selected as the system support, and ROS is used as the software development and operation platform of the host computer main control module. The navigation and obstacle avoidance function of the building trash can handling robot is realized based on the Navigation framework, according to the map built using the Gmapping algorithm and the laser radar points returned by the sensor system Cloud data is used to locate and plan the path of the building trash can handling robot, and the speed that the chassis should reach is published to the slave control module of the lower computer to realize the navigation and obstacle avoidance function. It is implemented based on the ar_track_alvar function package, and the coordinates of the trash can are sensed by AR tags. The ultrasonic sensor is used to obtain the distance from the trash can and the motion navigation module is used to move the chassis to a suitable position for handling the trash can. The inspection and security function is implemented based on the move_base_flex function package, which is implemented according to the path node information preset in the inspection route in advance and the real-time obstacle avoidance function of the navigation and obstacle avoidance module.

[0034] The functions of the bottom-level control module are realized by the slave control module of the lower computer, including the garbage bin clamping and lifting functions and the chassis control functions. The STM32F407 series of STMicroelectronics is selected as the main controller of the slave control module of the lower computer. It communicates with the master control module of the upper computer through the serial port. According to the feedback signal of the odometer of the chassis motion module collected, the motion information of the chassis and the distance information of the ultrasonic sensor are analyzed and uploaded to the master control module of the upper computer. After the settlement of the received motion information of the master control module of the upper computer, the movement of the chassis motion module is controlled to realize the chassis control function. According to the status information of the building garbage bin handling robot transmitted by the master control module of the upper computer, the stepper motor and servo of the clamping drive module are controlled to complete the clamping and lifting functions. The functions that the slave control module of the lower computer is responsible for include the chassis control function and the clamping and lifting functions. It needs to drive the left and right wheel motors, stepper motors, and clamping servos, collect the data of the chassis odometer and ultrasonic ranging module, and upload them to the master control module of the upper computer through the serial port protocol. The control signal hardware block diagram of this module is as follows Figure 5 shown.

[0035] The module is composed of various motors, sensors and other components of the building garbage bin handling robot, and completes its respective functional actions according to the signals received from the upper computer master control module and the lower computer slave control module.

[0036] According to the hardware selection of the control system, the present invention uses a lithium battery to power the control system, and uses a step-down module to meet the requirements of components with a working voltage of 5V. In order to improve the safety of the building garbage bin handling robot, an emergency stop switch and a solid-state relay are added to the circuit design of the chassis motion module. The circuit design of the control system is as follows: Figure 6 shown.

[0037] See also Figure 3 According to any one of the above-mentioned methods for operating a building garbage bin handling robot system, the method comprises the following steps:

[0038] Step 1: After receiving the work instruction, the robot starts working and determines whether the task to be performed is a trash can moving task or a building inspection task according to the received work instruction;

[0039] Step 2: If the task to be performed is a trash can transport task, the robot will rely on SLAM positioning and navigation technology to update the path of movement to the area near the trash can in real time. After arriving at the area near the trash can, the robot will locate the trash can through the camera installed on the building trash can transport robot, and grasp and lift the trash can by sensing the location information of the trash can, and then transport the trash can to the designated target point to complete the trash can transport task.

[0040] Step 3: If the task to be performed is a building security inspection task, the robot will move according to the preset route. The preset path will be discretized into multiple target points according to the distance length. If the preset path is occupied by obstacles, it will rely on SLAM technology to avoid the obstacles and return to the preset path until the building security inspection task is completed;

[0041] Step 4: After completing the task, the building trash bin handling robot returns to the initial set position autonomously and waits for the next task instruction to be issued.

[0042] The inspection task relies on the obstacle avoidance navigation function, so it is still implemented under the Navigation framework. However, the move_base function package used to implement the traditional navigation obstacle avoidance function is not used. Instead, the inspection task function is implemented based on the move_base_flex function package. move_base_flex not only retains the topics and services related to move_base, but can also be customized and expanded according to needs. It has better performance in flexibility and scalability. The inspection task can make the building garbage bin handling robot move according to the pre-set inspection path. The workflow diagram is as follows Figure 7 shown.

[0043] The perception task is implemented based on the ar_track_alvar function package. When the building trash can handling robot moves to a position near the trash can, it confirms the coordinates of the trash can through the AR tag installed on the trash can, and then adjusts its posture based on the distance information of the two ultrasonic sensors collected by the slave control module of the lower computer, so that the building trash can handling robot reaches the position for performing the clamping and lifting task. The workflow diagram is shown in the figure below. Figure 8 shown.

[0044] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0045] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A building garbage bin handling robot system, characterized in that: include: Chassis motion module, used for the robot's displacement process; A lifting module, used for lifting and lowering the clamped trash can; A clamping module, used for clamping and fixing the trash can; The sub-control system is used for the robot's navigation and obstacle avoidance, trash can perception and positioning, trash can clamping and lifting, inspection and security, and chassis control processes. The sub-control system includes an upper computer master control module, a lower computer slave control module, and an execution module.

2. A building garbage bin handling robot system according to claim 1, characterized in that: The execution module includes a sensor system and a plurality of execution mechanisms, and the sensor system is respectively connected to the upper computer master control module and the lower computer slave control module by signals.

3. A building garbage bin handling robot system according to claim 2, characterized in that: The slave control module of the lower computer includes a plurality of drivers electrically connected to the chassis motion module and the clamping and lifting modules, and each driver is electrically connected to a corresponding actuator of the execution module.

4. A building garbage bin handling robot system according to claim 3, characterized in that: The upper computer master control module is connected to the lower computer slave control module by bidirectional signals.

5. A building garbage bin handling robot system according to claim 4, characterized in that: The host computer main control module includes a laser radar and a depth camera connected to the host computer PC via USB.

6. The method for operating a building garbage bin handling robot system according to any one of claims 1 to 5, characterized in that: The steps include: Step 1: After receiving the work instruction, the robot starts working and determines whether the task to be performed is a garbage bin transport task or a building inspection task according to the received work instruction; Step 2: If the task to be performed is a trash can transport task, the robot will rely on SLAM positioning and navigation technology to update the path of movement to the area near the trash can in real time. After arriving at the area near the trash can, the robot will locate the trash can through the camera installed on the building trash can transport robot, and grasp and lift the trash can by sensing the location information of the trash can, and then transport the trash can to the designated target point to complete the trash can transport task. Step 3: If the task to be performed is a building security inspection task, the robot will move according to the preset route. The preset path will be discretized into multiple target points according to the distance length. If the preset path is occupied by obstacles, it will rely on SLAM technology to avoid the obstacles and return to the preset path until the building security inspection task is completed; Step 4: After completing the task, the building trash bin handling robot returns to the initial set position autonomously and waits for the next task instruction to be issued.

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