Sanitation cigarette end automatic inspection robot

Abstract

The invention relates to the technical field of environmental sanitation equipment, in particular to an automatic inspection robot for environmental sanitation cigarette ends, which comprises a movable base, a driving track, an image acquisition device, a dust collection device and a garbage storage box, and is characterized in that a high-definition camera is used for acquiring clear ground images, and a depth camera is used for sensing three-dimensional information of an object; once the cigarette ends are recognized, the moving direction and speed of the vehicle body are controlled through the driving caterpillar band, the robot is made to move to the cigarette end positions, the input end of the dust suction device corresponds to the cigarette ends, and the cigarette ends are sucked into the garbage storage box to be stored through the dust suction device. And through the arrangement of the rotatable mounting base and the overturning assembly, the shooting range of the high-definition camera and the depth camera can be further adjusted, the recognition effect on the cigarette ends is better, and by adopting the structure, efficient and automatic cleaning of the cigarette ends can be completed.

Description

Technical Field

[0001] The present invention relates to the technical field of environmental sanitation equipment, and particularly to an automatic inspection robot for environmental sanitation cigarette butts. Background Art

[0002] In public places such as urban streets, parks, and squares, the phenomenon of cigarette butts being randomly discarded is relatively common. The traditional environmental sanitation cleaning method mainly relies on manual cleaning. Sanitation workers need to spend a lot of time and energy on cleaning cigarette butts, and it is difficult to achieve real-time and comprehensive inspection and cleaning.

[0003] In addition, in some large places such as scenic spots and commercial centers, the area is vast, the efficiency of manual cleaning is low, and there are omitted areas. Most of the existing cleaning equipment focuses on cleaning larger garbage, and it is difficult to accurately identify and clean tiny cigarette butts, lacking an efficient and automated solution specifically for cigarette butts. Summary of the Invention

[0004] The purpose of the present invention is to provide an automatic inspection robot for environmental sanitation cigarette butts, to solve the problem that most of the existing cleaning equipment focuses on cleaning larger garbage, it is difficult to accurately identify and clean tiny cigarette butts, and there is a lack of an efficient and automated solution specifically for cigarette butts.

[0005] To achieve the above purpose, the present invention provides an automatic inspection robot for environmental sanitation cigarette butts. The automatic inspection robot for environmental sanitation cigarette butts includes a mobile base, driving tracks, an image acquisition device, a dust suction device, and a garbage storage box. The image acquisition device is arranged in front of the top of the mobile base, the garbage storage box is arranged behind the top of the mobile base, the dust suction device is arranged at the front end of the bottom of the mobile base, and the output end of the dust suction device is connected through a pipeline to the garbage storage box;

[0006] The image acquisition device includes a rotatable mounting seat, a rotating disk, a mounting arm, a mounting frame, a flipping component, a high-definition camera, and a depth camera. The rotatable mounting seat is mounted on the top of the mobile base, the rotating disk is rotatably arranged on the top of the rotatable mounting seat, the mounting arm is arranged on the top of the rotating disk, the mounting frame is rotatably arranged at the top of the mounting arm through a rotating shaft, the high-definition camera and the depth camera are arranged on the mounting frame, a mounting plate is arranged on the side of the mounting arm, the flipping component is arranged on the mounting plate, and the output end of the flipping component is mechanically transmitted to the rotating shaft.

[0007] Among them, the rotatable mounting base includes a mounting base body, a first driving motor, and an output gear. The mounting base body is mounted on the top of the mobile base. A rotating disk is rotatably provided at the top of the mounting base body. A transmission tooth portion is provided at one end of the rotating disk located inside the mounting base body. The first driving motor is provided inside the mounting base body. The output end of the first driving motor is provided with the output gear, and the output gear is in mechanical transmission with the transmission tooth portion.

[0008] Among them, the flipping assembly includes a second driving motor, a gear reduction box, and a coupling. The second driving motor is mounted on the mounting plate. The output end of the second driving motor is provided with the gear reduction box, and the output end of the gear reduction box is connected to the rotating shaft through the coupling.

[0009] Among them, the dust suction device includes a dust suction pump, a dust suction pipe, a dust suction hood, and an anti-blocking assembly. The dust suction pump is mounted on the inner bottom of the mobile base. The input end of the dust suction pump is connected to the dust suction hood through the dust suction pipe, and the output end of the dust suction pump is connected to the garbage storage box through the pipeline. The dust suction hood is located at the front end of the mobile base, and the anti-blocking assembly is provided on the dust suction pipe.

[0010] Among them, the dust suction hood is arranged in a flat structure, and the input end of the dust suction hood is close to the ground.

[0011] Among them, the anti-blocking assembly includes a mounting shell, a motor, a driving shaft, and crushing blades. The mounting shell is mounted on the outside of the dust suction pipe. The motor is provided inside the mounting shell. The output end of the motor is provided with the driving shaft, and the crushing blades are provided at one end of the driving shaft extending into the dust suction pipe.

[0012] Among them, the automatic inspection robot for sanitation cigarette butts further includes an embedded processor. An image acquisition control module, a driving control module, and a dust suction control module are provided on the embedded processor. The image acquisition control module is used to control the operation of the rotatable mounting base and the flipping assembly. The driving control module is used to control the operation of the driving track. The dust suction control module is used to control the operation of the dust suction device.

[0013] Among them, the automatic inspection robot for sanitation cigarette butts further includes an obstacle avoidance module. The obstacle avoidance module is used to plan a safe and efficient traveling path for the robot.

[0014] Among them, the automatic inspection robot for sanitation cigarette butts further includes a wireless charging module. The wireless charging module is used to automatically start charging when the robot is within a certain range of the charging base station.

[0015] An automatic inspection robot for sanitation cigarette butts of the present invention includes a mobile base, driving tracks, an image acquisition device, a dust suction device and a garbage storage box. The image acquisition device includes a rotatable mounting base, a rotating disk, a mounting arm, a mounting frame, a flipping assembly, a high-definition camera and a depth camera. The high-definition camera is used to obtain a clear ground image, and the depth camera is used to sense the three-dimensional information of an object, so as to accurately identify the position, shape, size and other features of the cigarette butt. Once a cigarette butt is identified, the driving direction and speed of the vehicle body are controlled through the driving tracks, so that the robot moves to the position of the cigarette butt, and the input end of the dust suction device is made to correspond to the cigarette butt. The dust suction device is used to suck the cigarette butt into the garbage storage box for storage. And through the settings of the rotatable mounting base and the flipping assembly, the shooting ranges of the high-definition camera and the depth camera can be further adjusted, so that the recognition effect of the cigarette butt is better. With the above structure, efficient and automatic cleaning of cigarette butts can be completed. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0017] Figure 1 is a schematic structural diagram of the automatic inspection robot for sanitation cigarette butts provided by the present invention.

[0018] Figure 2 is provided by the present invention Figure 1 local enlarged structural view of part A.

[0019] Figure 3 is a schematic internal structure diagram of the dust suction pipe provided by the present invention.

[0020] Figure 4 is provided by the present invention Figure 3 local enlarged structural view of part B.

[0021] Figure 5 is a schematic exploded structural diagram of the rotatable mounting base provided by the present invention.

[0022] Figure 6 is a schematic operation principle block diagram of the automatic inspection robot for sanitation cigarette butts provided by the present invention.

[0023] 101 - Mobile base, 102 - Driving track, 103 - Garbage storage bin, 104 - Rotating disk, 105 - Installation arm, 106 - Installation frame, 107 - High - definition camera, 108 - Depth camera, 109 - Rotating shaft, 110 - Installation plate, 111 - Installation seat body, 112 - First driving motor, 113 - Output gear, 114 - Transmission tooth part, 115 - Second driving motor, 116 - Gear reduction box, 117 - Coupling, 118 - Dust suction pump, 119 - Dust suction pipe, 120 - Dust suction hood, 121 - Installation shell, 122 - Electric motor, 123 - Driving shaft, 124 - Crushing blade, 125 - Embedded processor, 126 - Image acquisition control module, 127 - Driving control module, 128 - Dust suction control module, 129 - Obstacle avoidance module, 130 - Wireless charging module. Detailed implementation manners

[0024] The embodiments of the present invention will be described in detail below. Examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the accompanying drawings are exemplary and are intended to explain the present invention, and should not be construed as a limitation to the present invention.

[0025] Please refer to Figures 1 to 6 , the present invention provides a sanitation cigarette butt automatic inspection robot. The sanitation cigarette butt automatic inspection robot includes a mobile base 101, a driving track 102, an image acquisition device, a dust suction device, and a garbage storage bin 103. The image acquisition device is arranged in front of the top of the mobile base 101, the garbage storage bin 103 is arranged behind the top of the mobile base 101, the dust suction device is arranged at the front end of the bottom of the mobile base 101, and the output end of the dust suction device is connected through a pipeline with the garbage storage bin 103;

[0026] The image acquisition device includes a rotatable mounting seat, a rotating disk 104, an installation arm 105, an installation frame 106, a flipping assembly, a high - definition camera 107, and a depth camera 108. The rotatable mounting seat is installed on the top of the mobile base 101, the rotating disk 104 is rotatably arranged on the top of the rotatable mounting seat, the installation arm 105 is arranged on the top of the rotating disk 104, the installation frame 106 is rotatably arranged at the top of the installation arm 105 through a rotating shaft 109, the high - definition camera 107 and the depth camera 108 are arranged on the installation frame 106, an installation plate 110 is arranged on the side of the installation arm 105, the flipping assembly is arranged on the installation plate 110, and the output end of the flipping assembly is mechanically transmitted with the rotating shaft 109.

[0027] In this embodiment, the high-definition camera 107 is used to obtain clear ground images, and the depth camera 108 is used to sense the three-dimensional information of objects, so as to accurately identify features such as the position, shape, and size of cigarette butts. Once a cigarette butt is identified, the driving track 102 is used to control the moving direction and speed of the vehicle body, so that the robot moves to the position of the cigarette butt, and the input end of the dust suction device is made to correspond to the cigarette butt. The dust suction device is used to suck the cigarette butt into the garbage storage box 103 for storage. Moreover, through the arrangement of the rotatable mounting seat and the flipping assembly, the shooting ranges of the high-definition camera 107 and the depth camera 108 can be further adjusted, so that the recognition effect of cigarette butts is better. With the above structure, efficient and automatic cleaning of cigarette butts can be completed.

[0028] Further, the rotatable mounting seat includes a mounting seat body 111, a first driving motor 112, and an output gear 113. The mounting seat body 111 is mounted on the top end of the moving base 101. A rotating disk 104 is rotatably provided at the top end of the mounting seat body 111. A transmission tooth portion 114 is provided at one end of the rotating disk 104 located inside the mounting seat body 111. The first driving motor 112 is provided inside the mounting seat body 111. The output end of the first driving motor 112 is provided with the output gear 113, and the output gear 113 is in mechanical transmission with the transmission tooth portion 114.

[0029] In this embodiment, when the first driving motor 112 is started, it drives the output gear 113 to rotate. Since the output gear 113 meshes with the transmission tooth portion 114, it drives the rotating disk 104 to rotate at the end of the mounting seat body 111, thereby completing the adjustment of the shooting positions of the high-definition camera 107 and the depth camera 108, so as to expand the collection range of the image collection device.

[0030] Further, the flipping assembly includes a second driving motor 115, a gear reduction box 116, and a coupling 117. The second driving motor 115 is mounted on the mounting plate 110. The output end of the second driving motor 115 is provided with the gear reduction box 116, and the output end of the gear reduction box 116 is connected to the rotating shaft 109 through the coupling 117.

[0031] In this embodiment, when the second driving motor 115 is started, after using the gear reduction box 116 to slow down the output speed, it drives the rotating shaft 109 to rotate through the coupling 117, thereby adjusting the tilting angle of the mounting frame 106, and further adjusting the shooting angles of the high-definition camera 107 and the depth camera 108, so as to expand the collection range of the image collection device.

[0032] Further, the dust suction device includes a dust suction pump 118, a dust suction pipe 119, a dust suction hood 120 and an anti-blocking component. The dust suction pump 118 is installed at the inner bottom of the mobile base 101. The input end of the dust suction pump 118 is connected with the dust suction hood 120 through the dust suction pipe 119. The output end of the dust suction pump 118 is connected with the garbage storage box 103 through the pipeline. The dust suction hood 120 is located at the front end of the mobile base 101, and the anti-blocking component is arranged on the dust suction pipe 119.

[0033] In this embodiment, the dust suction pump 118 is started. Through the cooperation of the dust suction hood 120 and the dust suction pipe 119, the cigarette butts are conveyed through the pipeline into the garbage storage box 103 for storage. And through the setting of the anti-blocking component, the inhaled sundries are prevented from blocking the dust suction pipe 119, ensuring the continuous and efficient operation of the dust suction device.

[0034] Further, the dust suction hood 120 is arranged in a flat structure, and the input end of the dust suction hood 120 is close to the ground.

[0035] In this embodiment, the design of the dust suction hood 120 is optimized. It is flat and close to the ground, which can effectively reduce air resistance and accurately suck cigarette butts.

[0036] Further, the anti-blocking component includes a mounting shell 121, a motor 122, a drive shaft 123 and a crushing blade 124. The mounting shell 121 is installed outside the dust suction pipe 119. The motor 122 is arranged inside the mounting shell 121. The output end of the motor 122 is provided with the drive shaft 123, and one end of the drive shaft 123 extending into the dust suction pipe 119 is provided with the crushing blade 124.

[0037] In this embodiment, the motor 122 is started. The crushing blade 124 is driven to rotate through the drive shaft 123. The inhaled sundries are crushed by the rotating crushing blade 124, preventing the inhaled sundries from blocking the dust suction pipe 119 and ensuring the continuous and efficient operation of the dust suction device.

[0038] Further, the automatic inspection robot for environmental sanitation cigarette butts further includes an embedded processor 125. An image acquisition control module 126, a drive control module 127 and a dust suction control module 128 are arranged on the embedded processor 125. The image acquisition control module 126 is used to control the operation of the rotatable mounting seat and the flipping component. The drive control module 127 is used to control the operation of the drive track 102. The dust suction control module 128 is used to control the operation of the dust suction device.

[0039] In this embodiment, the robot is equipped with the high-performance embedded processor 125 and runs intelligent control algorithms. The image information acquired by the image acquisition device is transmitted to the embedded processor 125 in real time. The embedded processor 125 uses advanced image recognition technologies, such as object detection algorithms based on deep learning (such as YOLO or Faster R-CNN algorithms), to quickly and accurately identify cigarette butts in the image. Once a cigarette butt is identified, the processor immediately calculates the position coordinates of the cigarette butt, and controls the running of the driving track 102 through the drive control module 127, and controls the operation of the dust suction device through the dust suction control module 128, so as to precisely control the moving direction and speed of the vehicle body, enabling the robot to quickly and accurately move to the position of the cigarette butt, and complete the suction of the cigarette butt by using the dust suction device. Moreover, the dust suction control module 128 can automatically adjust the suction force according to the position and distance of the cigarette butt to ensure that the cigarette butt is smoothly sucked in without affecting the surrounding environment.

[0040] Further, the automatic inspection robot for sanitation cigarette butts further includes an obstacle avoidance module 129, and the obstacle avoidance module 129 is used to plan a safe and efficient traveling path for the robot.

[0041] In this embodiment, the obstacle avoidance module 129 adopts a method of fusing multiple sensors such as lidar, ultrasonic sensors or infrared sensors. For example, the lidar can perform high-precision scanning on the surrounding environment to obtain the position and shape information of obstacles; the ultrasonic sensor is used for detecting obstacles at close range to supplement the blind area of the lidar; the infrared sensor can effectively detect obstacles under low light conditions. After the data of these sensors are fused and processed, they are input into the obstacle avoidance algorithm, enabling the robot to plan a safe and efficient traveling path.

[0042] Further, the automatic inspection robot for sanitation cigarette butts further includes a wireless charging module 130, and the wireless charging module 130 is used to automatically start charging when the robot is within a certain range close to the charging base station.

[0043] In this embodiment, through the setting of the wireless charging module 130, when the robot is within a certain range close to the charging base station, it automatically starts charging without the need for manual plugging and unplugging of the charging cable, improving the autonomy and convenience of use of the robot.

[0044] The above-disclosed is only a preferred embodiment of the present invention, and of course it cannot be used to limit the scope of rights of the present invention. Those of ordinary skill in the art can understand all or part of the processes of implementing the above embodiments, and the equivalent changes made according to the claims of the present invention still fall within the scope covered by the present invention.

Claims

1. An automatic inspection robot for environmental sanitation cigarette butts, characterized in that it includes a mobile base, driving tracks, an image acquisition device, a dust suction device and a garbage storage box. The image acquisition device is arranged in front of the top of the mobile base, the garbage storage box is arranged behind the top of the mobile base, the dust suction device is arranged at the front end of the bottom of the mobile base, and the output end of the dust suction device is connected through the garbage storage box pipeline; The image acquisition device includes a rotatable mounting seat, a rotating disc, a mounting arm, a mounting frame, a flipping assembly, a high-definition camera and a depth camera. The rotatable mounting seat is mounted on the top of the mobile base, the rotating disc is rotatably arranged on the top of the rotatable mounting seat, the mounting arm is arranged on the top of the rotating disc, the mounting frame is rotatably arranged at the top of the mounting arm through a rotating shaft, the high-definition camera and the depth camera are arranged on the mounting frame, a mounting plate is arranged on the side of the mounting arm, the flipping assembly is arranged on the mounting plate, and the output end of the flipping assembly is mechanically transmitted with the rotating shaft.

2. The automatic inspection robot for environmental sanitation cigarette butts according to claim 1, characterized in that the rotatable mounting seat includes a mounting seat body, a first driving motor and an output gear. The mounting seat body is mounted on the top of the mobile base, the rotating disc is rotatably arranged on the top of the mounting seat body, a transmission tooth part is arranged at one end of the rotating disc inside the mounting seat body, the first driving motor is arranged inside the mounting seat body, the output end of the first driving motor is provided with the output gear, and the output gear is mechanically transmitted with the transmission tooth part.

3. The automatic inspection robot for environmental sanitation cigarette butts according to claim 2, characterized in that the flipping assembly includes a second driving motor, a gear reduction box and a coupling. The second driving motor is mounted on the mounting plate, the output end of the second driving motor is provided with the gear reduction box, and the output end of the gear reduction box is connected to the rotating shaft through the coupling.

4. The automatic inspection robot for environmental sanitation cigarette butts according to claim 3, characterized in that the dust suction device includes a dust suction pump, a dust suction pipe, a dust suction hood and an anti-blocking assembly. The dust suction pump is mounted on the inner bottom of the mobile base, the input end of the dust suction pump is connected with the dust suction hood through the dust suction pipe, the output end of the dust suction pump is connected with the garbage storage box through the pipeline, the dust suction hood is located at the front end of the mobile base, and the anti-blocking assembly is arranged on the dust suction pipe.

5. The automatic inspection robot for environmental sanitation cigarette butts according to claim 4, characterized in that the dust suction hood is arranged in a flat structure, and the input end of the dust suction hood is close to the ground.

6. The automatic inspection robot for environmental sanitation cigarette butts according to claim 5, characterized in that The anti-blocking component includes a mounting shell, a motor, a drive shaft and a crushing blade. The mounting shell is installed outside the dust suction pipe. The motor is arranged inside the mounting shell. The drive shaft is arranged at the output end of the motor. The crushing blade is arranged at one end of the drive shaft extending into the dust suction pipe.

7. The automatic inspection robot for sanitation cigarette butts according to claim 6, wherein the automatic inspection robot for sanitation cigarette butts further includes an embedded processor, on which an image acquisition control module, a drive control module and a dust suction control module are arranged. The image acquisition control module is used to control the operation of the rotatable mounting seat and the flipping component. The drive control module is used to control the operation of the drive track. The dust suction control module is used to control the operation of the dust suction device.

8. The automatic inspection robot for sanitation cigarette butts according to claim 7, wherein the automatic inspection robot for sanitation cigarette butts further includes an obstacle avoidance module, which is used to plan a safe and efficient travel path for the robot.

9. The automatic inspection robot for sanitation cigarette butts according to claim 8, wherein the automatic inspection robot for sanitation cigarette butts further includes a wireless charging module, which is used to automatically start charging when the robot is within a certain range of the charging base station.

Images