Multifunctional intelligent garbage robot

Abstract

The invention discloses a multifunctional intelligent garbage robot which comprises a top cover, an outer barrel, a solar power generation module, an automatic compression device, a moving device, a pneumatic telescopic mechanical arm and other main components. The solar power generation module is composed of a monocrystalline silicon battery piece, a back plate, an adhesive film, a frame, a cover plate and a junction box, the automatic compression device comprises a direct current motor, a telescopic rod and a compression plate, and the moving device is composed of a bottom plate, a support, a gear motor, a coupler, wheels and a storage battery. The pneumatic type telescopic mechanical arm comprises a base, an air pump, an air pressure sensor, a steering engine, a plastic pipe, a rotating piece, an angle position sensor, a telescopic large arm, a position sensor, a telescopic small arm and an adsorption type clamp. Through cooperative work of various sensors and mechanical devices, automatic recognition, pickup, compression and movement of garbage are achieved, and the garbage treatment efficiency and the intelligent level are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and particularly to a multi-functional intelligent garbage robot. Background Art

[0002] Traditional sanitation operations mainly rely on manual labor, which has many drawbacks. On the one hand, manual cleaning is inefficient. Facing the increasing amount of garbage generated, it is difficult to quickly and comprehensively clean the garbage, resulting in poor cleaning effects of the urban environment. On the other hand, labor costs continue to rise, including personnel salaries, welfare and other expenses, bringing a heavy economic burden to urban sanitation work. In addition, sanitation workers have a high labor intensity, are exposed to harsh working environments for a long time, and are threatened by the germs and odors in the garbage, which poses a threat to their physical health. With the continuous progress of technology, intelligent devices have been gradually applied in various fields. It is of great practical significance to develop a robot that can replace manual labor and efficiently and intelligently process garbage. Summary of the Invention

[0003] Embodiments of the present application are proposed to make up for the deficiencies of the prior art and provide a multi-functional intelligent garbage robot to solve the problems existing in the prior art.

[0004] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0005] A multi-functional intelligent garbage robot includes a top cover, an outer barrel, a solar power generation module, an automatic compression device, a moving device and a pneumatic telescopic robotic arm.

[0006] A solar controller, an emergency charging module, a vision sensor, a photoresistor and a single-chip microcomputer are installed on the top cover.

[0007] A pressure sensor, an inner barrel, a feeding port, an infrared sensor, a servo motor, a connecting rod, a box door and a ultrasonic sensor are arranged inside the outer barrel.

[0008] The solar power generation module consists of solar cells, a backsheet, a glue film, a frame, a cover plate and a junction box, providing electrical energy for the operation of the entire garbage robot.

[0009] The automatic compression device includes a DC motor, a telescopic rod and a compression plate, which is used to compress the garbage. The inside of the DC motor is meshed with the inside of the telescopic rod through gears, and the compression plate is welded to the telescopic rod.

[0010] The moving device is composed of a bottom plate, a bracket, a reduction motor, a coupling, a wheel and a storage battery, which is used to realize the moving function of the garbage robot. The reduction motor is installed on the bottom plate through the bracket, the reduction motor is connected to the coupling installed inside the wheel, and the storage battery is installed at the bottom of the bottom plate.

[0011] The pneumatic telescopic robotic arm includes a base, an air pump, a barometric pressure sensor, a servo motor, a plastic tube, a rotating part, an angle sensor, a telescopic boom, a position sensor, a telescopic forearm, and an adsorption fixture for picking up garbage. The base is connected to the outer barrel by bolts. The air pump, barometric pressure sensor, and servo motor are installed inside the base. The air pump is connected to the barometric pressure sensor. The base is connected to the rotating part through the servo motor. The rotating part is connected to the telescopic boom through the angle sensor. The position sensor is installed inside the telescopic boom. The telescopic boom is connected to the telescopic forearm through the angle sensor. The position sensor is installed inside the telescopic forearm. The telescopic forearm is connected to the adsorption fixture through the angle sensor. The air pump is connected to the adsorption fixture through the plastic tube.

[0012] As a further technical solution of the present invention: The solar power generation module provides electrical energy for the operation of the entire garbage robot. The solar controller converts the electrical energy into the voltage required by each module, and the excess electrical energy is stored in the storage battery. The emergency charging module is connected to the solar controller.

[0013] As a further technical solution of the present invention: The photoresistor, infrared sensor, and ultrasonic sensor jointly control the switch of the LED light strip. When the photoresistor detects that the light intensity is weak, it sends a signal to the infrared sensor through the single-chip microcomputer. If the infrared sensor detects that there is someone around the garbage robot, it will send a signal to the single-chip microcomputer. If the ultrasonic sensor detects that a person is within the set range, it will send a signal to the single-chip microcomputer to control the LED light strip to turn on; when any one of the photoresistor, infrared sensor, and ultrasonic sensor does not detect a signal, the LED light strip will turn off.

[0014] As a further technical solution of the present invention: The infrared sensor and ultrasonic sensor jointly control the switch of the box door. When the infrared sensor detects that there is someone in front of the garbage robot, the ultrasonic sensor will measure the distance between the person and the garbage robot. When the distance is within the set range, it will send a signal to the single-chip microcomputer to control the box door to open. When any one of the infrared sensor and ultrasonic sensor does not detect a signal, the box door will close.

[0015] As a further technical solution of the present invention: The ultrasonic sensor and pressure sensor jointly control the switch of the automatic compression device. When the ultrasonic sensor measures that the garbage in the inner barrel reaches the set height, it will send a signal to the single-chip microcomputer to control the DC motor to rotate forward, causing the telescopic rod to descend. When the pressure sensor detects that the pressure reaches the set value, it will send a signal to the single-chip microcomputer to control the DC motor to rotate in reverse, causing the telescopic rod to rise.

[0016] As a further technical solution of the present invention: the ultrasonic sensor, the pressure sensor and the infrared sensor jointly control the switch of the ultraviolet lamp strip. When the ultrasonic sensor or the pressure sensor detects a change in the garbage in the inner barrel, the ultraviolet lamp strip will be turned on and turned off after a period of time. If the infrared sensor detects a person, the ultraviolet lamp strip will be turned off.

[0017] As a further technical solution of the present invention: the vision sensor, the ultrasonic sensor, the angle sensor, the position sensor and the air pressure sensor jointly control the operation of the pneumatic telescopic robotic arm. When the vision sensor detects garbage, it will send a signal to the single-chip microcomputer. When the ultrasonic sensor detects that the garbage is within the set range, through the measurement of the angle sensor and the position sensor, the pneumatic telescopic robotic arm rotates a certain angle and changes to a suitable length, and the air pressure sensor adjusts the appropriate air pressure.

[0018] As a further technical solution of the present invention: the vision sensor and the ultrasonic sensor jointly control the operation of the mobile device. When the vision sensor detects a person, it will send a signal to the single-chip microcomputer. The ultrasonic sensor detects the distance from the person to the garbage robot. If the person is within the set range, it will send a signal to the single-chip microcomputer to stop the reduction motor from rotating and make the garbage robot stop in front of the person; when the vision sensor detects an obstacle, it will send a signal to the single-chip microcomputer. The ultrasonic sensor detects the distance from the obstacle to the garbage robot. If the obstacle is within the set range, it will send a signal to the single-chip microcomputer to change the rotation speed of the reduction motors on both sides and make the garbage robot turn; when the vision sensor detects garbage, it will send a signal to the single-chip microcomputer. The ultrasonic sensor detects the distance from the garbage to the garbage robot. If the garbage is within the set range, it will send a signal to the single-chip microcomputer to stop the reduction motor from rotating and control the pneumatic telescopic robotic arm to pick up the garbage.

[0019] As a further technical solution of the present invention: the single-chip microcomputer is an STM32 single-chip microcomputer.

[0020] One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:

[0021] 1. Improve operation efficiency: Through the collaborative work of multiple sensors and mechanical devices, automatic identification, picking up, compressing and moving of garbage are realized, greatly improving the garbage treatment efficiency and reducing manual intervention.

[0022] 2. Reduce costs: Reduce the number of sanitation workers and lower labor costs; use solar power supply to reduce energy costs.

[0023] 3. High degree of intelligence: Each component operates automatically under the control of sensors and a single-chip microcomputer, and can make corresponding actions according to environmental changes, improving the intelligent level of garbage treatment.

[0024] 4. Ensure safety and hygiene: Avoid users from manually contacting the garbage and the bin door to reduce the spread of bacteria; the ultraviolet disinfection function ensures the environmental hygiene of garbage storage. Brief Description of the Drawings

[0025] Figure 1 It is a schematic diagram of the overall structure of a multifunctional intelligent garbage robot.

[0026] Figure 2 It is a schematic diagram of the overall structure of a multifunctional intelligent garbage robot in another direction.

[0027] Figure 3 It is a schematic diagram of the structure of the solar power generation module.

[0028] Figure 4 It is a schematic diagram of the structure of the automatic compression device.

[0029] Figure 5 It is an exploded schematic diagram of the mobile device.

[0030] Figure 6 It is an exploded schematic diagram of the pneumatic telescopic robotic arm.

[0031] Figure 7 It is a schematic diagram of the change in the length of the pneumatic telescopic robotic arm.

[0032] Figure 8 It is an exploded schematic diagram of a multifunctional intelligent garbage robot.

[0033] Figure 9 It is a schematic diagram of the working principle of a multifunctional intelligent garbage robot.

[0034] In the figure: 1 - top cover; 2 - solar controller; 3 - emergency charging module; 4 - vision sensor; 5 - photoresistor; 6 - single-chip microcomputer; 7 - LED light strip; 8 - ultrasonic sensor; 9 - outer barrel; 10 - pressure sensor; 11 - inner barrel; 12 - feeding port; 13 - infrared sensor; 14 - ultraviolet light strip; 15 - servo; 16 - connecting rod; 17 - bin door; 24 - DC motor; 25 - telescopic rod; 26 - compression plate; 27 - bottom plate; 28 - bracket; 29 - reduction motor; 30 - coupling; 31 - wheel; 32 - storage battery; 33 - base; 34 - air pump; 35 - air pressure sensor; 36 - servo; 37 - plastic pipe; 38 - rotating part; 39 - angle sensor; 40 - telescopic large arm; 41 - position sensor; 42 - telescopic small arm; 43 - adsorption fixture; 44 - solar power generation module; 45 - ultrasonic sensor. Detailed Implementation Manner

[0035] The technical solutions in the embodiments of the present invention will be clearly and completely described below. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0036] As Figures 1-9 shown, a multifunctional intelligent garbage robot includes a top cover 1, an outer barrel 9, a solar power generation module 44, an automatic compression device, a moving device, and a pneumatic telescopic robotic arm, and is characterized in that:

[0037] The solar power generation module 44 provides electrical energy for the operation of the entire garbage robot. The solar controller 2 converts the electrical energy into the voltage required by each module, playing a role in protecting the circuit. The excess electrical energy is stored in the storage battery 32 and used in special cases. The emergency charging module 3 is connected to the solar controller 2 to adjust the voltage according to different charging devices.

[0038] The photosensitive resistor 5, the infrared sensor 13, and the ultrasonic sensor 45 jointly control the switch of the LED light strip. When the photosensitive resistor 5 detects that the light intensity is weak, it will send a signal to the infrared sensor 13 through the single-chip microcomputer 6. If the infrared sensor 13 detects that there is someone around the garbage robot, it will send a signal to the single-chip microcomputer 6. If the ultrasonic sensor 45 detects that a person is within the set range, it will send a signal to the single-chip microcomputer 6 to control the LED light strip to turn on; when any one of the photosensitive resistor 5, the infrared sensor 13, and the ultrasonic sensor 45 does not detect a signal, the LED light strip will be turned off. The photosensitive resistor 5, the infrared sensor 13, and the ultrasonic sensor 45 interact with each other to jointly control the switch of the LED light strip 7, making the lighting system more intelligent.

[0039] The infrared sensor 13 and the ultrasonic sensor 45 jointly control the switch of the box door 17. When the infrared sensor 13 detects that there is someone in front of the garbage robot, the ultrasonic sensor 45 will measure the distance between the person and the garbage robot. If the distance is within the set range, it will send a signal to the single-chip microcomputer 6 to control the box door 17 to open. When any one of the infrared sensor 13 and the ultrasonic sensor 45 does not detect a signal, the box door 17 will close. The infrared sensor 13 and the ultrasonic sensor 45 interact with each other to jointly control the switch of the box door 17, avoiding the risk of bacteria transmission caused by the user manually opening the box door.

[0040] The automatic compression device includes a DC motor 24, a telescopic rod 25, and a compression plate 26. The inside of the DC motor 24 is connected to the inside of the telescopic rod 25 through gear meshing. The compression plate 26 is welded to the telescopic rod 25. The ultrasonic sensor 8 and the pressure sensor 10 jointly control the switch of the automatic compression device. When the ultrasonic sensor 8 measures that the garbage in the inner barrel 11 reaches the set height, it will send a signal to the single-chip microcomputer 6 to control the forward rotation of the DC motor 24, causing the telescopic rod 25 to descend. When the pressure sensor 10 detects that the pressure reaches the set value, it will send a signal to the single-chip microcomputer 6 to control the reverse rotation of the DC motor 24, causing the telescopic rod 25 to rise. The ultrasonic sensor 8 and the pressure sensor 10 jointly control the switch of the automatic compression device, avoiding the automatic compression device from over-compressing and damaging the bottom of the garbage robot.

[0041] The ultrasonic sensor 8, the pressure sensor 10, and the infrared sensor 13 jointly control the switch of the ultraviolet lamp strip. When the ultrasonic sensor 8 or the pressure sensor 10 detects a change in the garbage in the inner barrel 11, the ultraviolet lamp strip 14 will be turned on and turned off after a period of time. If the infrared sensor 13 detects someone, the ultraviolet lamp strip 14 will be immediately turned off, preventing the user from being irradiated by ultraviolet rays when putting in garbage and ensuring the safety of the user.

[0042] The pneumatic telescopic robotic arm includes a base 33, an air pump 34, a pressure sensor 35, a servo motor 15, a plastic tube 37, a rotating part 38, an angle sensor 39, a telescopic boom 40, a position sensor 41, a telescopic forearm 42, and an adsorption fixture 43. The base 33 is connected to the outer barrel 9 by bolts. The air pump 34, the pressure sensor 35, and the servo motor 36 are installed inside the base 33. The air pump 34 is connected to the pressure sensor 35. The base 33 is connected to the rotating part 38 through the servo motor 15. The rotating part 38 is connected to the telescopic boom 40 through the angle sensor 39. The telescopic boom 40 is equipped with a position sensor 41 inside. The telescopic boom is connected to the telescopic forearm 42 through the angle sensor 39. The telescopic forearm 42 is equipped with a position sensor 41 inside. The telescopic forearm 42 is connected to the adsorption fixture 43 through the angle sensor 39. The air pump 34 is connected to the adsorption fixture 43 through the plastic tube 37. The visual sensor 4, the ultrasonic sensor 45, the angle sensor 39, the position sensor 41, and the pressure sensor 35 jointly control the operation of the pneumatic telescopic robotic arm. When the visual sensor 4 detects garbage, it will send a signal to the single-chip microcomputer 6. When the ultrasonic sensor 45 detects that the garbage is within the set range, through the measurement of the angle sensor 39 and the position sensor 41, the pneumatic telescopic robotic arm rotates a certain angle and changes to a suitable length, and the pressure sensor 35 adjusts the appropriate air pressure, so as to pick up the garbage quickly and accurately.

[0043] The visual sensor 4 and the ultrasonic sensor 45 jointly control the operation of the mobile device. When the visual sensor 4 detects a person, it will send a signal to the single-chip microcomputer 6. The ultrasonic sensor 45 detects the distance between the person and the garbage robot. If the person is within the set range, it will send a signal to the single-chip microcomputer 6 to stop the rotation of the deceleration motor 29, so that the garbage robot stops in front of the person. When the visual sensor 4 detects an obstacle, it will send a signal to the single-chip microcomputer 6. The ultrasonic sensor 45 detects the distance between the obstacle and the garbage robot. If the obstacle is within the set range, it will send a signal to the single-chip microcomputer 6 to change the rotation speeds of the deceleration motors 29 on both the left and right sides, so that the garbage robot turns. When the visual sensor 4 detects garbage, it will send a signal to the single-chip microcomputer 6. The ultrasonic sensor 45 detects the distance between the garbage and the garbage robot. If the garbage is within the set range, it will send a signal to the single-chip microcomputer 6 to stop the rotation of the deceleration motor 29 and control the pneumatic telescopic robotic arm to pick up the garbage.

[0044] The single-chip microcomputer adopted in this design is the STM32 series single-chip microcomputer.

[0045] For those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments, and without departing from the spirit or basic characteristics of the present invention, the present invention can be implemented in other specific forms. Therefore, in any regard, the embodiments should be regarded as exemplary and non-limiting. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be encompassed by the present invention.

[0046] In addition, it should be understood that although this specification is described according to embodiments, not every embodiment only contains an independent technical solution. This narrative manner of the specification is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment have been appropriately combined to form other embodiments that are easily understood by those skilled in the art.

Claims

1. A multi-functional intelligent garbage robot, comprising a top cover (1), an outer barrel (9), a solar power generation module (44), an automatic compression device, a moving device, and a pneumatic telescopic robotic arm, characterized in that: A solar controller (2), an emergency charging module (3), a vision sensor (4), a photoresistor (5), and a single-chip microcomputer (6) are installed on the top cover (1); A pressure sensor (10), an inner barrel (11), a feeding port (12), an infrared sensor (13), a servo (15), a connecting rod (16), a box door (17), and a ultrasonic sensor (45) are arranged inside the outer barrel (9); The solar power generation module (44) consists of a battery cell (18), a backplane (19), a glue film (20), a frame (21), a cover plate (22), and a junction box (23), and provides electrical energy for the operation of the entire garbage robot; The automatic compression device includes a DC motor (24), a telescopic rod (25), and a compression plate (26), and is used for compressing garbage. The inside of the DC motor (24) is meshed with the inside of the telescopic rod (25) through gears, and the compression plate (26) is welded to the telescopic rod (25); The moving device is composed of a bottom plate (27), a bracket (28), a reduction motor (29), a coupling (30), a wheel (31), and a storage battery (32), and is used to realize the movement of the garbage robot. The reduction motor (29) is installed on the bottom plate (27) through the bracket (28), the reduction motor (29) is connected to the coupling (30) installed inside the wheel (31), and the storage battery (32) is installed at the bottom of the bottom plate (27).

2. The multifunctional intelligent garbage robot according to claim 1, characterized in that, The pneumatic telescopic robotic arm includes a base (33), an air pump (32), a pressure sensor (35), a servo (36), a plastic pipe (37), a rotating part (38), an angle sensor (39), a telescopic boom (40), a position sensor (41), a telescopic forearm (42), and an adsorption fixture (43), and is used to pick up garbage. The base (33) is connected to the outer barrel (9) by bolts. An air pump (34), a pressure sensor (35), and a servo (36) are installed inside the base (33). The air pump (34) is connected to the pressure sensor (35). The base (33) is connected to the rotating part (38) through the servo (15). The rotating part (38) is connected to the telescopic boom (40) through the angle sensor (39). A position sensor (41) is installed inside the telescopic boom (40). The telescopic boom is connected to the telescopic forearm (42) through the angle sensor (39). A position sensor (41) is installed inside the telescopic forearm (42). The telescopic forearm (42) is connected to the adsorption fixture (43) through the angle sensor (39). The air pump (34) is connected to the adsorption fixture (43) through the plastic pipe (37).

3. A multifunctional intelligent garbage robot according to claim 2, characterized in that, The solar power generation module (44) provides electrical energy for the operation of the entire garbage robot. The solar controller (2) converts the electrical energy into the voltage required by each module, and the excess electrical energy is stored in the storage battery (32). The emergency charging module (3) is connected to the solar controller (2).

4. The multifunctional intelligent garbage robot according to claim 3, characterized in that, The photoresistor (5), infrared sensor (13) and ultrasonic sensor (45) jointly control the switch of the LED light strip. When the photoresistor (5) detects that the light intensity is weak, it sends a signal to the infrared sensor (13) through the single-chip microcomputer (6). If the infrared sensor (13) detects that there are people around the garbage robot, it will send a signal to the single-chip microcomputer (6). If the ultrasonic sensor (45) detects that a person is within the set range, it will send a signal to the single-chip microcomputer (6) to control the LED light strip to turn on. When any one of the photoresistor (5), infrared sensor (13) and ultrasonic sensor (45) does not detect a signal, the LED light strip will turn off.

5. A multifunctional intelligent garbage robot according to claim 4, characterized in that, The infrared sensor (13) and ultrasonic sensor (45) jointly control the switch of the box door (17). When the infrared sensor (13) detects that there is someone in front of the garbage robot, the ultrasonic sensor (45) will measure the distance between the person and the garbage robot. When the distance is within the set range, it will send a signal to the single-chip microcomputer (6) to control the box door (17) to open. When any one of the infrared sensor (13) and ultrasonic sensor (45) does not detect a signal, the box door (17) will close.

6. A multifunctional intelligent garbage robot according to claim 5, characterized in that, The ultrasonic sensor (8) and pressure sensor (10) jointly control the switch of the automatic compression device. When the ultrasonic sensor (8) measures that the garbage in the inner barrel (11) reaches the set height, it will send a signal to the single-chip microcomputer (6) to control the DC motor (24) to rotate forward, causing the telescopic rod (25) to descend. When the pressure sensor (10) detects that the pressure reaches the set value, it will send a signal to the single-chip microcomputer (6) to control the DC motor (24) to rotate in reverse, causing the telescopic rod (25) to rise.

7. A multifunctional intelligent garbage robot according to claim 6, characterized in that, The ultrasonic sensor (8), pressure sensor (10) and infrared sensor (13) jointly control the switch of the ultraviolet light strip. When the ultrasonic sensor (8) or pressure sensor (10) detects a change in the garbage in the inner barrel (11), the ultraviolet light strip (14) will be turned on and will be turned off after a period of time. If the infrared sensor (13) detects a person, the ultraviolet light strip (14) will be turned off.

8. A multifunctional intelligent garbage robot according to claim 7, characterized in that, The vision sensor (4), ultrasonic sensor (45), angle sensor (39), position sensor (41) and air pressure sensor (35) jointly control the operation of the pneumatic telescopic robotic arm. When the vision sensor (4) detects garbage, it will send a signal to the single-chip microcomputer (6). When the ultrasonic sensor (45) detects that the garbage is within the set range, through the measurements of the angle sensor (39) and position sensor (41), the pneumatic telescopic robotic arm will rotate by a certain angle and change to a suitable length, and the air pressure sensor (35) will adjust the appropriate air pressure.

9. A multifunctional intelligent garbage robot according to claim 8, characterized in that, The visual sensor (4) and the ultrasonic sensor (45) jointly control the operation of the mobile device. When the visual sensor (4) detects a person, it sends a signal to the single-chip microcomputer (6). The ultrasonic sensor (45) detects the distance between the person and the garbage robot. If the person is within the set range, it sends a signal to the single-chip microcomputer (6) to stop the rotation of the reduction motor (29) and make the garbage robot stop in front of the person. When the visual sensor (4) detects an obstacle, it sends a signal to the single-chip microcomputer (6). The ultrasonic sensor (45) detects the distance between the obstacle and the garbage robot. If the obstacle is within the set range, it sends a signal to the single-chip microcomputer (6) to change the rotation speeds of the reduction motors (29) on the left and right sides and make the garbage robot turn. When the visual sensor (4) detects garbage, it sends a signal to the single-chip microcomputer (6). The ultrasonic sensor (45) detects the distance between the garbage and the garbage robot. If the garbage is within the set range, it sends a signal to the single-chip microcomputer (6) to stop the rotation of the reduction motor (29) and control the pneumatic telescopic robotic arm to pick up the garbage.

10. A multifunctional intelligent garbage robot according to claim 1, characterized in that, The single-chip microcomputer (6) is an STM32 single-chip microcomputer.

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