Cleaning robot capable of performing all-terrain cruising and classifying and recycling garbage with large size and small size

Abstract

The invention discloses a cleaning robot capable of achieving all-terrain cruising and classified recycling of garbage with large and small sizes. The cleaning robot comprises a vehicle body, a mechanical arm and a recycling box. The mechanical arm is installed on the vehicle body in a running fit mode, a cleaning claw is hinged to the free end of the mechanical arm, the mechanical arm can enable the cleaning claw to directly face a cleaned position, the recycling box is connected to one side of the vehicle body, and the interior of the recycling box is divided into a containing recycling bin, an adsorption recycling bin and an adsorption bin through a partition plate and a filter plate. The adsorption recovery bin is communicated with the adsorption bin through filter holes in the filter plate; the cleaning claw is communicated with the adsorption recovery bin through an adsorption pipe; a negative pressure device is arranged in the adsorption bin, and when the cleaning claw right faces the small-size garbage, the negative pressure device enables the adsorption bin to be in an adsorption state, and the small-size garbage is adsorbed into the adsorption recycling bin through the adsorption pipe; when the cleaning claw directly faces large-size garbage, the cleaning claw can grab the large-size garbage, and the large-size garbage is placed in the containing and recycling bin under the driving of the mechanical arm; and classified recovery of garbage with large and small sizes is realized.

Description

Technical Field

[0001] The present invention belongs to the technical field of automatic cleaning robots, and in particular relates to a cleaning robot capable of all-terrain cruising and sorting and recycling large and small volumes of garbage, and a working method thereof. Background Art

[0002] Existing large cleaning robots usually use mechanical claws to grab garbage, but the structural design of the mechanical claws is difficult to adapt to the recycling of small and flaky garbage, such as rice-sized debris and dust. Due to size limitations, the claws are difficult to accurately locate and grab, and are prone to grabbing failure or secondary scattering. In addition, existing cleaning robots can usually only clean garbage on horizontal or inclined ground, and have poor passing ability in complex terrain such as grass, sand, steps, etc., making it difficult to achieve all-terrain automatic cruise cleaning, resulting in a limited cleaning range. Summary of the Invention

[0003] Purpose of the invention: In order to overcome the deficiencies in the prior art, the present invention provides a cleaning robot that can cruise in all terrains and classify and recycle garbage of all sizes. It can realize automatic detection, identification, positioning, grabbing or adsorption recovery of garbage in all terrain environments, improve cleaning efficiency, reduce manual labor intensity, and enhance the intelligence and automation level of cleaning in public areas.

[0004] Technical solution: To achieve the above-mentioned purpose, the present invention provides a cleaning robot that can cruise in all terrains and classify and recycle large and small volumes of garbage, including a vehicle body, a robotic arm and a recycling box; the mounting end of the robotic arm is rotatably mounted on the vehicle body, the free end of the robotic arm is hingedly provided with a cleaning claw, the robotic arm can make the cleaning claw face the area to be cleaned, the recycling box is integrally connected to one side of the vehicle body, the interior of the recycling box is divided into a placement recovery bin, an adsorption recovery bin and an adsorption bin by a partition and a filter plate, and the adsorption recovery bin is connected to the adsorption bin through the filter holes on the filter plate; the cleaning claw is connected to the adsorption recovery bin through an adsorption tube; a negative pressure device is provided in the adsorption bin, when the cleaning claw is facing small volume of garbage, the negative pressure device can make the adsorption bin and the adsorption recovery bin be in an adsorption state, and adsorb the small volume of garbage into the adsorption recovery bin through the adsorption tube; when the cleaning claw is facing large volume of garbage, the cleaning claw can grab the large volume of garbage and put the large volume of garbage into the placement recovery bin through the drive of the robotic arm.

[0005] Furthermore, the robotic arm includes an upper arm, a lower arm, a synchronous arm and a rotation drive device. The rotation drive device is fixedly installed inside the vehicle body, and the driving structure of the rotation drive device protrudes from the upper surface of the vehicle body and is synchronously connected to one end of the synchronous arm. The other end of the synchronous arm is rotated with one end of the upper arm through a first swing motor, and the other end of the upper arm is rotated with one end of the lower arm through a second swing motor. The other end of the lower arm is rotated with the cleaning claw through a third swing motor.

[0006] Furthermore, the rotation drive device includes a drive box, a rotating column and a rotation drive motor; the drive box is fixedly installed inside the vehicle body, and the rotation drive motor can be optionally installed outside or inside the drive box. A driving worm is rotated in the drive box, and the output shaft of the rotation drive motor is coaxially connected to one end of the driving worm. One end of the rotating column is coaxially connected to a rotating turbine that cooperates with the driving worm. The other end of the rotating column protrudes from the upper surface of the vehicle body and is connected to the synchronization arm. The rotation drive motor can drive the mechanical arm to rotate relative to the vehicle body through the rotating column.

[0007] Furthermore, the cleaning claw is connected to the forearm through a telescopic hydraulic cylinder, the telescopic end of the telescopic hydraulic cylinder is drive-connected to the cleaning claw, and the cylinder body of the telescopic hydraulic cylinder is hinged on the drive shaft of the third swing motor; the third swing motor can drive the telescopic hydraulic cylinder and the cleaning claw to rotate synchronously relative to the vehicle body.

[0008] Furthermore, the cleaning claw includes a mounting barrel, an end cover, a claw body and a linkage structure; the mounting barrel and the telescopic hydraulic cylinder body are fixedly connected on a side close to each other by a plurality of support columns, and a piston insertion hole is provided on a side of the mounting barrel close to the telescopic hydraulic cylinder body relative to the piston rod of the telescopic hydraulic cylinder, and the end of the telescopic hydraulic cylinder piston rod passes through the piston insertion hole and extends into the interior of the mounting barrel; the end cover is coaxially arranged on a side of the mounting barrel away from the telescopic hydraulic cylinder, and a plurality of the claw bodies are hinged in a circular array on a side of the end cover away from the telescopic hydraulic cylinder; the linkage structure is connected to the interior of the mounting barrel, and each of the claw bodies is driven and connected to the piston rod of the telescopic hydraulic cylinder through the linkage structure, and the telescopic movement of the telescopic hydraulic cylinder piston rod can drive each claw body to approach or move away from each other.

[0009] Furthermore, an adsorption tube through hole is opened on the side wall of the installation barrel, and the end of the adsorption tube away from the adsorption recovery bin passes through the adsorption tube through the hole to the inside of the installation barrel, and an adsorption elbow is provided at the end of the adsorption tube located inside the installation barrel, and an adsorption hole is provided at the center of the end cover relative to the adsorption elbow, and the adsorption end of the adsorption elbow passes through the adsorption hole to the outside of the installation barrel; when the claws are away from each other, the adsorption end of the adsorption elbow can adsorb small-volume garbage.

[0010] Furthermore, a flip structure is provided at the opening of the placement and recovery bin, and the flip structure includes a cover plate, a flip drive motor, a drive screw, a drive rod and a drive slider; the cover plate is rotatably matched with the inner wall of the placement and recovery bin, and the flip drive motor is installed on the inner wall of one side of the placement and recovery bin, and the drive screw is coaxially connected to the output shaft of the flip drive motor, and the drive slider is threadedly matched with the drive screw, and when the drive screw rotates, the drive slider can move on the drive screw along the length direction of the drive screw; one end of the drive rod is hinged to the drive slider, and the other end is hinged to the cover plate, and when the drive slider moves on the drive screw along the length direction of the drive screw, the cover plate rotates relative to the placement and recovery bin.

[0011] Furthermore, the flip cover structure also includes a guide rod, a guide groove is provided on the side of the cover plate close to the guide rod, one end of the guide rod is hinged on the inner wall of the placement and recovery bin away from the flip drive motor, and a guide column is provided on the side of the guide rod close to the cover plate, which slides with the guide groove, and the sliding cooperation between the guide groove and the guide column can guide the rotation of the cover plate relative to the placement and recovery bin; a limiting column is provided on the end of the guide rod away from the hinge with the placement and recovery bin, and when the cover plate rotates relative to the placement and recovery bin, the limiting column can make limiting contact with the side of the cover plate away from the bottom surface of the placement and recovery bin.

[0012] Furthermore, it also includes a walking device, which includes a walking motor, a differential, a first crawler device and a second crawler device, the walking motor and the differential are both arranged inside the vehicle body, and the walking motor is driven and connected to the differential; the first crawler device and the second crawler device are respectively arranged on both sides of the vehicle body along the travel direction, and the first drive shaft of the first crawler device and the second drive shaft of the second crawler device both extend into the vehicle body, the differential is located between the first drive shaft and the second drive shaft, and the first drive shaft and the second drive shaft are simultaneously driven and connected to the differential; a walking drive gear is provided on the first drive shaft, and the output shaft of the walking motor is driven and connected to the walking drive gear through a drive gear.

[0013] Furthermore, the first crawler device also includes a first synchronous chain, a first driving sprocket, a first driven sprocket and a first crawler structure, the first synchronous chain, the first driving sprocket and the first driven sprocket are all located inside the vehicle body, the first crawler structure is arranged on the outside of one side of the vehicle body along the traveling direction, the end of the first drive shaft away from the differential is drivingly connected to the first driving wheel of the first crawler structure, the first driving sprocket is arranged between the first driving wheel and the walking driving gear, the first driven sprocket is arranged relative to the guide wheel of the first crawler structure, and the axis of the first driving sprocket and the axis of the first driven sprocket are in the same plane; the first synchronous chain is wrapped around the first driving sprocket and the first driven sprocket, and when the first driving shaft rotates, the first driving sprocket, the first driven sprocket, the first driving wheel of the first crawler structure and the guide wheel of the first crawler structure rotate synchronously.

[0014] Furthermore, it also includes a patrol device, which includes a binocular camera, a deflection mount, a camera deflection drive motor and a support column; the deflection mount is rotatably mounted inside the vehicle body, and the circumferential surface of the deflection mount is integrally provided with a deflection tooth; the camera deflection drive motor is located on one side of the deflection mount, and the output shaft of the camera deflection drive motor is integrally provided with a deflection drive gear that meshes with the deflection gear; one end of the support column is coaxially connected to the upper end of the deflection mount, and the other end passes through the vehicle body to be connected to the binocular camera; when the deflection drive gear and the deflection gear are meshed and transmitted, the binocular camera rotates synchronously with the deflection mount.

[0015] Furthermore, a working method of a cleaning robot capable of all-terrain cruising and sorting and recycling large and small volumes of garbage includes the following steps:

[0016] Step 1: In the initial state, the cleaning robot cruises along the road along a preset cruise route using the walking device; during the cruise, the patrol device uses a computer vision algorithm to detect, identify and locate garbage on the road in the patrol image, and determine the location, size and other information of the garbage;

[0017] Step 2: After the patrol device determines the location of the garbage on the road, the control system of the cleaning robot plans the best forward route and approaches the location of the garbage through the cooperation between the walking device and the patrol device;

[0018] Step 3: When the cleaning robot is located near the garbage, the patrol device further determines the size of the garbage; if it is determined to be large-volume garbage, step 4 is executed; if it is determined to be small-volume garbage, step 5 is executed;

[0019] Step 4: When the inspection device determines that the garbage is large-volume garbage, the following operations need to be performed:

[0020] a) The control system of the cleaning robot moves the cleaning claw to the top of the garbage through the mechanical arm;

[0021] b) controlling the extension of the piston rod of the telescopic hydraulic cylinder so that the claws of the cleaning claws move away from each other, thereby increasing the gripping range of the cleaning claws;

[0022] c) using the robotic arm to move the cleaning claw vertically downward to a gripping position;

[0023] d) Control the piston rod of the telescopic hydraulic cylinder to retract, so that the claws of the cleaning claws approach each other and grab the garbage;

[0024] e) controlling the flip cover structure to rotate relative to the storage and recovery bin, thereby placing the storage and recovery bin in an open state;

[0025] f) driving the robotic arm and the cleaning claw to rotate relative to the vehicle body through the rotary drive device until the cleaning claw is located directly above the recovery bin;

[0026] g) controlling the extension of the piston rod of the telescopic hydraulic cylinder so that the claws of the cleaning claws move away from each other, so that the garbage loses the gripping force exerted by the claws and falls into the recycling bin under the action of gravity;

[0027] h) The rotary drive device drives the robotic arm and the cleaning claw to rotate relative to the vehicle body and reset to carry out the next garbage grabbing or return to the preset cruising route to continue cruising;

[0028] Step 5: When the inspection device determines that the garbage is small-volume garbage, the following operations need to be performed:

[0029] 1) The control system of the cleaning robot moves the cleaning claw to the top of the garbage through the mechanical arm;

[0030] j) controlling the extension of the piston rod of the telescopic hydraulic cylinder so that the claws of the cleaning claws are moved away from each other to the maximum extent, thereby fully exposing the suction end of the suction elbow;

[0031] k) Using the robotic arm, the cleaning claw is moved vertically downward to the suction end of the suction elbow close to the area where the garbage is located;

[0032] l) Starting the negative pressure device to generate a negative pressure environment in the adsorption recovery bin, the adsorption bin and the adsorption tube, so that the adsorption end of the adsorption elbow has an adsorption effect on the garbage and adsorbs the garbage;

[0033] m) Control the overall movement of the cleaning claw by the robotic arm until the area swept by the suction end of the suction elbow covers the area where the garbage is located;

[0034] n) If, when performing operation m, the maximum working distance of the robotic arm is not enough for the area swept by the suction end of the suction elbow to cover the area where the garbage is located, the control system of the cleaning robot drives the cleaning robot to move to the area where the garbage is not adsorbed through the mutual cooperation between the walking device and the patrol device.

[0035] Beneficial effects: The cleaning robot of the present invention can cruise in all terrains and classify and recycle garbage of different sizes. The unique design of the walking device realizes automatic cruising in all terrains and can adapt to complex terrains such as grass, sand, and steps. Through the linkage structure of the mechanical arm and the cleaning claw and the partition design of the recycling box, it can not only grab large-volume garbage and place it in the recycling bin through the cleaning claw, but also use the negative pressure device to adsorb small-volume garbage to the adsorption recovery bin through the adsorption tube, thereby realizing the classification and recycling of large and small-volume garbage. It can significantly improve the automation level and work efficiency of cleaning in public areas. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 This is a schematic structural diagram of the cleaning robot of the present invention in the forward direction;

[0037] Figure 2 This is a schematic diagram of the structure of the cleaning robot of the present invention in the rearward direction;

[0038] Figure 3 This is a schematic diagram of the internal structure of the cleaning robot body of the present invention;

[0039] Figure 4 It is a structural diagram of the rotary drive device;

[0040] Figure 5 Schematic diagram of the walking device structure;

[0041] Figure 6 This is a schematic diagram of the cleaning claw structure;

[0042] Figure 7 This is a schematic diagram of the internal structure of the cleaning claw;

[0043] Figure 8 A is a partial enlarged view;

[0044] Figure 9 It is a structural diagram of the flip structure;

[0045] Figure 10 This is a schematic diagram of the coordination between the flip cover structure and the recycling bin;

[0046] Figure 11 Schematic diagram of the structure of the guide rod;

[0047] Figure 12 A schematic structural diagram of the second embodiment of the present invention

[0048] Figure 13This is a schematic structural diagram of a third embodiment of the present invention; DETAILED DESCRIPTION

[0049] The present invention will be further described below with reference to the accompanying drawings.

[0050] like Figure 1 and 2 The figure shows a cleaning robot that can cruise on all terrains and classify and recycle garbage of different sizes, including a vehicle body 1, a mechanical arm 3 and a recycling box 4; the mounting end of the mechanical arm 3 is rotatably mounted on the vehicle body 1, and the free end of the mechanical arm 3 is hingedly provided with a cleaning claw 5, and the mechanical arm 3 can make the cleaning claw 5 face the area to be cleaned, and the recycling box 4 is integrally connected to one side of the vehicle body 1 along the direction of travel, and the interior of the recycling box 4 is divided into a recycling bin 8, an adsorption recycling bin 9 and an adsorption bin 10 by a partition 6 and a filter plate 7, and the adsorption recycling bin 9 is connected to the adsorption bin 10 through the filter holes on the filter plate 7; the cleaning claw 5 is connected to the adsorption recycling bin 9 through an adsorption pipe 11; a negative pressure device 12 is provided in the adsorption bin 10, and the negative pressure device 12 can be a negative pressure fan or a vacuum generator. In all embodiments described in this scheme, the negative pressure device 12 uses a negative pressure fan; the adsorption bin 10 is opened on the bin wall away from the adsorption recovery bin 9 There are several gas circulation holes connected to the interior of the adsorption bin 10, and the air flow path generated by the negative pressure device 12 is "cleaning claw 5-adsorption tube 11-adsorption recovery bin 9-adsorption bin 10-gas circulation hole"; when the cleaning claw 5 is facing small-volume garbage, the negative pressure device 12 can make the adsorption bin 10 and the adsorption recovery bin 9 in an adsorption state, and adsorb the small-volume garbage into the adsorption recovery bin 9 through the adsorption tube 11; when the cleaning claw 5 is facing large-volume garbage, the cleaning claw 5 can grab the large-volume garbage and put the large-volume garbage into the placement and recovery bin 8 through the drive of the robotic arm 3; the aperture of the filter hole on the filter plate 7 is smaller than the minimum size of small-volume garbage, ensuring smooth airflow between the adsorption recovery bin 9 and the adsorption recovery bin 10 and that garbage particles will not enter the adsorption bin 10, and an electrically controlled one-way valve is provided at the connection between the adsorption tube 11 and the adsorption recovery bin 9, which can prevent garbage particles in the adsorption recovery bin 9 from being sucked back into the adsorption tube 11.

[0051] The robotic arm 3 includes a main arm 13, a small arm 14, a synchronous arm 15 and a rotation drive device 16. The rotation drive device 16 is fixedly installed inside the vehicle body 1, and the driving structure of the rotation drive device 16 protrudes from the upper surface of the vehicle body 1 and is synchronously connected to one end of the synchronous arm 15. The other end of the synchronous arm 15 is rotated with one end of the main arm 13 through a first swing motor 17, and the other end of the main arm 13 is rotated with one end of the small arm 14 through a second swing motor 18. The other end of the small arm 14 is rotated with the cleaning claw 5 through a third swing motor 19; a torque sensor is provided at the hinge where the main arm 13 and the synchronous arm 15 of the robotic arm 3 are connected by the first swing motor 17. The torque sensor can monitor the swing torque of the main arm 13 relative to the synchronous arm 15 in real time; when the robotic arm 3 grabs large-volume garbage, the torque sensor transmits real-time torque data to the control system, and the control system dynamically adjusts the rotation rate of the main arm 13 according to the torque change detected by the torque sensor to avoid imbalance in the rotation of the main arm 13 due to sudden load changes.

[0052] like Figure 1 and 3 As shown in Figure 4, the rotary drive device 16 includes a drive box 20, a rotary column 21 and a rotary drive motor 22; the drive box 20 is fixedly installed inside the vehicle body 1, and the rotary drive motor 22 can be selectively installed outside or inside the drive box 20. A drive worm 23 is rotatably matched in the drive box 20, and the output shaft of the rotary drive motor 22 is coaxially connected to one end of the drive worm 23. A rotary turbine 24 cooperating with the drive worm 23 is coaxially connected to one end of the rotary column 21. The other end of the rotating column 21 passes through the drive box 20 and protrudes from the upper surface of the vehicle body 1, and is connected to the synchronization arm 15. The rotation drive motor 22 can drive the robotic arm 3 to rotate relative to the vehicle body 1 through the rotating column 21. After the rotating drive motor 22 is started, its output shaft drives the driving worm 23 to rotate at high speed. The rotational power is transmitted to the rotating column 21 through the engagement transmission of the driving worm 23 and the rotating turbine 24, so that the rotating column 21 can drive the robotic arm 3 to rotate freely 0-360 degrees relative to the vehicle body 1 at a stable speed.

[0053] The end of the synchronous arm 15 away from the first swing motor 17 is vertically connected to the first connecting plate 25, and the end face of the first connecting plate 25 close to one end of the vehicle body 1 is slidably matched with the upper surface of the vehicle body 1. The sliding matching design of the first connecting plate 25 and the upper surface of the vehicle body 1 reduces the friction resistance during rotation while ensuring the support strength, so that the rotation of the robotic arm 3 is smoother; the end of the rotating column 21 protruding from the upper surface of the vehicle body 1 is provided with a support block 41 that cooperates with the end of the upper arm 13 close to the synchronous arm 15. The cooperation between the support block 41 and the upper arm 13 further enhances the overall stability of the robotic arm. When the upper arm 13 is swinging under the drive of the first swing motor 17, the support block 41 can provide a reliable fulcrum for the upper arm 13, share the gravity and load force exerted on the upper arm 13 during the swinging process, and prevent the upper arm 13 from being deformed or damaged due to uneven force; and the column of the rotating column 21 protruding from the upper surface of the vehicle body 1 is vertically connected to the second connecting plate 26, and the first connecting plate 25 and the second connecting plate 26 are vertically connected. Thus, the synchronous arm 15, the column of the rotating column 21 protruding from the upper surface of the vehicle body 1, the first connecting plate 25, the second connecting plate 26 and the support block 41 together constitute a fixed rectangular support base, thereby providing a stable and rigid support foundation for the rotation and subsequent swinging action of the robotic arm 3. During the overall rotation of the robotic arm 3, the above-mentioned support base can effectively disperse the centrifugal force and torque generated during the rotation, thereby avoiding shaking or displacement of the robotic arm 3.

[0054] A monitor is provided inside the vehicle body 1 that can monitor the meshing state between the rotating turbine 24 and the driving worm 23 in real time. If abnormal meshing occurs between the rotating turbine 24 and the driving worm 23, the control system will immediately stop the operation of the rotating drive device 16 and issue an alarm; for example, due to wear generated during use, the meshing degree decreases, resulting in slippage between the rotating turbine 24 and the driving worm 23, or due to debris entering the vehicle body 1 and the debris being located in the tooth grooves or grooves of the rotating turbine 24 and the driving worm 23, resulting in a jamming phenomenon between the rotating turbine 24 and the driving worm 23, etc.

[0055] like Figure 2As shown, the cleaning claw 5 is connected to the forearm 14 through a telescopic hydraulic cylinder 32, and the telescopic end of the telescopic hydraulic cylinder 32 is drive-connected to the cleaning claw 5, and the cylinder body of the telescopic hydraulic cylinder 32 is hinged on the drive shaft of the third swing motor 19; the third swing motor 19 can drive the telescopic hydraulic cylinder 32 and the cleaning claw 5 to rotate synchronously relative to the forearm 14; the cylinder body of the telescopic hydraulic cylinder 32 and the drive shaft of the third swing motor 19 are hinged through a universal joint coupling, and the universal joint coupling 3 can allow the cylinder body to swing relative to the drive shaft within a certain angle range; when the cleaning claw 5 grabs large-volume garbage of irregular shape, the universal joint coupling enables the cylinder body to adaptively adjust the angle as the posture of the cleaning claw 5 changes, so as to avoid the piston rod 35 from bearing radial loads. At the same time, the third swing motor 19 corrects the rotation angle of the cleaning claw 5 in real time according to the swing angle feedback of the universal joint coupling, to ensure that the claw body 31 fits tightly against the surface of the garbage.

[0056] like Figure 1 and 6 As shown in Figures 1 to 8, the cleaning claw 5 includes a mounting barrel 27, an end cover 30, a claw body 31 and a linkage structure 39; the mounting barrel 27 and the cylinder body of the telescopic hydraulic cylinder 32 are fixedly connected on the side close to each other by a plurality of support columns 37, and the side of the mounting barrel 27 close to the cylinder body of the telescopic hydraulic cylinder 32 is provided with a piston insertion hole 36 relative to the piston rod 35 of the telescopic hydraulic cylinder 32, and the end of the piston rod 35 of the telescopic hydraulic cylinder 32 passes through the piston insertion hole 36 and extends into the interior of the mounting barrel 27; the end cover 30 is coaxially arranged on the side of the mounting barrel 27 away from the telescopic hydraulic cylinder 32, and the plurality of claw bodies 31 are hinged in a circumferential array on the side of the end cover 30 away from the telescopic hydraulic cylinder 32; the linkage structure 39 is connected to the mounting barrel 27 7, and each of the claw bodies 31 is driven and connected with the piston rod 35 of the telescopic hydraulic cylinder 32 through a linkage structure 39. The telescopic movement of the piston rod 35 of the telescopic hydraulic cylinder 32 can drive each claw body 31 to move closer to or away from each other. Since the linkage structure of the manipulator is a relatively mature technology, it will not be described in detail in this solution; a height sensor is also provided on the side of the end cover 30 away from the telescopic hydraulic cylinder 32. When the cleaning claw 5 is moved to the top of the garbage by the robotic arm 9, that is, the end cover 30 is parallel to the ground where the garbage is located, the height sensor can detect the height of the cleaning claw 5 relative to the ground where the garbage is located. The control system controls the speed at which the telescopic rod 35 of the telescopic hydraulic cylinder 32 is extended through the data detected by the height sensor.

[0057] In order to prevent the garbage from falling from the cleaning claw 5 during the grabbing process, a distance sensor capable of detecting the extension length of the piston rod 35 is provided on the inner wall of the mounting barrel 27 near one end of the telescopic hydraulic cylinder 32. During the extension of the piston rod 35, the distance sensor monitors the extension length of the piston rod 35 in real time and transmits the data to the control system; a pressure sensor is provided at the end of any one or more of the claw bodies 31, and the pressure sensor can detect in real time the force exerted by the claw body 31 on the grabbed garbage; in the process of the cleaning claw 5 grabbing the garbage, the data fed back by the pressure sensor is used as the main parameter, and the parameter fed back by the distance sensor is used as the secondary parameter, so as to ensure that the cleaning claw 5 5 can firmly grasp the grabbed garbage; that is, when the cleaning claw 5 grabs a large amount of garbage, due to the irregular surface of the garbage, the force exerted by the claw body 31 on the garbage has reached its maximum limit, but the piston rod 35 has not retracted to the target distance. At this time, if the piston rod continues to retract, the claw body 31 will be damaged. Therefore, during the grabbing process, if the force exerted by the claw body 31 on the garbage has reached its maximum limit but the piston rod 35 has not retracted to the target distance, the control system controls the piston rod 35 to stop retracting; correspondingly, if the force exerted by the claw body 31 on the garbage has not reached its maximum limit but the piston rod 35 has retracted to the target distance, the control system can control the piston rod 35 to continue retracting according to the specific situation.

[0058] An adsorption tube through hole 28 is provided on the side wall of the mounting barrel 27, and the end of the adsorption tube 11 away from the adsorption recovery bin 9 passes through the adsorption tube through hole 28 to the inside of the mounting barrel 27, and an adsorption elbow 29 is provided at the end of the adsorption tube 11 located inside the mounting barrel 27, and an adsorption hole 33 is provided at the center of the end cover 30 relative to the adsorption elbow 29, and the adsorption end of the adsorption elbow 29 passes through the adsorption hole 33 to the outside of the mounting barrel 27; when the claws 31 are away from each other, the adsorption end of the adsorption elbow 29 can adsorb small-volume garbage; the electrically controlled one-way valve provided at the connection between the adsorption tube 11 and the adsorption recovery bin 9 is linked to the negative pressure device 12. When the negative pressure device 12 stops working, the electrically controlled one-way valve automatically closes at the moment the negative pressure device 12 is closed, so as to prevent the small-volume garbage remaining in the adsorption elbow 29 from falling due to the backflow of airflow.

[0059] like Figures 9-11As shown, a flip structure 53 is provided at the opening of the placement and recovery bin 8, and the flip structure 53 includes a cover plate 54, a flip drive motor 55, a drive screw 56, a drive rod 57 and a drive slider 59; the cover plate 54 is rotatably matched with the inner wall of the placement and recovery bin 8, and the flip drive motor 55 is installed on the inner wall of one side of the placement and recovery bin 8, and the drive screw 56 is coaxially connected to the output shaft of the flip drive motor 55, and the drive slider 59 is threadedly fitted on the drive screw 56, and when the drive screw 56 rotates, the drive slider 59 can move on the drive screw 56 along the length direction of the drive screw 56; one end of the drive rod 57 is hinged to the drive slider 59, and the other end is hinged to the cover plate 54. When the drive slider 59 moves on the drive screw 56 along the length direction of the drive screw 56, the cover plate 54 rotates relative to the placement and recovery bin 8.

[0060] The flip cover structure 53 also includes a guide rod 58, and a guide groove 60 is provided on the side of the cover plate 54 close to the guide rod 58. One end of the guide rod 58 is hinged on the inner wall of the placement and recovery bin 8 away from the flip drive motor 55, and a guide column 61 that slides with the guide groove 60 is provided on the side of the guide rod 58 close to the cover plate 54. The sliding fit between the guide groove 60 and the guide column 61 can guide the rotation of the cover plate 54 relative to the placement and recovery bin 8; a limiting column 62 is provided on the end of the guide rod 58 away from the hinge with the placement and recovery bin 8. When the cover plate 54 rotates relative to the placement and recovery bin 8, the limiting column 62 can make limited contact with the side of the cover plate 54 away from the bottom surface of the placement and recovery bin 8.

[0061] The two adjacent inner walls of the recycling bin 8 are provided with a plurality of infrared laser sensors at the same height, and the plurality of crisscross infrared lasers emitted by the infrared laser sensors together constitute an infrared laser detection network. When the cleaning claw 5 moves to the top of the recycling bin 8 through the mechanical arm 9 and releases the grabbed garbage, the released garbage will block the infrared laser emitted by the infrared laser sensor during the falling process, thereby ensuring that the released garbage falls into the recycling bin 8; the infrared laser sensor can not only detect whether the garbage released by the cleaning claw 5 falls into the recycling bin 8, but also detect the remaining capacity of the recycling bin 8. When the height of the garbage stack in the recycling bin 8 is higher than the height of the infrared laser detection network composed of the infrared lasers emitted by the plurality of infrared laser sensors, the garbage in the recycling bin 8 will block the infrared laser detection network for a long time. After receiving the signal, the control system plans the nearest garbage dumping point through the patrol device 63, and controls the walking device 2 to dump the garbage first.

[0062] A vibration device can also be set in the recycling bin 8. When the infrared laser detection network emitted by several infrared laser sensors is blocked for a long time, the control system first uses the vibration device to vibrate the garbage in the recycling bin 8, so that the locally accumulated garbage is evenly dispersed and flattened in the recycling bin 8. If the infrared laser detection network emitted by several infrared laser sensors is no longer blocked after a period of vibration, the cleaning robot continues its patrol cleaning task. If the infrared laser detection network emitted by several infrared laser sensors is still blocked after a period of vibration, the control system plans a route to the nearest garbage dumping point.

[0063] like Figure 3 and 5 As shown, it also includes a walking device 2, which includes a walking motor 42, a differential 43, a first crawler device 44a and a second crawler device 44b. The walking motor 42 and the differential 43 are both arranged inside the vehicle body 1, and the walking motor 42 is driven and connected to the differential 43; the first crawler device 44a and the second crawler device 44b are respectively arranged on both sides of the vehicle body 1 along the travel direction, and the first drive shaft 45a of the first crawler device 44a and the second drive shaft 45b of the second crawler device 44b both extend into the vehicle body, the differential 43 is located between the first drive shaft 45a and the second drive shaft 45b, and the first drive shaft 45a and the second drive shaft 45b are simultaneously driven and connected to the differential 43; a crawler drive gear 50 is provided on the first drive shaft 44a, and the output shaft of the walking motor 42 is driven and connected to the crawler drive gear 50 through the walking drive gear 51.

[0064] The first drive shaft 45a and the second drive shaft 45b are both provided with speed sensors, which can monitor the speed of the first drive shaft 45a and the second drive shaft 45b in real time; when the cleaning robot needs to turn, the control system adjusts the speed difference of the tracks on both sides through the differential 43 according to the steering angle and the ground friction coefficient, and dynamically corrects the output power of the drive motor based on the feedback data of the speed sensor, so that the cleaning robot can achieve smooth turning in complex terrains such as mud and slopes to avoid slipping or rolling.

[0065] The first crawler device 44a further includes a first synchronous chain 46a, a first driving sprocket 47a, a first driven sprocket 48a and a first crawler structure 49a. The first synchronous chain 46a, the first driving sprocket 47a and the first driven sprocket 48a are all located inside the vehicle body 1. The first crawler structure 49a is arranged on the outside of one side of the vehicle body 1 along the travel direction. The end of the first drive shaft 45a away from the differential 43 is drivingly connected to the first driving wheel 52a of the first crawler structure 49a. The first driving sprocket 47a is arranged on the first driving wheel 52a. Between the first driven sprocket 48a and the track drive gear 50, the first driven sprocket 48a is arranged relative to the guide wheel of the first track structure 49a, and the axis of the first driving sprocket 47a and the axis of the first driven sprocket 48a are in the same plane; the first synchronous chain 46a is wrapped around the first driving sprocket 47a and the first driven sprocket 48a. When the first drive shaft 45a rotates, the first driving sprocket 47a, the first driven sprocket 48a, the first driving wheel 52a of the first track structure 49a and the guide wheel of the first track structure 49a rotate synchronously.

[0066] The second crawler device 44b further includes a second synchronous chain 46b, a second driving sprocket 47b, a second driven sprocket 48b and a second crawler structure 49b. The second synchronous chain 46b, the second driving sprocket 47b and the second driven sprocket 48b are all located inside the vehicle body 1. The second crawler structure 49b is arranged on the outside of one side of the vehicle body 1 along the direction of travel. The end of the second drive shaft 45b away from the differential 43 is drivingly connected to the second drive wheel 52b of the second crawler structure 49b. The second driving sprocket 47b is arranged on the second drive wheel 5 2b and the differential 43, the second driven sprocket 48b is arranged relative to the guide wheel of the second crawler structure 49b, and the axis of the second driving sprocket 47b and the axis of the second driven sprocket 48b are in the same plane; the second synchronous chain 46b is wrapped around the second driving sprocket 47b and the second driven sprocket 48b, and when the second drive shaft 45b rotates, the second driving sprocket 47b, the second driven sprocket 48b, the second driving wheel 52b of the second crawler structure 49b and the guide wheel of the second crawler structure 49b rotate synchronously.

[0067] The surfaces of the first crawler structure 49a of the first crawler device 44a and the second crawler structure 49b of the second crawler device 44b are both provided with pressure distribution sensors 47, and the pressure distribution sensors 47 can monitor the contact pressure between the tracks and the ground in real time; when the walking device 2 is traveling on soft ground, the control system automatically reduces the output speed of the walking motor 42 according to the data of the pressure distribution sensor 47, increases the torque output, and adjusts the tension of the tracks at the same time, thereby reducing the ground pressure by increasing the contact area to prevent the vehicle from getting stuck, and the abnormal data of the pressure distribution sensor 47 can assist in judging whether the tracks are derailed or damaged.

[0068] like Figure 1 and 3 As shown, it also includes a patrol device 63, which includes a binocular camera 64, a deflection mounting seat 65, a camera deflection drive motor 66 and a support column 69; the deflection mounting seat 65 is rotatably mounted inside the vehicle body 1, and the circumferential surface of the deflection mounting seat 65 is integrally provided with a deflection tooth 67; the camera deflection drive motor 66 is located on one side of the deflection mounting seat 65, and a deflection drive gear 68 that meshes with the deflection tooth 67 is integrally provided on the output shaft of the camera deflection drive motor 66; one end of the support column 69 is coaxially connected to the upper end of the deflection mounting seat 65, and the other end passes through the vehicle body 1 to connect to the binocular camera 64; when the deflection drive gear 68 is engaged with the deflection tooth 67 for transmission, the binocular camera 64 rotates synchronously with the deflection mounting seat 65.

[0069] A working method of a cleaning robot capable of all-terrain cruising and sorting and recycling large and small volume garbage comprises the following steps:

[0070] Step 1: In the initial state, the cleaning robot cruises along the road along a preset cruise route via the walking device 2; during the cruise, the patrol device 63 uses a computer vision algorithm to detect, identify, and locate garbage on the road in the patrol image, and determine the location, size, and other information of the garbage;

[0071] Step 2: After the patrol device 63 determines the location of the garbage on the road, the control system of the cleaning robot plans the best forward route and approaches the location of the garbage through the mutual cooperation between the walking device 2 and the patrol device 63; during this process, the patrol device 63 continuously monitors the distance and relative position between the cleaning robot and the garbage. If new obstacles appear or the location of the garbage changes during the approach process, the patrol device 63 will immediately feed back the new information to the control system, and the control system will re-plan the route and control the walking device 2 to adjust the direction and speed in time to ensure that the cleaning robot can accurately reach the location of the garbage.

[0072] Step 3: When the cleaning robot is near the garbage, the patrol device 63 further determines the size of the garbage; if it is determined to be large-volume garbage, step 4 is executed; if it is determined to be small-volume garbage, step 5 is executed;

[0073] Step 4: When the inspection device 63 determines that the garbage is large-volume garbage, the following operations need to be performed:

[0074] a) The control system of the cleaning robot moves the cleaning claw 5 above the garbage via the robotic arm 9. During the movement of the robotic arm 9, the swing motors (first swing motor 17, second swing motor 18, and third swing motor 19) and the rotary drive device 16 work together to monitor the position and posture of the robotic arm 9 in real time and feed the data back to the control system. The control system precisely adjusts the speed and direction of each motor based on the feedback information to ensure that the cleaning claw 5 can accurately move directly above the garbage.

[0075] b) controlling the extension of the piston rod 35 of the telescopic hydraulic cylinder 32, thereby moving the claws 31 of the cleaning claw 5 away from each other and increasing the gripping range of the cleaning claw 5; during the extension of the piston rod 35, the displacement sensor built into the telescopic hydraulic cylinder 32 detects the extension length of the piston rod 35 in real time and transmits the data to the control system. When the piston rod 35 reaches the preset extension length, the control system automatically stops the operation of the telescopic hydraulic cylinder 32 to prevent damage to the cleaning claw 5 and the telescopic hydraulic cylinder 32 caused by excessive extension;

[0076] c) The cleaning claw 5 is moved vertically downward as a whole to the grabbing position by the robotic arm 9; during the downward movement of the cleaning claw 5, the height sensor on the robotic arm 9 monitors the distance between the cleaning claw 5 and the ground in real time. When the cleaning claw 5 approaches the grabbing position, the control system controls the descent speed of the robotic arm 9 to gradually slow down to prevent the cleaning claw 5 from violently colliding with the ground or garbage. At the same time, the patrol device 63 also monitors the position of the cleaning claw 5 in real time to ensure that it accurately reaches the grabbing position;

[0077] d) Controlling the piston rod 35 of the telescopic hydraulic cylinder 32 to retract, thereby bringing the claws 31 of the cleaning claw 5 closer to each other and grabbing the garbage; when the piston rod 35 retracts to grab the garbage, the pressure sensor on the cleaning claw 5 will detect the pressure exerted by each claw 31 on the garbage in real time. When the pressure reaches a preset value, the control system determines that the garbage has been firmly grasped and stops retracting the piston rod 35 to prevent excessive pressure from damaging the garbage or the claws 31. The data from the pressure sensor is also transmitted to the control system to determine whether the garbage has been successfully grabbed. If the pressure does not reach the preset value, the control system will control the piston rod 35 to retract or readjust the position of the cleaning claw 5 to grab the garbage;

[0078] e) controlling the flip cover structure 53 to rotate relative to the storage and recovery bin 8 so that the storage and recovery bin 8 is in an open state;

[0079] f) The rotary drive device 16 drives the robotic arm 9 and the cleaning claw 5 to rotate relative to the vehicle body 1 until the cleaning claw 5 is located directly above the recycling bin 8. During the rotation process, the meshing state between the rotating turbine 24 and the driving worm 23 of the rotary drive device 16 is monitored in real time. If an abnormal meshing condition occurs, such as slipping or jamming, the control system will immediately stop the operation of the rotary drive device 16 and issue an alarm. At the same time, the patrol device 63 will also monitor the position of the cleaning claw 5 to ensure that it accurately reaches directly above the recycling bin 8.

[0080] g) controlling the piston rod 35 of the telescopic hydraulic cylinder 32 to extend, thereby moving the claws 31 of the cleaning claws 5 away from each other, causing the garbage to lose the gripping force exerted by the claws 31 and fall into the storage and recovery bin 8 under the action of gravity; when the piston rod 35 extends to release the garbage, an infrared sensor provided in the storage and recovery bin 8 detects whether the garbage has successfully fallen. If the garbage has not fallen, the control system controls the piston rod 35 to perform appropriate telescopic movements again to ensure that the garbage falls smoothly into the storage and recovery bin 8. In addition, during the garbage falling process, the patrol device 63 detects the falling of the garbage to ensure that the garbage has fallen into the storage and recovery bin 8;

[0081] h) The rotary drive device 16 drives the robotic arm 9 and the cleaning claw 5 to rotate and reset relative to the vehicle body 1 to carry out the next garbage grabbing or return to the preset cruising route to continue cruising; during the resetting process of the robotic arm 9 and the cleaning claw 5, each motor and drive device will perform a precise resetting operation according to the preset program. At the same time, the control system will check the reset status of the robotic arm 9 and the cleaning claw 5 to ensure that they are restored to the initial position and are ready for the next work. After the resetting is completed, the patrol device 63 will restart the detection of the surrounding environment to look for new garbage targets.

[0082] Step 5: When the inspection device 63 determines that the garbage is small-volume garbage, the following operations need to be performed:

[0083] i) The control system of the cleaning robot uses the robotic arm 9 to move the cleaning claw 5 to the top of the garbage. This process is similar to the operation for large-volume garbage. The various parts of the robotic arm 9 work together, and through real-time feedback from sensors and precise adjustment of the control system, the cleaning claw 5 is ensured to be accurately moved to the top of the small-volume garbage. During the movement, the patrol device 63 will continuously track the position of the small-volume garbage to prevent the cleaning claw 5 from failing to reach the garbage due to changes in the garbage position.

[0084] j) controlling the piston rod 35 of the telescopic hydraulic cylinder 32 to extend, thereby moving the claws 31 of the cleaning claw 5 away from each other to their maximum extent, thereby fully exposing the suction end of the suction elbow 29; the displacement sensor of the telescopic hydraulic cylinder 32 monitors the extension of the piston rod 35 in real time, and when the maximum extension range is reached, the control system stops its operation, ensuring that the suction end of the suction elbow 29 is fully exposed;

[0085] k) The cleaning claw 5 is moved vertically downward as a whole by the robotic arm 9 until the suction end of the suction elbow 29 is close to the area where the garbage is located. During the downward movement of the cleaning claw 5, the height sensor and the patrol device 63 work together to accurately control the descending height and position of the cleaning claw 5 so that the suction end of the suction elbow 29 can accurately approach the small-volume garbage. When approaching the garbage, the descending speed of the robotic arm 9 will gradually slow down to prevent damage to the suction elbow 29 or the garbage from being blown away due to excessive speed.

[0086] 1) Activating the negative pressure device 12 to generate a negative pressure environment in the adsorption recovery bin 9, the adsorption bin 10, and the adsorption tube 11, thereby causing the adsorption end of the adsorption elbow 29 to have an adsorption effect on the garbage and adsorb the garbage; after the negative pressure device 12 is activated, the pressure sensors set in the adsorption recovery bin 9, the adsorption bin 10, and the adsorption tube 11 will monitor the internal pressure changes in real time. When the pressure reaches a preset negative pressure value, the control system determines that a negative pressure environment is formed and the adsorption operation can be performed. If the detection result of the pressure sensor is abnormal, the control system will adjust the working state of the negative pressure device 12;

[0087] m) The cleaning claw 5 is controlled to move as a whole by the robotic arm 9 until the area swept by the suction end of the suction elbow 29 covers the area where the garbage is located; during the movement of the cleaning claw 5, the motors of the robotic arm 9 accurately control the movement trajectory and speed of the cleaning claw 5 according to the instructions of the control system, and the patrol device 63 monitors the adsorption status of the suction elbow 29 and the area where the garbage is located in real time. If any garbage is found to be not adsorbed, the patrol device 63 will feed back the information to the control system, and the control system will adjust the movement path of the robotic arm 9 to ensure that the garbage is completely adsorbed;

[0088] n) If, when executing operation m, the maximum working distance of the robotic arm 9 is not enough to allow the area swept by the adsorption end of the adsorption elbow 29 to cover the area where the garbage is located, the control system of the cleaning robot drives the cleaning robot to move to the area where the garbage is not adsorbed through the mutual cooperation between the walking device 2 and the patrol device 63; during the movement of the cleaning robot, the walking device 2 and the patrol device 63 work closely together, and the patrol device 63 monitors the distance and relative position between the cleaning robot and the unadsorbed garbage in real time, and feeds back the information to the control system. The control system accurately controls the moving direction and speed of the walking device 2 according to the feedback information, so that the cleaning robot moves accurately to the appropriate position and continues the adsorption operation. In addition, during the movement, the robotic arm 9 will maintain an appropriate posture to ensure that the adsorption elbow 29 will not collide with the ground or other obstacles.

[0089] In step three, the inspection device 63 can also identify the type of garbage and the type of obstacle. When the inspection device 63 determines that the garbage is a dangerous object or the obstacle blocks the passage (i.e., the road), the control system sends an early warning to the management platform, notifying the management personnel and relevant departments to carry out professional cleaning of the dangerous objects and obstacles.

[0090] The above content is the first embodiment of the present invention. In the cleaning robot structure described in the first embodiment, although the cleaning claw 5 can grab most large-volume garbage and absorb small-volume garbage, its cleaning ability for flaky garbage such as plastic packaging bags or waste paper is not ideal. The reason is that the thickness of the flaky garbage is too small and it is attached to the ground. If the claw body 31 of the cleaning claw 5 is attached to the ground, it will cause friction between the claw body 31 and the ground, thereby accelerating the wear of the claw body 31. Even after the cleaning claw 5 grabs the flaky garbage, in the process of placing the flaky garbage into the recycling bin 8, the flaky garbage is very easy to fall from the gap of the claw body 31 of the cleaning claw 5, and the flaky garbage cannot be sucked into the adsorption recovery bin 9 through the adsorption end of the adsorption elbow 29.

[0091] In order to solve the above problems, this solution proposes a second embodiment, such as Figure 12As shown, in the second embodiment, a wind speed sensor 34 is provided in the adsorption bin 10, and the wind speed sensor 34 can detect the flow velocity of the flowing airflow generated by the negative pressure device 12, and the number of negative pressure devices 12 can be selectively increased, thereby strengthening the adsorption effect of the adsorption elbow 29 on garbage. In the second embodiment of this scheme, the number of negative pressure devices 12 is two, and the wind speed sensor 34 is located between the two negative pressure devices 12; the two negative pressure devices 12 can work individually or collaboratively according to actual adsorption needs. When the adsorption is difficult, such as facing flaky garbage with a large weight or a large adsorption area, the control system will start the two negative pressure devices 12 at the same time to enhance the adsorption force, and the wind speed sensor 34 will monitor the airflow velocity of the two negative pressure devices 12 when working together in real time, and feed the data back to the control system. The control system dynamically adjusts the working power of the two negative pressure devices 12 according to the feedback information to ensure the best adsorption effect.

[0092] When the inspection device 63 determines that the garbage is flaky garbage, the control system of the cleaning robot starts the negative pressure device 12 to generate a negative pressure environment in the adsorption recovery bin 9, the adsorption bin 10 and the adsorption tube 11, so that the adsorption end of the adsorption elbow 29 has an adsorption effect on the garbage, and then the control system of the cleaning robot moves the cleaning claw 5 to the top of the garbage through the mechanical arm 9, and controls the piston rod 35 of the telescopic hydraulic cylinder 32 to extend, so that the claws 31 of the cleaning claw 5 are away from each other to the maximum range, so that the adsorption end of the adsorption elbow 29 is completely exposed and adsorbs the flaky garbage; at this time, although the adsorption elbow 29 has an adsorption effect on the flaky garbage, Since the flake garbage blocks the adsorption end of the adsorption elbow 29, the flow rate of the airflow in the adsorption recovery bin 9, the adsorption bin 10 and the adsorption tube 11 is sharply decelerated. At this time, the wind speed sensor 34 detects that the airflow rate in the adsorption bin 10 has dropped sharply and transmits the signal to the control system of the cleaning robot. After receiving the signal, the control system of the cleaning robot controls the piston rod 35 of the telescopic hydraulic cylinder 32 to contract, so that the claws 31 of the cleaning claw 5 are close to each other, so that the claws 31 can jointly enclose the flake garbage; then the flip cover structure 53 is controlled to rotate relative to the placement recovery bin 8, so that the placement recovery bin 8 is in an open state; at this time, the rotary drive device 1 is used to rotate relative to the placement recovery bin 8. 6 drives the mechanical arm 9 and the cleaning claw 5 to rotate relative to the vehicle body 1 until the cleaning claw 5 is located directly above the recycling bin 8, and the end of each claw body 31 slightly extends into the recycling bin 8; during the rotation process, the cooperative working mode of the rotation drive device 16 and the mechanical arm 9 is the same as that of the large-volume garbage operation. At the same time, the inspection device 63 will monitor the position of the cleaning claw 5 and the flaky garbage in real time to ensure that the flaky garbage will not fall during the rotation process, and when the cleaning claw 5 reaches directly above the recycling bin 8, the inspection device 63 will confirm whether the end position of each claw body 31 meets the requirements; then the control system closes the negative pressure device 12, so that the adsorption elbow 29 loses the flaky garbage. Before closing the negative pressure device 12, the control system will once again confirm that the placement and recovery bin 8 is open and the cleaning claw 5 is in the correct position. After closing the negative pressure device 12, the pressure sensors in the adsorption recovery bin 9, the adsorption bin 10 and the adsorption tube 11 will monitor the pressure changes in real time to ensure that the negative pressure environment is completely eliminated, thereby preventing the residual negative pressure from affecting the falling of the flake garbage. At this time, the flake garbage is in the enclosed space of each claw body 31; then the piston rod 35 of the telescopic hydraulic cylinder 32 is controlled to extend, so that the claw bodies 31 of the cleaning claw 5 are separated from each other, so that the claw bodies 31 lose their restrictive effect on the flake garbage, and the flake garbage falls into the placement and recovery bin 8 under the action of gravity.When the waste flakes are released, an infrared sensor placed in the recovery bin 8 detects the falling process of the waste flakes to ensure that the waste flakes fall smoothly. If the waste flakes are not detected, the control system will control the piston rod 35 to perform appropriate extension and retraction movements again. During the waste falling process, the patrol device 63 will record the falling trajectory and status of the waste for subsequent analysis and optimization of the cleaning operation.

[0093] In addition, if the diameter of the adsorption end of the adsorption elbow 29, the diameter of the adsorption tube 11, and the aperture of the connection between the adsorption tube 11 and the adsorption bin 10 are connected and arranged in an increasing manner, the wind speed sensor 34 can determine whether the adsorption tube 11 is detached from the adsorption bin 10 or the cleaning claw 5 through the change in the airflow velocity in the adsorption bin 10, and can also determine whether the adsorption tube 11 is damaged and the degree of damage; when the wind speed sensor 34 detects an abnormal change in the airflow velocity, the control system will not only issue an alarm, but also automatically generate a fault diagnosis report based on the preset correspondence between the flow velocity change and the fault type. The report details the possible fault location and type, which is convenient for the staff to quickly locate and repair. In addition, when it is detected that the adsorption tube 11 is damaged but the alarm threshold is not reached, the control system will appropriately adjust the working state of the negative pressure device 12 according to the degree of damage of the adsorption tube 11 to maintain a certain adsorption effect, and remind the staff to perform maintenance at the appropriate time.

[0094] For example, assuming that under normal circumstances, the adsorption tube 11 is connected to the adsorption chamber 10 and the cleaning claw 5 at the same time, the wind speed sensor 34 detects that the airflow velocity generated by the negative pressure device 12 is 1v, and the air inlet is the adsorption end of the adsorption elbow 29, and the area is S; if the adsorption tube 11 is separated from the cleaning claw 5, that is, the adsorption tube 11 is separated from the adsorption elbow 29, then the air inlet is the end of the adsorption tube 11, and the area is 2S. However, since the power of the negative pressure device 12 remains unchanged, the total flow rate of the airflow does not change. Then, after the area of ​​the air inlet changes from 1S to 2S, the airflow velocity generated by the negative pressure device 12 detected by the wind speed sensor 34 must decrease from 1v to 1 / 2v.

[0095] Similarly, after the adsorption tube 11 is separated from the adsorption bin 10, the air flow rate generated by the negative pressure device 12 detected by the wind speed sensor 34 will be further reduced; and after the adsorption tube 11 is damaged and tiny holes are generated, the area of ​​the air intake area will also increase, thereby reducing the air flow rate generated by the negative pressure device 12 detected by the wind speed sensor 34. However, the area of ​​a single tiny hole is very small, so a small number of tiny holes generated by a lower degree of damage will not affect the normal operation of the cleaning robot. Only when the wind speed sensor 34 detects that the air flow rate generated by the negative pressure device 12 is lower than the preset value, An alarm will be sent to the management platform through the control system, and the adsorption tube 11 will be replaced by the staff; according to the tube diameter of the adsorption end of the adsorption elbow 29, the tube diameter of the adsorption tube 11 and the ratio of the aperture of the connection between the adsorption tube 11 and the adsorption bin 10, the detection threshold of the wind speed sensor 34 can be accurately set in the control system. When the wind speed sensor 34 detects a specific threshold, it means that an accident corresponding to the specific threshold has occurred, and the preset wind speed value corresponding to the maximum degree of damage of the adsorption tube 11 should be much larger than the specific wind speed threshold corresponding to the state when the adsorption tube 11 is detached from the cleaning claw 5.

[0096] It should be emphasized here that the cleaning of flaky garbage by the cleaning claw 5 does not affect the judgment of the wind speed sensor 34. The reason is that after the flaky garbage is completely adsorbed by the adsorption end of the adsorption elbow 29, the air inlet is almost completely blocked, which directly leads to the air flow rate in the adsorption recovery bin 9, the adsorption bin 10 and the adsorption tube 11 being almost zero; and no matter whether the adsorption tube 11 is detached from the adsorption bin 10 or the cleaning claw 5, or the adsorption tube 11 is damaged, the result is only a decrease in the air flow rate in the adsorption bin 10, rather than making the air flow rate in the adsorption bin 10 approach zero.

[0097] Although in the first embodiment, the cleaning robot can perform garbage collection tasks on flat or inclined ground through the walking device 2, if it encounters a stair section during the inspection, it needs to detour, resulting in a decrease in the proportion of actual working time in the total endurance time. Therefore, this solution proposes a third embodiment;

[0098] like Figure 13As shown, in the third embodiment, at least one electric telescopic support rod 37 is provided in the vehicle body 1, and the electric telescopic support rod 37 is located on the side of the vertical plane where the center of gravity of the cleaning robot is located away from the recycling box 4, and the telescopic end of the electric telescopic support rod 37 passes through the bottom plate of the vehicle body 1 between the first crawler device 44a and the second crawler device 44b, and the telescopic end of the electric telescopic support rod 37 is rollingly installed with an active support wheel 38. When the electric telescopic support rod 37 is extended, the main support wheel 38 rolls with the ground, and the control system controls the angle between the vehicle body 1 and the ground by controlling the extension length of the electric telescopic support rod 37; a plurality of passive support wheels 40 are rollingly installed on the bottom of the recycling box 4 away from the vehicle body 1 along the length direction of the recycling box 4. When the vehicle body 1 is tilted at a large angle under the action of the dynamic telescopic support rod 37, the passive support wheel 40 rolls with the ground, and at this time the passive support wheel 40 provides support for the cleaning robot; the roller of the active support wheel 38 is connected to the support wheel driving device, and the support wheel driving device adopts a hub motor; if the vehicle body 1 is tilted at a small angle under the action of the electric telescopic support rod 37, the first crawler device 44a and the second crawler device 44b are close to the end of the recovery box 4 and contact the ground, thereby providing support for the vehicle body 1; in the initial state, the telescopic end of the electric telescopic support rod 37 and the active support wheel 38 both pass through the bottom plate of the vehicle body 1 between the first crawler device 44a and the second crawler device 44b, and neither the active support wheel 38 nor the passive support wheel 40 is in contact with the ground.

[0099] When the cleaning robot encounters a stair during cruising, the patrol device 63 calculates the height of the lowest step of the stair and transmits it to the control system. The control system first makes the cleaning robot approach the lowest step of the stair through the walking device 2, and then the control system controls the telescopic end of the electric telescopic support rod 37 to extend. When the active support wheel 38 contacts the ground, as the electric telescopic support rod 37 continues to extend, the angle between the vehicle body 1 and the ground gradually increases. When the patrol device 63 determines that the end of the first crawler device 44a and the second crawler device 44b away from the recycling box 4 is higher than the lowest step of the stair, the control system drives the active support wheel 38 to rotate through the support wheel driving device, so that the cleaning robot approaches the stair at a slow speed in a tilted state. When the cleaning robot is driven by the active support wheel 38 When the robot cannot continue to approach the step, the control system controls the electric telescopic support rod 37 and the walking device 2 to make adaptive adjustments, so that the teeth and grooves on the crawlers of the first crawler device 44a and the second crawler device 44b are engaged with the edge of the step where the electric telescopic support rod 37 and the walking device 2 work together. After the crawlers and the step are engaged, the control system first records and stores the extended length of the electric telescopic support rod at this time, and records this length as the safe climbing length, and then starts the walking device 2 to make the cleaning robot climb upward along the stair surface under the meshing action of the crawlers and the step; when the teeth and grooves on the crawlers of the first crawler device 44a and the second crawler device 44b are engaged with at least two steps, the control system controls the electric telescopic support rod 37 to retract, thereby preventing the electric telescopic support rod 37 from colliding with the steps during the climbing process;

[0100] If the climbing force provided by the walking device 2 is not sufficient to support the cleaning robot to climb the stairs, the control system controls the extension of the electric telescopic strut 37 and compares the extended length of the electric telescopic strut 37 with the safe climbing length. If the extended length of the electric telescopic strut 37 is not greater than the safe climbing length, it means that the electric telescopic strut 37 can stably contact the plane of a certain step of the stairs and can form a stable supporting force for the cleaning robot. The cleaning robot continues to climb under the joint action of the electric telescopic strut 37 and the walking device 2; if the extended length of the electric telescopic strut 37 is greater than the safe climbing length, it means that the electric telescopic strut 37 cannot stably contact the plane of a certain step of the stairs, and the control system sends an alarm to the management platform, requesting the management personnel to intervene manually.

[0101] In order to prevent the active support wheel 38 and the passive support wheel 40 from rolling on the ground in the opposite direction of climbing under the action of the gravity of the cleaning robot, the active support wheel 38 and the passive support wheel 40 are both one-way rollers, that is, the active support wheel 38 and the passive support wheel 40 can only roll along the traveling direction of the cleaning robot; at the same time, in order to improve the stability of the cleaning robot during the climbing process, the active support wheel 38 and the passive support wheel 40 can be set as triangular wheels, and a buffer structure can be added to the active support wheel 38 and the passive support wheel 40, so that the electric telescopic support rod 37 does not need to be retracted during the climbing process. Both the active support wheel 38 and the passive support wheel 40 can provide effective support for the cleaning robot during the climbing process, thereby improving the stability and climbing efficiency of the climbing process; and a hydraulic auxiliary support device can also be provided at the end of the recovery box 4 away from the vehicle body 1, thereby further increasing the stability of the cleaning robot during the climbing process.

[0102] The above is a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as within the scope of protection of the present invention.

Claims

1. A cleaning robot capable of all-terrain cruising and sorting and recycling large and small volumes of garbage, characterized by: The invention comprises a vehicle body (1), a mechanical arm (3) and a recovery box (4); the mounting end of the mechanical arm (3) is rotatably mounted on the vehicle body (1); the free end of the mechanical arm (3) is hingedly provided with a cleaning claw (5); the mechanical arm (3) can make the cleaning claw (5) face the area to be cleaned; the recovery box (4) is integrally connected to one side of the vehicle body (1); the interior of the recovery box (4) is divided by a partition (6) and a filter plate (7) into a recovery bin (8), an adsorption recovery bin (9) and an adsorption bin (10); The adsorption recovery bin (9) and the adsorption recovery bin (10) are connected via filter holes on the filter plate (7); the cleaning claw (5) is connected to the adsorption recovery bin (9) via an adsorption tube (11); a negative pressure device (12) is provided in the adsorption bin (10); when the cleaning claw (5) is facing small-volume garbage, the negative pressure device (12) can put the adsorption bin (10) and the adsorption recovery bin (9) into an adsorption state, and adsorb the small-volume garbage into the adsorption recovery bin (9) via the adsorption tube (11); When the cleaning claw (5) faces a large volume of garbage, the cleaning claw (5) can grab the large volume of garbage and put the large volume of garbage into the recycling bin (8) through the driving of the mechanical arm (3).

2. The cleaning robot capable of all-terrain cruising and recycling large and small volume garbage according to claim 1, characterized in that: The mechanical arm (3) comprises a large arm (13), a small arm (14), a synchronous arm (15) and a rotary drive device (16). The rotary drive device (16) is fixedly mounted inside the vehicle body (1), and a driving structure of the rotary drive device (16) protrudes from the upper surface of the vehicle body (1) and is synchronously connected to one end of the synchronous arm (15). The other end of the synchronous arm (15) is rotationally coupled with one end of the large arm (13) via a first swing motor (17), the other end of the large arm (13) is rotationally coupled with one end of the small arm (14) via a second swing motor (18), and the other end of the small arm (14) is rotationally coupled with the cleaning claw (5) via a third swing motor (19).

3. The cleaning robot capable of all-terrain cruising and recycling large and small volume garbage according to claim 2, characterized in that: The rotary drive device (16) comprises a drive box (20), a rotary column (21) and a rotary drive motor (22); the drive box (20) is fixedly mounted inside the vehicle body (1); the rotary drive motor (22) can be selectively mounted outside or inside the drive box (20); a drive worm (23) is rotatably matched inside the drive box (20); the output shaft of the rotary drive motor (22) is coaxially connected to one end of the drive worm (23); one end of the rotary column (21) is coaxially connected to a rotary turbine (24) matched with the drive worm (23); the other end of the rotary column (21) protrudes from the upper surface of the vehicle body (1) and is connected to the synchronous arm (15); the rotary drive motor (22) can drive the mechanical arm (3) to rotate relative to the vehicle body (1) through the rotary column (21).

4. The cleaning robot capable of all-terrain cruising and recycling large and small volume garbage according to claim 2, characterized in that: The cleaning claw (5) is connected to the small arm (14) via a telescopic hydraulic cylinder (32); the telescopic end of the telescopic hydraulic cylinder (32) is drivingly connected to the cleaning claw (5); the cylinder body of the telescopic hydraulic cylinder (32) is hinged on the drive shaft of a third swing motor (19); the third swing motor (19) can drive the telescopic hydraulic cylinder (32) and the cleaning claw (5) to rotate synchronously relative to the vehicle body (1).

5. The cleaning robot capable of all-terrain cruising and recycling large and small volume garbage according to claim 4, characterized in that: The cleaning claw (5) comprises a mounting barrel (27), an end cover (30), a claw body (31) and a linkage structure (39); the mounting barrel (27) and the cylinder body of the telescopic hydraulic cylinder (32) are fixedly connected by a plurality of support columns (37) on the side close to each other; a piston insertion hole (36) is provided on the side of the mounting barrel (27) close to the cylinder body of the telescopic hydraulic cylinder (32) relative to the piston rod (35) of the telescopic hydraulic cylinder (32); and the end of the piston rod (35) of the telescopic hydraulic cylinder (32) passes through the piston insertion hole (36) and extends into the mounting barrel (27). The end cover (30) is coaxially arranged on a side of the mounting barrel (27) away from the telescopic hydraulic cylinder (32), and a plurality of claw bodies (31) are hinged in a circumferential array on a side of the end cover (30) away from the telescopic hydraulic cylinder (32); the linkage structure (39) is connected to the interior of the mounting barrel (27), and each claw body (31) is drivingly connected to the piston rod (35) of the telescopic hydraulic cylinder (32) through the linkage structure (39), and the telescopic movement of the piston rod (35) of the telescopic hydraulic cylinder (32) can drive each claw body (31) to move closer to or farther away from each other.

6. The cleaning robot capable of all-terrain cruising and recycling large and small volume garbage according to claim 5, characterized in that: An adsorption tube through hole (28) is provided on the side wall of the installation barrel (27); one end of the adsorption tube (11) away from the adsorption recovery bin (9) passes through the adsorption tube through hole (28) and is located inside the installation barrel (27); an adsorption elbow (29) is provided at the end of the adsorption tube (11) located inside the installation barrel (27); an adsorption hole (33) is provided at the center of the end cover (30) relative to the adsorption elbow (29); the adsorption end of the adsorption elbow (29) passes through the adsorption hole (33) and is located outside the installation barrel (27); when the claws (31) are away from each other, the adsorption end of the adsorption elbow (29) can adsorb small-volume garbage.

7. The cleaning robot capable of all-terrain cruising and recycling large and small volume garbage according to claim 1, characterized in that: The opening of the storage and recycling bin (8) is provided with a flip cover structure (53), and the flip cover structure (53) includes a cover plate (54), a flip drive motor (55), a drive screw (56), a drive rod (57) and a drive slider (59); the cover plate (54) is rotatably matched with the inner wall of the storage and recycling bin (8), the flip drive motor (55) is installed on the inner wall of one side of the storage and recycling bin (8), the drive screw (56) is coaxially connected to the output shaft of the flip drive motor (55), and the drive screw (56) is coaxially connected to the output shaft of the flip drive motor (55). The slider (59) is threadedly engaged with the driving screw (56), and when the driving screw (56) rotates, the driving slider (59) can move on the driving screw (56) along the length direction of the driving screw (56); one end of the driving rod (57) is hinged to the driving slider (59), and the other end is hinged to the cover plate (54). When the driving slider (59) moves on the driving screw (56) along the length direction of the driving screw (56), the cover plate (54) rotates relative to the storage recovery bin (8).

8. The cleaning robot capable of all-terrain cruising and recycling large and small volume garbage according to claim 7, characterized in that: The flip cover structure (53) further comprises a guide rod (58), a guide groove (60) is provided on a side of the cover plate (54) close to the guide rod (58), one end of the guide rod (58) is hinged on an inner wall of the placement recovery bin (8) away from the flip drive motor (55), and a guide column (61) is provided on a side of the guide rod (58) close to the cover plate (54) for sliding engagement with the guide groove (60), and the sliding engagement between the guide groove (60) and the guide column (61) can guide the rotation of the cover plate (54) relative to the placement recovery bin (8); a limiting column (62) is provided on one end of the guide rod (58) away from the hinged portion with the placement recovery bin (8), and when the cover plate (54) rotates relative to the placement recovery bin (8), the limiting column (62) can make limiting contact with the side of the cover plate (54) away from the bottom surface of the placement recovery bin (8).

9. The cleaning robot capable of all-terrain cruising and recycling large and small volume garbage according to claim 1, characterized in that: The vehicle also includes a walking device (2), wherein the walking device (2) includes a walking motor (42), a differential (43), a first crawler device (44a) and a second crawler device (44b), wherein the walking motor (42) and the differential (43) are both arranged inside the vehicle body (1), and the walking motor (42) is drivingly connected to the differential (43); the first crawler device (44a) and the second crawler device (44b) are respectively arranged on both sides of the vehicle body (1) along the direction of travel, and the first drive of the first crawler device (44a) is connected to the first drive of the first crawler device (44a). The driving shaft (45a) and the second driving shaft (45b) of the second crawler device (44b) are both extended into the vehicle body; the differential (43) is located between the first driving shaft (45a) and the second driving shaft (45b); and the first driving shaft (45a) and the second driving shaft (45b) are simultaneously driven and connected to the differential (43); a crawler driving gear (50) is provided on the first driving shaft (44a); and the output shaft of the travel motor (42) is driven and connected to the crawler driving gear (50) via a travel driving gear (51).

10. The cleaning robot capable of all-terrain cruising and recycling large and small volume garbage according to claim 9, characterized in that: The first crawler device (44a) further comprises a first synchronous chain (46a), a first driving sprocket (47a), a first driven sprocket (48a) and a first crawler structure (49a), wherein the first synchronous chain (46a), the first driving sprocket (47a) and the first driven sprocket (48a) are all located inside the vehicle body (1), the first crawler structure (49a) is arranged outside one side of the vehicle body (1) along the traveling direction, the end of the first drive shaft (45a) away from the differential (43) is drivingly connected to the first driving wheel (52a) of the first crawler structure (49a), and the first driving sprocket (47a) is arranged on the first driving wheel (5 2a) and the crawler drive gear (50), the first driven sprocket (48a) is arranged relative to the guide wheel of the first crawler structure (49a), and the axis of the first driving sprocket (47a) and the axis of the first driven sprocket (48a) are in the same plane; the first synchronous chain (46a) is wrapped around the first driving sprocket (47a) and the first driven sprocket (48a), and when the first drive shaft (45a) rotates, the first driving sprocket (47a), the first driven sprocket (48a), the first driving wheel (52a) of the first crawler structure (49a) and the guide wheel of the first crawler structure (49a) rotate synchronously.

11. The cleaning robot capable of all-terrain cruising and recycling large and small volume garbage according to claim 1, characterized in that: The vehicle also includes a patrol device (63), the patrol device (63) including a binocular camera (64), a deflection mounting seat (65), a camera deflection drive motor (66) and a support column (69); the deflection mounting seat (65) is rotatably mounted inside the vehicle body (1), and a deflection tooth (67) is integrally provided on the circumference of the deflection mounting seat (65); the camera deflection drive motor (66) is located on one side of the deflection mounting seat (65), and a deflection drive gear (68) that meshes with the deflection tooth (67) is integrally provided on the output shaft of the camera deflection drive motor (66); one end of the support column (69) is coaxially connected to the upper end of the deflection mounting seat (65), and the other end passes through the vehicle body (1) to connect to the binocular camera (64); when the deflection drive gear (68) is meshed with the deflection tooth (67) for transmission, the binocular camera (64) rotates synchronously with the deflection mounting seat (65).

12. The operating method of the cleaning robot capable of all-terrain cruising and recycling large and small volume garbage according to claim 1, characterized in that: The following steps are involved: Step 1: In an initial state, the cleaning robot cruises on a road along a preset cruise route via a walking device (2); During the patrol process, the patrol device (63) uses a computer vision algorithm to detect, identify and locate garbage on the road in the patrol image, and determines the location, size and other information of the garbage; Step 2: After the patrol device (63) determines the location of the garbage on the road, the control system of the cleaning robot plans the best forward route and approaches the location of the garbage through the mutual cooperation between the walking device (2) and the patrol device (63); Step 3: When the cleaning robot is located near the garbage, the patrol device (63) further determines the size of the garbage; if it is determined to be large-volume garbage, step 4 is executed; if it is determined to be small-volume garbage, step 5 is executed; Step 4: When the inspection device (63) determines that the garbage is large-volume garbage, the following operations need to be performed: a) the control system of the cleaning robot moves the cleaning claw (5) to above the garbage via the mechanical arm (9); b) controlling the piston rod (35) of the telescopic hydraulic cylinder (32) to extend, thereby moving the claw bodies (31) of the cleaning claw (5) away from each other, thereby increasing the gripping range of the cleaning claw (5); c) using the robotic arm (9) to move the cleaning claw (5) vertically downward as a whole to a grasping position; d) controlling the piston rod (35) of the telescopic hydraulic cylinder (32) to retract, thereby moving the claw bodies (31) of the cleaning claw (5) closer to each other and grabbing the garbage; e) controlling the flip cover structure (53) to rotate relative to the storage and recovery bin (8), thereby placing the storage and recovery bin (8) in an open state; f) driving the mechanical arm (9) and the cleaning claw (5) to rotate relative to the vehicle body (1) through the rotary drive device (16) until the cleaning claw (5) is located directly above the recovery bin (8); g) controlling the piston rod (35) of the telescopic hydraulic cylinder (32) to extend, thereby moving the claws (31) of the cleaning claws (5) away from each other, so that the garbage loses the gripping force exerted by the claws (31) and falls into the collection bin (8) under the action of gravity; h) driving the mechanical arm (9) and the cleaning claw (5) to rotate relative to the vehicle body (1) and reset through the rotary drive device (16) to carry out the next garbage grabbing or return to the preset cruising route to continue cruising; Step 5: When the inspection device (63) determines that the garbage is small-volume garbage, the following operations need to be performed: i) the control system of the cleaning robot moves the cleaning claw (5) to above the garbage via the mechanical arm (9); j) controlling the piston rod (35) of the telescopic hydraulic cylinder (32) to extend, thereby moving the claw bodies (31) of the cleaning claw (5) away from each other to a maximum extent, thereby completely exposing the suction end of the suction elbow (29); k) using the robotic arm (9) to move the cleaning claw (5) vertically downward as a whole to the suction end of the suction elbow (29) close to the area where the garbage is located; 1) starting the negative pressure device (12) to generate a negative pressure environment in the adsorption recovery chamber (9), the adsorption chamber (10) and the adsorption tube (11), so that the adsorption end of the adsorption elbow (29) has an adsorption effect on the garbage and adsorbs the garbage; m) controlling the entire movement of the cleaning claw (5) by the robotic arm (9) until the area swept by the suction end of the suction elbow (29) covers the area where the garbage is located; n) If, when performing operation m, the maximum working distance of the robot arm (9) is insufficient for the area swept by the suction end of the suction elbow (29) to cover the area where the garbage is located, the control system of the cleaning robot drives the cleaning robot to move to the area where the garbage is not adsorbed through the mutual cooperation between the walking device (2) and the patrol device (63).

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