Rubbish inspection robot based on wheel type four feet

Abstract

The invention discloses a garbage inspection robot based on wheel type four feet, and belongs to the field of artificial intelligence, the garbage inspection robot comprises an inspection robot main body, the upper surface of the inspection robot main body is provided with a computer assembly, and the left end and the right end of the median line of the upper surface of the inspection robot main body are both provided with inertial measurement units. The inspection robot body can be moved according to four feet, operation in flat and structured road scenes can be completed, the inspection robot can also be suitable for garbage inspection and sweeping operation in steps, corridors, mountain roads and depression scenes, the garbage cleaning efficiency can be improved, and meanwhile the adaptive capacity of the inspection robot body in the complex environment is improved; through the arrangement of the driving rollers, the device can move in a wheel mode in a flat or semi-structured environment; on the ground surface such as a lawn and a slate road, four-foot moving movement is adopted, so that the friction loss generated during movement can be effectively reduced, and the cruising ability of the inspection robot main body is improved.

Description

Technical Field

[0001] The present invention relates to the field of artificial intelligence, and more particularly to a garbage inspection robot based on a wheeled quadruped. Background Art

[0002] With the rapid development of the tourism industry, visitor traffic to scenic spots continues to increase. Currently, cleaning operations in complex terrain still rely on a large number of sanitation workers. While current sanitation sweepers can complete cleaning tasks in scenic spots and parks, most automated cleaning equipment is currently unable to operate in environments with steps or steep slopes due to the complex terrain. This creates significant challenges for current cleaning operations and requires a large labor force to complete.

[0003] Currently, there is a lot of research both domestically and internationally on robot-based garbage cleaning operations. Zheng Lei et al. (Zheng Lei, Li Zhanxia, ​​Wang Chuanhua, Patent Application No.: CN202510284454.4, "A Mobile Sanitation System Based on a Multifunctional Operating Platform") disclosed a mobile sanitation system based on a multifunctional operating platform. By mounting a navigation system, a power system, a garbage collection bin, and an automated mounting interface system, the system can perform multiple operations, including garbage cleaning, garbage blowing and collection, road cleaning, and spray dust suppression, addressing the issue of low cleaning efficiency over large areas. Hong Yang et al. (Hong Yang, Li Weiguo, Wang Lili, Wang Hua, Patent Application No.: CN202310367243.8, "Multifunctional Sanitation Robot") disclosed a multifunctional robot. By installing a cleaning disc, a gripping mechanism, a trimming mechanism, and a sorting bin on a four-wheel drive chassis, the system expands the robot's operational scenarios and broadens its application range. Chen Kai et al. (Chen Kai, Zhang Bin, Li Jiale, Li Liang, Hu Xiaolin, et al., Patent Application No.: CN202011367561.7, "Control Method and System for Sanitation Robots, Sanitation Robots") disclosed a sanitation robot that, by modifying the front wheel speed and steering angle via control commands, achieves smooth steering, avoids the "mushroom head" phenomenon of U-turns, and enables cleaning operations in large areas. Liu Sheng et al. (Jiang Huaping, Liu Sheng, Zhang Shaobo, Li Wei, et al., Patent Application No.: CN202110259517.2, "A Machine Vision-Based Garbage Sorting Machine") disclosed a machine vision-based garbage sorting machine that combines a mobile body, a rotating and telescopic manipulator, a gripper, a camera, and a computer to detect, identify, and grasp garbage. Existing sanitation robots generally use a four-wheeled chassis combined with scanning for operation. This device form and operating method limit their operating scenarios, which to some extent restricts the promotion and development of unmanned sanitation.

[0004] Although the current robot-based unmanned sanitation cleaning automation technology has achieved certain development; however, the existing technology still has the following defects: the current sanitation robots can only complete the cleaning work in flat areas. Due to the specific shape and movement ability of the existing sanitation operation robots, sanitation robots often have difficulty adapting to workplaces with complex terrain, and thus cannot complete the operation requirements of complex terrain (steps, rugged roads, back streets and alleys, and mountains, etc.), which greatly limits the scope of application of sanitation robots.

[0005] Therefore, a garbage inspection robot based on wheeled quadruped is proposed. Summary of the Invention

[0006] In view of the problems existing in the prior art, the purpose of the present invention is to provide a garbage inspection robot based on a wheeled quadruped to solve the above problems.

[0007] To solve the above problems, the present invention adopts the following technical solutions.

[0008] A garbage inspection robot based on a wheeled quadruped includes an inspection robot body, a computer component is installed on the upper surface of the inspection robot body, and inertial measurement units are installed on the left and right ends of the midline of the upper surface of the inspection robot body, a camera is installed at the rear end of the inspection robot body, and a charging port is provided on the rear end surface of the inspection robot body, four-legged mobile bodies are installed on both side surfaces of the inspection robot body, a driving roller is rotatably installed on the lower end surface of the driving roller, a servo motor is installed on one end of the driving roller, and an anti-slip rubber pad is installed on the outer surface of the driving roller.

[0009] Furthermore, a binocular depth camera is provided on the right side of the front upper surface of the inspection robot body, and a protective shell is installed on the right side of the middle upper surface of the inspection robot body. The binocular depth camera is used to collect point cloud and image data in front of the inspection robot body.

[0010] Furthermore, a laser radar 1 is installed on the left side of the upper surface of the front end of the inspection robot body, and a laser radar 2 is installed on the right side of the upper surface of the rear end of the inspection robot body. The laser radar 1 and the laser radar 2 are used to sense the environment around the inspection robot body to achieve obstacle avoidance or emergency obstacle avoidance.

[0011] Furthermore, a supporting top rod is installed on the bottom surface of the protective shell, and a laser radar three is installed on the upper end surface of the supporting top rod, and the laser radar three is set at the top of the inspection robot body. The laser radar three is used to scan and obtain point cloud data of the working environment of the robot body, and is used for map drawing.

[0012] Furthermore, a support frame is provided on the front end surface of the inspection robot body, and a rotating bearing is rotatably installed on the inner surface of the support frame.

[0013] Furthermore, a placement seat is provided on the inner surface of the rotating bearing, and a slot is provided on the surface of the placement seat. A servo motor 2 is installed on the right outer surface of the support frame, and the output end of the servo motor 2 is connected to the outer surface of the placement seat.

[0014] Furthermore, an inserting block is slidably mounted on the inner surface of the card slot, and a collection box is provided on the inner surface of the inserting block.

[0015] Furthermore, a rotating base is installed on the upper surface of the front end of the inspection robot body, and a rotating joint is set on the upper surface of the rotating base, a telescopic robotic arm is set on the upper surface of the rotating base, and a servo motor four is installed at the joint connection of the telescopic robotic arm, and a rotating disk is installed at the end of the telescopic robotic arm, a rotating frame is installed at the end of the rotating disk, and a servo motor three is installed on the upper surface of the rotating frame, and a binocular depth camera two is set on the upper surface of the rotating frame.

[0016] Furthermore, a clamping jaw is rotatably installed on the inner surface of the rotating frame, and a threaded connecting rod is slidably installed on the inner surface of the clamping jaw. A connecting sleeve is spirally installed on the end of the threaded connecting rod away from the clamping jaw, and the threaded connecting rod and the clamping jaw are fixedly connected by the connecting sleeve.

[0017] Furthermore, an anti-slip sleeve is provided at the end of the threaded connecting rod, and the surface of the anti-slip sleeve is configured to be serrated.

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

[0019] 1. The present invention is equipped with a patrol robot body, a computer component, an inertial measurement unit, a camera, a charging port, a four-legged mobile body, a servo motor, a driving roller and an anti-skid rubber pad. The patrol robot body can not only complete operations in flat and structured road scenes based on the four-legged mobile body, but also be suitable for garbage patrol and cleaning operations in steps, corridors, mountain roads, and depressions. It can improve the efficiency of garbage cleaning while improving the adaptability of the patrol robot body in complex environments; by setting the driving rollers, it can adopt wheeled movement in flat or semi-structured environments; on surfaces such as lawns and stone roads, the four-legged mobile movement is adopted, which can effectively reduce the friction loss generated during movement, improve the endurance of the patrol robot body, and enable it to work for a long time; by setting the anti-skid rubber pads, the friction force of the driving rollers can be increased when in use, and the vibration generated by the movement of the four-legged mobile body can be absorbed by its own excellent shock absorption ability to protect the patrol robot body;

[0020] 2. The present invention collects point cloud and image data in front of the robot through the setting of binocular depth camera 1, laser radar 1, laser radar 2, protective shell, support top rod and laser radar 3. At the same time, the computer component performs calculation and analysis on the point cloud and image data to analyze whether there is a target object in the image, and controls the telescopic robotic arm to drive the gripper to grab the target object and place the grabbed target object in a collection box; based on the laser radar 1 and laser radar 2 located at the left front end and the right rear end, a total of 2, it can complete the effective detection of the 0-1.5m area of ​​the robot dog's torso; based on the 1 laser radar 3 on the top, long-distance detection can be completed, and effective detection of the robot's body 0-100m away can be achieved; relying solely on 3 laser radars, the surrounding environment scanning and perception of the inspection robot body can be realized, which not only reduces the hardware cost of the sensor, but also reduces the demand for computing power resources.

[0021] 3. The present invention provides a small inspection robot body through the arrangement of a support frame, a second servo motor, a placement seat, a card slot, a rotating bearing, a collection box, and an insert block. The inspection robot body can flexibly enter and exit narrow environments to perform sanitation operations, thereby improving the flexibility of the inspection robot body. The arrangement of the second servo motor allows the computer component to control the activation of the second servo motor when the inspection robot body tilts, thereby controlling the rotation of the collection box and causing the collection box to tilt, thereby effectively preventing the garbage inside the collection box from falling.

[0022] 4. The present invention is provided with a telescopic mechanical arm, a rotating disk, a rotating frame, a servo motor, a clamping claw, an anti-slip sleeve, a threaded connecting rod and a connecting sleeve. The setting of the rotating disk can drive the clamping claw to rotate to clamp the garbage at multiple angles; the serrated anti-slip sleeve can increase the gripping force when grabbing garbage to avoid loosening and falling; the setting of the threaded connecting rod can quickly remove the anti-slip sleeve for cleaning or replacement by sliding when it is necessary, avoiding the wear and tear of the clamping claw itself due to long-term use, and effectively reducing the hardware cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the overall three-dimensional structure of the present invention;

[0024] Figure 2 Schematic diagram of the three-dimensional structure of the quadruped mobile body of the present invention;

[0025] Figure 3 Schematic diagram of the three-dimensional structure of the inspection robot body of the present invention;

[0026] Figure 4 Schematic diagram of the three-dimensional structure of the protective shell of the present invention;

[0027] Figure 5Schematic diagram of the three-dimensional structure of the collecting box of the present invention;

[0028] Figure 6 Schematic diagram of the three-dimensional structure of the servo motor 2 of the present invention;

[0029] Figure 7 Schematic diagram of the three-dimensional structure of the telescopic mechanical arm of the present invention;

[0030] Figure 8 Schematic diagram of the three-dimensional structure of the clamping jaw of the present invention;

[0031] Figure 9 It is a schematic diagram of the three-dimensional structure of the anti-slip cover of the present invention.

[0032] Description of the numbers in the figure:

[0033] 1. Inspection robot body; 101. Computer components; 102. Inertial measurement unit; 103. Camera; 104. Charging port; 2. Quadruped mobile body; 201. Servo motor 1; 202. Drive roller; 203. Anti-slip rubber pad; 3. Binocular depth camera 1; 301. LiDAR 1; 302. LiDAR 2; 303. Protective housing; 304. Support rod; 305. LiDAR 3; 4. Support frame; 401. Servo Motor 2; 402, placement seat; 403, card slot; 404, rotating bearing; 405, collection box; 406, plug-in block; 5, telescopic robotic arm; 501, rotating disk; 502, rotating frame; 503, servo motor 3; 504, gripper; 505, anti-slip sleeve; 506, threaded connecting rod; 507, connecting sleeve; 5201, rotating base; 5202, rotating joint; 5203, servo motor 4; 5024, binocular depth camera 2. DETAILED DESCRIPTION

[0034] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention; it is obvious that the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0035] Example 1:

[0036] See also Figures 1 to 2A garbage inspection robot based on a wheeled quadruped includes an inspection robot body 1, a computer component 101 is installed on the upper surface of the inspection robot body 1, and an inertial measurement unit 102 is installed on the left and right ends of the midline of the upper surface of the inspection robot body 1, a camera 103 is installed at the rear end of the inspection robot body 1, and a charging port 104 is provided on the rear end surface of the inspection robot body 1, and a quadruped mobile body 2 is installed on both sides of the inspection robot body 1. In this technical solution, the inspection robot body 1 can be based on the quadruped mobile body 2. In addition to completing operations in flat and structured road scenes, it can also be used for garbage inspection and cleaning operations in steps, corridors, mountain roads, and depressions. It can improve the efficiency of garbage cleaning while improving the adaptability of the inspection robot body 1 in complex environments. Through the setting of the camera 103, when the inspection robot body 1 needs to be charged, it can assist the inspection robot body 1 in positioning, so that the charging port 104 can be accurately inserted into the interior of the charging pile to complete automatic charging.

[0037] A driving roller 202 is rotatably installed on the lower end surface of the quadruped mobile body 2, and a servo motor 201 is installed at one end of the driving roller 202, and an anti-skid rubber pad 203 is installed on the outer surface of the driving roller 202. This technical solution, through the setting of the driving roller 202, enables it to adopt wheeled movement in a flat or semi-structured environment; on surface surfaces such as lawns and stone roads, four-legged movement is adopted. This method can effectively reduce the friction loss generated during movement, improve the endurance of the inspection robot body 1, and enable it to work for a long time; through the setting of the anti-skid rubber pad 203, the friction force of the driving roller 202 when in use can be increased, and the vibration generated during the movement of the four-legged mobile body 2 can be absorbed by its own excellent shock-absorbing ability to protect the inspection robot body 1.

[0038] Figures 3 and 4As shown, a binocular depth camera 3 is provided on the right side of the upper surface of the front end of the inspection robot body 1, and a protective shell 303 is installed on the right side of the middle of the upper surface of the inspection robot body 1. The binocular depth camera 3 is used to collect point cloud and image data in front of the inspection robot body 1. This technical solution collects point cloud and image data around the robot through the setting of the binocular depth camera 3. At the same time, the computer component 101 calculates the point cloud and image data to analyze whether there is a target object in the image; if a target object is detected, the computer component 101 calculates the distance between the target object and the robot based on the continuously collected point cloud and image data. When the distance between the robot and the target object reaches [L1, L2], the computer component 101 controls the robot to stop; the computer component uses its own embedded robotic arm motion planning program to control and drive the telescopic robotic arm 5 to drive the gripper 504 to grasp the target object; during the mobile grasping process, the computer component 101 calculates the posture parameters of the target object based on the three-dimensional point cloud data and two-dimensional image data continuously collected by the binocular depth camera 2 5204, obtains accurate grasping points, and calculates the motion sequence points of each joint of the telescopic robotic arm 5 according to the robotic arm motion planning algorithm, and places the grasped target object in the collection box 405.

[0039] A laser radar 1 301 is installed on the left side of the upper surface of the front end of the inspection robot body 1, and a laser radar 2 302 is installed on the right side of the upper surface of the rear end of the inspection robot body 1. The laser radar 1 301 is used to perceive the map of the working environment of the inspection robot body 1, and the laser radar 2 302 is used to perceive the surrounding environment of the inspection robot body 1 for emergency obstacle avoidance. This technical solution, based on the two sensors laser radar 1 301 and laser radar 2 302 at the left front end and right rear end, can complete the effective detection of the area of ​​0-1.5m of the robot dog's torso; relying only on three laser radars, the inspection robot body 1 can realize the surrounding environment scanning and perception; it not only reduces the hardware cost of the sensor, but also reduces the demand for computing power resources.

[0040] A supporting top rod 304 is installed on the bottom surface of the protective shell 303, and a laser radar three 305 is installed on the upper end surface of the supporting top rod 304, and the laser radar three 305 is set at the top of the inspection robot body 1. This technical solution can complete long-distance detection based on the laser radar three 305 on the top, and realize effective detection of the robot within 0-100m. At the same time, the height of the laser radar three 305 is higher than the servo motor four 5203 to avoid obstruction of the detection distance.

[0041] Figures 5 and 6As shown, a support frame 4 is provided on the front end surface of the inspection robot body 1, and a rotating bearing 404 is rotatably installed on the inner surface of the support frame 4. With this technical solution, the inspection robot body 1 is small in size and can flexibly enter and exit a narrow environment to perform sanitation operations, thereby improving the flexibility of the inspection robot body 1.

[0042] A placement seat 402 is provided on the inner surface of the rotating bearing 404, and a card slot 403 is opened on the surface of the placement seat 402. A servo motor 2 401 is installed on the right outer surface of the support frame 4, and the output end of the servo motor 2 401 is connected to the outer surface of the placement seat 402. This technical solution, through the setting of the servo motor 2 401, can control the start of the servo motor 2 401 through the computer component 101 to control the rotation of the collection box 405 when the inspection robot body 1 tilts, so that the collection box 405 is tilted, which can effectively prevent the garbage inside the collection box 405 from falling.

[0043] An insert block 406 is slidably installed on the inner surface of the slot 403, and a collection box 405 is provided on the inner surface of the insert block 406. This technical solution, through the setting of the insert block 406, can assist in positioning and installing the collection box 405 to avoid tilting and offsetting during installation.

[0044] Figures 7 to 9 As shown, a rotating base 5201 is installed on the upper surface of the front end of the inspection robot body 1, and a rotating joint 5202 is provided on the upper surface of the rotating base 5201, a telescopic mechanical arm 5 is provided on the upper surface of the rotating base 5201, and a servo motor 4 5203 is installed at the joint connection of the telescopic mechanical arm 5, and a rotating disk 501 is installed at the end of the rotating disk 501, and a rotating frame 502 is installed on the upper surface of the rotating frame 502, and a servo motor 3 503 is installed, and the rotating frame A binocular depth camera 5024 is provided on the upper surface of 502. This technical solution, through the setting of the rotating disk 501, can drive the clamping claw 504 to rotate, and adjust the clamping claw 504 at multiple angles according to the target position and angle, so as to facilitate the picking up of garbage; through the setting of the telescopic robotic arm 5, the clamping claw 504 can be driven to move in a telescopic manner; by installing multiple servo motors 503, the rotating base 5201, the rotating joint 5202 and the telescopic robotic arm 5 can be driven to move.

[0045] The inner surface of the rotating frame 502 is rotatably installed with a clamping jaw 504, and the inner surface of the clamping jaw 504 is slidably penetrated by a threaded connecting rod 506, and the end of the threaded connecting rod 506 away from the clamping jaw 504 is spirally installed with a connecting sleeve 507, and the threaded connecting rod 506 and the clamping jaw 504 are fixedly connected by the connecting sleeve 507. This technical solution, through the setting of the threaded connecting rod 506, when the anti-slip sleeve 505 needs to be cleaned, the anti-slip sleeve 505 can be quickly removed for cleaning or replacement by sliding, avoiding long-term use to cause damage to the clamping jaw 504 itself, and effectively reducing hardware costs.

[0046] The end of the threaded connecting rod 506 is provided with an anti-slip sleeve 505, and the surface of the anti-slip sleeve 505 is set to be serrated. This technical solution, through the serrated anti-slip sleeve 505, can increase the gripping force when grabbing garbage and avoid loosening and falling.

[0047] Instructions for use: Before using the inspection robot body 1 to work, first insert the collection box 405 with the plug 406 into the slot 403 of the placement seat 402 by sliding. After completing the installation of the collection box 405, use the inspection robot body 1 to patrol and clean up the garbage. When patrolling, first use the laser radar 305 to perform a preliminary scan of the distant terrain, and the real-time three-dimensional point cloud data is compared with the global three-dimensional point cloud data to enable the robot to obtain the current position. After completing the positioning, control the servo motor 201 to drive the drive roller 202 rotates, causing the inspection robot body 1 to move. During the movement of the inspection robot body 1, LiDAR 3 305, LiDAR 1 301, and LiDAR 2 302 cooperate to collect three-dimensional point cloud data, obtain information about the inspection robot body 1's surroundings, and calculate this three-dimensional point cloud data to detect obstacles around the inspection robot body 1. The computer component 101 performs local path planning based on the detected obstacle information and the surrounding environment to control the movement of the inspection robot body 1, achieving obstacle avoidance for the inspection robot body 1. During the movement, the binocular depth camera 1 scans and collects point cloud and image data around the robot. Simultaneously, the computer component 101 calculates the point cloud and image data to analyze whether a target object is present in the image and calculates the target object's position and posture information. If there is a target object, such as a plastic bag, a plastic bottle, a piece of paper, or a packaging bag, the telescopic robotic arm 5 can be controlled to extend and retract, causing the gripper 504 to move to the vicinity of the target. The rotating disk 501 is then used to control the gripper 504 to rotate to a suitable gripping angle. The servo motor 3 503 is then activated to drive the gripper 504 to rotate inward, causing the gripper 504 to grasp the target object and place the grasped target object in the collection box 405 for collection, thereby completing the gripping of the target. When the inspection robot body 1 is moving on a ramp, step, or depression, if the inspection robot body 1 tilts, its inertial measurement unit 102 will obtain the posture data of the inspection robot body 1 and promptly activate the servo motor 2 401 to control the collection box 405 to rotate, thereby adjusting its posture to keep the internal garbage stable and prevent the garbage inside the collection box 405 from overflowing.

[0048] The above description is merely a preferred embodiment of the present invention; however, the scope of protection of the present invention is not limited thereto. Any person skilled in the art who, within the technical scope disclosed by the present invention, makes equivalent substitutions or modifications based on the technical solutions and improved concepts of the present invention shall be covered by the scope of protection of the present invention.

Claims

1. A garbage inspection robot based on a wheeled quadruped, comprising an inspection robot body (1), characterized in that: A computer component (101) is installed on the upper surface of the inspection robot body (1), and an inertial measurement unit (102) is installed at the left and right ends of the midline of the upper surface of the inspection robot body (1). A camera (103) is installed at the rear end of the inspection robot body (1), and a charging port (104) is provided on the rear end surface of the inspection robot body (1). A quadruped mobile body (2) is installed on both side surfaces of the inspection robot body (1), a driving roller (202) is rotatably installed on the lower end surface of the driving roller (202), a servo motor (201) is installed at one end of the driving roller (202), and an anti-slip rubber pad (203) is installed on the outer surface of the driving roller (202).

2. The wheeled quadruped garbage inspection robot according to claim 1, characterized in that: A binocular depth camera (3) is provided on the right side of the front upper surface of the inspection robot body (1), and a protective shell (303) is installed on the right side of the middle portion of the upper surface of the inspection robot body (1). The binocular depth camera (3) is used to collect point cloud and image data in front of the inspection robot body (1).

3. The wheeled quadruped garbage inspection robot according to claim 1, characterized in that: A laser radar 1 (301) is installed on the left side of the upper surface of the front end of the inspection robot body (1), and a laser radar 2 (302) is installed on the right side of the upper surface of the rear end of the inspection robot body (1). The laser radar 1 (301) and the laser radar 2 (302) are used to sense the surrounding environment of the inspection robot body (1) to avoid obstacles or emergency obstacles.

4. The wheeled quadruped garbage inspection robot according to claim 2, characterized in that: A supporting top rod (304) is installed on the bottom surface of the protective shell (303), and a laser radar three (305) is installed on the upper end surface of the supporting top rod (304), and the laser radar three (305) is set at the top of the inspection robot body (1). The laser radar three (305) is used to sense the working environment of the inspection robot body (1) and draw a map.

5. The wheeled quadruped garbage inspection robot according to claim 1, characterized in that: A support frame (4) is provided on the front end surface of the inspection robot body (1), and a rotating bearing (404) is rotatably mounted on the inner surface of the support frame (4).

6. The wheeled quadruped garbage inspection robot according to claim 5, characterized in that: The inner surface of the rotating bearing (404) is provided with a placement seat (402), and the surface of the placement seat (402) is provided with a slot (403). The right outer surface of the support frame (4) is installed with a servo motor 2 (401), and the output end of the servo motor 2 (401) is connected to the outer surface of the placement seat (402).

7. The wheeled quadruped garbage inspection robot according to claim 6, characterized in that: An insert block (406) is slidably mounted on the inner surface of the card slot (403), and a collection box (405) is provided on the inner surface of the insert block (406).

8. The wheeled quadruped garbage inspection robot according to claim 1, characterized in that: A rotating base (5201) is installed on the upper surface of the front end of the inspection robot body (1), and a rotating joint (5202) is provided on the upper surface of the rotating base (5201), a telescopic mechanical arm (5) is provided on the upper surface of the rotating base (5201), and servo motor four (5203) is installed at the joint connection of the telescopic mechanical arm (5), and a rotating disk (501) is installed at the end of the telescopic mechanical arm (5), a rotating frame (502) is installed at the end of the rotating disk (501), and servo motor three (503) is installed on the upper surface of the rotating frame (502), and binocular depth camera two (5204) is provided on the upper surface of the rotating frame (502).

9. The wheeled quadruped garbage inspection robot according to claim 8, characterized in that: A clamping jaw (504) is rotatably mounted on the inner surface of the rotating frame (502), and a threaded connecting rod (506) is slidably mounted through the inner surface of the clamping jaw (504). A connecting sleeve (507) is spirally mounted on one end of the threaded connecting rod (506) away from the clamping jaw (504), and the threaded connecting rod (506) and the clamping jaw (504) are fixedly connected via the connecting sleeve (507).

10. The wheeled quadruped garbage inspection robot according to claim 9, characterized in that: The end of the threaded connecting rod (506) is provided with an anti-slip sleeve (505), and the surface of the anti-slip sleeve (505) is configured to be sawtooth-shaped.

Images