Unmanned dustbin collection vehicle

Abstract

The invention discloses an unmanned dustbin collecting vehicle which comprises a shell, a chassis unit, a power and power supply unit, an automatic driving unit, a man-machine interaction unit and a lifting and weighing unit, and the chassis unit comprises a vehicle frame and a steering system for controlling the vehicle to accurately steer by 360 degrees in situ; the power and power supply unit comprises a hub motor for providing driving force for the vehicle and a power supply battery for providing a power supply for the vehicle; the automatic driving unit comprises a detection system for sensing the environment and identifying the dustbin and a positioning system for setting a vehicle driving route; the man-machine interaction unit comprises a controller for processing the data and a network system for transmitting the data; and the lifting weighing unit comprises a bearing mechanism for loading the garbage can, a lifting mechanism for lifting the garbage can and a weighing mechanism for measuring the weight of the garbage can. According to the invention, loading and weighing are integrated, 360-degree accurate steering can be realized in situ, automatic loading, transportation and weighing can be realized, unattended driving is realized in the whole working process, labor is saved, noise is low, and residents are not disturbed.

Description

Technical Field

[0001] This invention relates to the field of garbage bin collection vehicle technology, and in particular to an unmanned garbage bin collection vehicle. Background Technology

[0002] Residential communities typically require the quiet transport of garbage bins filled with trash from within the community to the outside. The full bins are then transported out, weighed, and finally returned to their original locations.

[0003] Currently, the community's garbage bins are all special garbage bins with lids. These garbage bins are usually placed on the ground, and during transportation, they need to be moved by garbage trucks driven by people. The garbage bins also need to be weighed by people, which is not only time-consuming and labor-intensive, but also inefficient and wasteful of manpower. In addition, they are noisy and easily disturb residents. Therefore, the only way to meet the community's needs is to use driverless garbage collection vehicles.

[0004] When using driverless garbage collection vehicles to collect and transport garbage bins, the garbage collection vehicles need to turn flexibly at large angles and accurately aim at the target in order to successfully pick up and load garbage bins. The garbage collection vehicles need to automatically load garbage bins and automatically weigh them in order to realize automatic loading, automatic transportation of garbage bins in the community and automatic measurement of the amount of garbage generated.

[0005] Because conventional garbage collection vehicles are not flexible enough in steering and have a relatively small steering angle, typically a maximum steering angle of 30 to 40 degrees, they cannot achieve precise 360-degree steering on the spot and cannot automatically load and weigh garbage containers. Therefore, it is necessary to develop an unmanned garbage collection vehicle that is flexible in steering, has a large steering angle, can achieve precise 360-degree steering on the spot, and can automatically load and weigh garbage containers. Summary of the Invention

[0006] The technical problem to be solved by the present invention is to overcome the shortcomings of the prior art and provide an unmanned garbage collection vehicle that is flexible in steering, has a large steering angle, can turn precisely 360 degrees on the spot, can automatically load, transport and weigh, and requires no human intervention throughout the process. It not only saves time and effort, has high work efficiency and saves manpower, but also has low noise and is less likely to disturb the residents. It is an integrated loading and weighing vehicle.

[0007] To address the aforementioned technical problems, this invention employs an unmanned garbage collection vehicle, comprising a shell, chassis unit, power and supply unit, autonomous driving unit, and human-machine interaction unit, as well as a lifting and weighing unit. The chassis unit includes a frame and a steering system for precise 360-degree steering while stationary. The power and supply unit includes hub motors providing driving force and batteries providing power. The autonomous driving unit includes a detection system for sensing the environment and identifying garbage bins, and a positioning system for setting the vehicle's driving route. The human-machine interaction unit includes a controller for processing data and a network system for transmitting data. The lifting and weighing unit includes a carrying mechanism for loading the garbage bins, a lifting mechanism for lifting the garbage bins, and a weighing mechanism for measuring the weight of the garbage bins. The steering system, hub motors, detection system, positioning system, network system, lifting mechanism, and weighing mechanism are controlled by the controller.

[0008] In a preferred embodiment of the present invention, the weighing mechanism includes a weighing sensor, the lifting mechanism includes a push cylinder, a lower bracket, and an upper bracket, the bottom end of the push cylinder is connected to the weighing sensor through the lower bracket, the weighing sensor is fixedly connected to the vehicle frame, the bearing mechanism includes a hook, a connecting plate, a lifting frame, and a limiting mechanism, the hook is connected to the lifting frame through the connecting plate, the lifting frame is fixedly connected to the push rod of the push cylinder through the upper bracket, the lifting frame is slidably or rollably connected to the vehicle frame in the vertical direction, and the limiting mechanism is disposed on the lifting frame to prevent the garbage bin from shaking.

[0009] In a preferred embodiment of the present invention, the lifting frame includes an upper horizontal plate, a left vertical plate, a lower horizontal plate, and a right vertical plate. The upper horizontal plate is horizontally arranged, the lower horizontal plate is vertically arranged, and the left and right vertical plates are vertically arranged. The upper horizontal plate, left vertical plate, lower horizontal plate, and right vertical plate are connected end-to-end to form a frame structure. The connecting plate is horizontally arranged, and its left and right sides are connected to the upper parts of the left and right vertical plates, respectively. The hook is provided on the connecting plate, and rollers are provided on the left side of the left vertical plate and the right side of the right vertical plate. The vehicle frame has guide grooves on its left and right sides. The lifting frame moves up and down in the guide grooves via rollers to form a rolling connection with the vehicle frame. The lower support is U-shaped, and the bottom center of the lower support is connected to the weighing sensor via bolts. The bottom end of the push cylinder has a connecting rod, which is embedded in the lower support and connected to the upper part of the lower support via a pin. The upper support is inverted U-shaped, and the top of the upper support is connected to the upper cross plate via bolts. The push rod of the push cylinder is embedded in the upper support and connected to the lower part of the upper support via a pin.

[0010] In a preferred embodiment of the present invention, the limiting mechanism includes a mounting plate, a limiting collision plate, and a limiting rod. The mounting plate is vertically and horizontally disposed below the hook. The mounting plate is connected to the lifting frame. A through hole is opened on the mounting plate. The limiting collision plate is disposed in front of the mounting plate. The front end of the limiting rod passes through the through hole and is connected to the limiting collision plate. The rear end of the limiting rod is connected to the mounting plate behind the mounting plate by a tension spring.

[0011] In a preferred embodiment of the present invention, the steering system includes a steering motor, a steering column, a left steering wheel, a right steering wheel, a left steering wheel bracket, a right steering wheel bracket, a first left crossbar, a first right crossbar, a first left vertical bar, a first right vertical bar, a first bevel gear, a second bevel gear, a third bevel gear, a fourth bevel gear, a fifth bevel gear, a sixth bevel gear, a seventh bevel gear, and a positioning mechanism. The steering motor is connected to the vehicle frame, the top of the steering column is connected to the motor shaft of the steering motor, the steering column is positioned above the middle of the left and right steering wheels, the first bevel gear is positioned at the bottom of the steering column, the first left crossbar is horizontally positioned on the left side of the steering column, the second bevel gear is positioned at the right end of the first left crossbar and meshes with the first bevel gear, the first right crossbar is horizontally positioned on the right side of the steering column, and the third bevel gear is positioned at the... At the left end of the first right crossbar, the third bevel gear meshes with the first bevel gear. The fourth and fifth bevel gears are respectively located at the left end of the first left crossbar and the right end of the first right crossbar. The first left and first right vertical bars are respectively vertically located below the left side of the first left crossbar and below the right side of the first right crossbar. The sixth bevel gear is located at the top of the first left vertical bar and meshes with the fourth bevel gear. The seventh bevel gear is located at the top of the first right vertical bar and meshes with the fifth bevel gear. The bottom end of the first left vertical bar is connected to the left steering wheel hub shaft through the left steering wheel bracket. The bottom end of the first right vertical bar is connected to the right steering wheel hub shaft through the right steering wheel bracket. The positioning mechanism includes a positioning shell and a fixing frame. The positioning shell defines the position of each bevel gear, and the fixing frame is fixedly connected to the positioning shell.

[0012] In a preferred embodiment of the present invention, the steering system further includes a second left crossbar, a second right crossbar, a second left vertical bar, a second right vertical bar, a first coupling, a second coupling, a third coupling, a fourth coupling, a left rolling bearing, a right rolling bearing, a first universal coupling, and a second universal coupling. The second left crossbar is horizontally disposed to the left of the first left crossbar. The fourth bevel gear is disposed at the left end of the second left crossbar and meshes with a sixth bevel gear. The right end of the second left crossbar is connected to the left end of the first left crossbar via the first coupling. The second right crossbar is horizontally disposed to the right of the first right crossbar. The fifth bevel gear is disposed at the right end of the second right crossbar and meshes with a seventh bevel gear. The left end of the second right crossbar is connected to the right end of the first right crossbar via the second coupling. The second left vertical bar is disposed to the left of the first right crossbar. Below the first left vertical rod, the top end of the second left vertical rod is connected to the bottom end of the first left vertical rod via the third coupling, and the bottom end of the second left vertical rod is connected to the left steering wheel hub shaft via the left steering wheel bracket. The second right vertical rod is located below the first right vertical rod, and the top end of the second right vertical rod is connected to the bottom end of the first right vertical rod via the fourth coupling, and the bottom end of the second right vertical rod is connected to the right steering wheel hub shaft via the right steering wheel bracket. The left rolling bearing is sleeved on the body of the second left vertical rod, and the outer ring of the left rolling bearing is fixedly connected to the vehicle frame. The right rolling bearing is sleeved on the body of the second right vertical rod, and the outer ring of the right rolling bearing is fixedly connected to the vehicle frame. The top end of the steering column is connected to the steering motor shaft via the first universal coupling, and the bottom end of the steering column is connected to the first bevel gear via the second universal coupling.

[0013] In a preferred embodiment of the present invention, the left steering wheel bracket includes a left horizontal support plate and a left vertical support plate. The left horizontal support plate is horizontally disposed at the bottom end of the first left vertical rod, and the left vertical support plate is vertically disposed on the right side of the left horizontal support plate. The top end of the left vertical support plate is fixedly connected to the right end of the left horizontal support plate, and the bottom end of the left vertical support plate is fixedly connected to the left steering wheel hub shaft. The right steering wheel bracket includes a right horizontal support plate and a right vertical support plate. The right horizontal support plate is horizontally disposed at the bottom end of the first right vertical rod, and the right vertical support plate is vertically disposed on the left side of the right horizontal support plate. The top end of the right vertical support plate is fixedly connected to the left end of the right horizontal support plate, and the bottom end of the right vertical support plate is fixedly connected to the right steering wheel hub shaft.

[0014] In a preferred embodiment of the present invention, the vehicle frame includes a front frame, a middle frame, and a rear frame. The front frame is basket-shaped and located at the front of the vehicle frame. A control box is located inside the front frame, and a power supply battery is located inside the front frame. A left steering wheel and a right steering wheel are respectively located on the lower sides of the front frame. Two sets of hub motors are provided, one on the left steering wheel and the other on the right steering wheel. The steering system is located at the front frame. The middle frame is vertically frame-shaped and located in the middle section of the vehicle frame. Guide grooves are provided on the vertical frames on both sides of the middle frame. The load-bearing mechanism, the lifting mechanism, and the weighing mechanism are located at the middle frame. The rear frame is U-shaped and located at the rear of the vehicle frame. A left rear wheel and a right rear wheel are respectively located on both sides of the rear frame. The hub motors, the steering system, the lifting mechanism, and the weighing mechanism are controlled by the controller.

[0015] In a preferred embodiment of the present invention, the detection system includes a front radar, a rear radar, a left radar, and a right radar. The front radar is located in the middle of the upper front end of the housing, the rear radar is located in the middle of the upper rear end of the housing, and the left and right radars are respectively located on the left and right sides of the housing. The front radar is a 360-degree lidar, the rear radar is a short-range lidar, and both the left and right radars use ultrasonic sensors. The positioning system uses an RTK high-precision positioning system and a SLAM lidar mapping and navigation fusion positioning system. The controller uses an RK3588 controller, and the network system uses a 4G / 5G network. The front radar, rear radar, left radar, right radar, positioning system, and network system are controlled by the controller.

[0016] In a preferred embodiment of the present invention, the unmanned garbage collection vehicle further includes a display, an indicator light, a pedestrian warning light, a side marker light, a left turn signal, a right turn signal, a left taillight, and a right taillight. The display is disposed on the upper front part of the outer shell, the indicator light is disposed on the outer shell above the display, the pedestrian warning light is disposed on the top of the outer shell, the side marker light is disposed on the lower front part of the outer shell, the left turn signal and the right turn signal are respectively disposed on the left front side and the right front side of the outer shell, and the left taillight and the right taillight are respectively disposed on the upper sides of the rear end of the outer shell. The display, indicator light, pedestrian warning light, side marker light, left turn signal, right turn signal, left taillight, and right taillight are controlled by the controller.

[0017] By adopting the above structure, the present invention has the following beneficial effects: This invention relates to an unmanned garbage collection vehicle, comprising a shell, a chassis unit, a power and supply unit, an autonomous driving unit, and a human-machine interface unit, and further including a lifting and weighing unit. The chassis unit includes a frame and a steering system for controlling the vehicle's precise 360-degree steering in place. The power and supply unit includes hub motors providing driving force to the vehicle and a battery providing power. The autonomous driving unit includes a detection system for sensing the environment and identifying garbage bins, and a positioning system for setting the vehicle's driving route. The human-machine interface unit includes a controller for processing data and a network system for transmitting data. The lifting and weighing unit includes a carrying mechanism for loading the garbage bins, a lifting mechanism for lifting the garbage bins, and a weighing mechanism for measuring the weight of the garbage bins. The steering system, hub motors, detection system, positioning system, network system, lifting mechanism, and weighing mechanism are controlled by the controller. This invention utilizes a battery to power the entire vehicle, controlled by a controller, with hub motors providing power. The steering system allows for precise 360-degree steering with large-angle, flexible turns. A detection system automatically identifies the outline of the garbage bin, accurately aligning the vehicle with it. A load-bearing mechanism loads the garbage bin precisely, a lifting mechanism automatically lifts the bin, and a weighing mechanism automatically weighs and measures the amount of garbage. A positioning system guides the vehicle along a designated route, and the detection system senses the environment, enabling the vehicle to avoid and bypass obstacles. Data is transmitted to a cloud platform via a network system. The entire process is unmanned and unattended, saving time and effort, increasing efficiency, reducing labor costs, and minimizing noise disturbance to residents.

[0018] The weighing mechanism of this invention includes a weighing sensor. The lifting mechanism includes a push cylinder, a lower support, and an upper support. The bottom end of the push cylinder is connected to the weighing sensor via the lower support. The weighing sensor is fixedly connected to the vehicle frame. The carrying mechanism includes a hook, a connecting plate, a lifting frame, and a limiting mechanism. The hook is connected to the lifting frame via the connecting plate. The lifting frame is fixedly connected to the push rod of the push cylinder via the upper support. The lifting frame and the vehicle frame are slidably or rollably connected in the vertical direction. The limiting mechanism is disposed on the lifting frame and is used to prevent the garbage bin from shaking. This invention uses a push cylinder to lift the carrying mechanism, uses the hook and lifting frame structure to hang the garbage bin, uses a weighing sensor to obtain the weight of the garbage bin, and the sliding or rolling connection between the lifting frame and the vehicle frame makes lifting smooth, hanging, and weighing stable and reliable. The limiting mechanism can prevent the garbage bin from shaking.

[0019] The lifting frame of this invention includes an upper horizontal plate, a left vertical plate, a lower horizontal plate, and a right vertical plate. The upper horizontal plate is horizontally arranged, the lower horizontal plate is vertically arranged, and the left and right vertical plates are vertically arranged. The upper, left, lower, and right vertical plates are connected end-to-end to form a frame structure. The connecting plate is horizontally arranged, and its left and right sides are connected to the upper parts of the left and right vertical plates, respectively. The hook is arranged on the connecting plate. Rollers are provided on the left side of the left vertical plate and the right side of the right vertical plate. The frame has left and right... The lifting frame has guide grooves on both sides. Rollers move up and down within these guide grooves, forming a rolling connection with the vehicle frame. The lower support is U-shaped, and its bottom center is bolted to the load cell. The bottom of the push cylinder has a connecting rod that is embedded in the lower support and connected to its upper part via a pin. The upper support is inverted U-shaped, and its top is bolted to the upper cross plate. The push rod of the push cylinder is embedded in the upper support and connected to its lower part via a pin. This structure facilitates the installation and maintenance of the push cylinder, ensures the lifting frame is robust and stable, and simplifies hook installation. It limits the lifting frame's movement while allowing for smooth vertical movement. The load cell is highly stable and reliable, ensuring accurate weighing.

[0020] The limiting mechanism of this invention includes a mounting plate, a limiting collision plate, and a limiting rod. The mounting plate is vertically and horizontally positioned below the hook and is connected to the lifting frame. A through hole is formed on the mounting plate. The limiting collision plate is positioned in front of the mounting plate. The front end of the limiting rod passes through the through hole and connects to the limiting collision plate. The rear end of the limiting rod is connected to the mounting plate behind it via a tension spring. This limiting mechanism has a very simple structure and provides excellent practical effect in preventing the trash can from shaking.

[0021] The steering system of this invention includes a steering motor, a steering column, a left steering wheel, a right steering wheel, a left steering wheel bracket, a right steering wheel bracket, a first left crossbar, a first right crossbar, a first left vertical bar, a first right vertical bar, a first bevel gear, a second bevel gear, a third bevel gear, a fourth bevel gear, a fifth bevel gear, a sixth bevel gear, a seventh bevel gear, and a positioning mechanism. The steering motor is connected to the vehicle frame, the top of the steering column is connected to the motor shaft of the steering motor, the steering column is positioned above and between the left and right steering wheels, the first bevel gear is positioned at the bottom of the steering column, the first left crossbar is horizontally positioned on the left side of the steering column, the second bevel gear is positioned on the right side of the first left crossbar and meshes with the first bevel gear, the first right crossbar is horizontally positioned on the right side of the steering column, and the third bevel gear is positioned on the first right crossbar. At the left end of the rod, the third bevel gear meshes with the first bevel gear. The fourth and fifth bevel gears are respectively located at the left end of the first left horizontal bar and the right end of the first right horizontal bar. The first left and first right vertical bars are respectively vertically located below the left side of the first left horizontal bar and below the right side of the first right horizontal bar. The sixth bevel gear is located at the top of the first left vertical bar and meshes with the fourth bevel gear. The seventh bevel gear is located at the top of the first right vertical bar and meshes with the fifth bevel gear. The bottom end of the first left vertical bar is connected to the left steering wheel hub shaft via the left steering wheel bracket, and the bottom end of the first right vertical bar is connected to the right steering wheel hub shaft via the right steering wheel bracket. The positioning mechanism includes a positioning shell and a fixing frame. The positioning shell defines the position of each bevel gear, and the fixing frame is fixedly connected to the positioning shell. This invention's steering system, through the meshing connection and rotation direction conversion of the bevel gears, and the reliable support of the steering wheel bracket, enables the steering wheel to rotate flexibly at large angles, ensuring that the vehicle can accurately align with the garbage bin.

[0022] The steering system of the present invention further includes a second left crossbar, a second right crossbar, a second left vertical bar, a second right vertical bar, a first coupling, a second coupling, a third coupling, a fourth coupling, a left rolling bearing, a right rolling bearing, a first universal coupling, and a second universal coupling. The second left crossbar is horizontally disposed to the left of the first left crossbar. The fourth bevel gear is disposed at the left end of the second left crossbar and meshes with a sixth bevel gear. The right end of the second left crossbar is connected to the left end of the first left crossbar via the first coupling. The second right crossbar is horizontally disposed to the right of the first right crossbar. The fifth bevel gear is disposed at the right end of the second right crossbar and meshes with a seventh bevel gear. The left end of the second right crossbar is connected to the right end of the first right crossbar via the second coupling. The second left vertical bar is disposed to the first left vertical bar. Below, the top end of the second left vertical rod is connected to the bottom end of the first left vertical rod via the third coupling, and the bottom end of the second left vertical rod is connected to the left steering wheel hub shaft via the left steering wheel bracket. The second right vertical rod is located below the first right vertical rod, and the top end of the second right vertical rod is connected to the bottom end of the first right vertical rod via the fourth coupling, and the bottom end of the second right vertical rod is connected to the right steering wheel hub shaft via the right steering wheel bracket. The left rolling bearing is sleeved on the body of the second left vertical rod, and the outer ring of the left rolling bearing is fixedly connected to the vehicle frame. The right rolling bearing is sleeved on the body of the second right vertical rod, and the outer ring of the right rolling bearing is fixedly connected to the vehicle frame. The top end of the steering column is connected to the steering motor shaft via the first universal coupling, and the bottom end of the steering column is connected to the first bevel gear via the second universal coupling. In this way, the structure of the coupling facilitates the installation and maintenance of the bevel gear, crossbar, and vertical bar, and also serves as a buffer. The structure of the rolling bearing ensures that the vertical bar connection is stable and reliable, and the rotation is smoother. The structure of the universal coupling facilitates the installation and maintenance of the first bevel gear and the steering column, and allows the steering column to be adjusted within a certain angle range.

[0023] The left steering wheel bracket of this invention includes a left horizontal support plate and a left vertical support plate. The left horizontal support plate is horizontally disposed at the bottom end of the first left vertical rod, and the left vertical support plate is vertically disposed on the right side of the left horizontal support plate. The top end of the left vertical support plate is fixedly connected to the right end of the left horizontal support plate, and the bottom end of the left vertical support plate is fixedly connected to the left steering wheel hub shaft. The right steering wheel bracket includes a right horizontal support plate and a right vertical support plate. The right horizontal support plate is horizontally disposed at the bottom end of the first right vertical rod, and the right vertical support plate is vertically disposed on the left side of the right horizontal support plate. The top end of the right vertical support plate is fixedly connected to the left end of the right horizontal support plate, and the bottom end of the right vertical support plate is fixedly connected to the right steering wheel hub shaft. This simple structure achieves convenient connection and reliable support.

[0024] The vehicle frame of this invention includes a front frame, a middle frame, and a rear frame. The front frame is basket-shaped and located at the front of the frame. A control box and a power supply battery are housed within the front frame. A left and right steering wheel are located on the lower sides of the front frame, respectively. Two sets of hub motors are provided, one on each of the left and right steering wheels. The steering system is located at the front frame. The middle frame is vertically frame-shaped and located in the middle section of the frame. Guide grooves are provided on the vertical edges of the middle frame. A load-bearing mechanism, a lifting mechanism, and a weighing mechanism are located at the middle frame. The rear frame is U-shaped and located at the rear of the frame. A left and right rear wheel are located on each side of the rear frame. The hub motors, steering system, lifting mechanism, and weighing mechanism are controlled by a controller. The frame structure is robust and reliable, facilitating the installation of each mechanism and ensuring their proper function. The two sets of hub motors provide strong driving force, making the system economical and practical.

[0025] The detection system of this invention includes a front radar, a rear radar, a left radar, and a right radar. The front radar is located in the upper middle of the front end of the housing, the rear radar is located in the upper middle of the rear end of the housing, and the left and right radars are respectively located on the left and right sides of the housing. The front radar is a 360-degree lidar, the rear radar is a short-range lidar, and both the left and right radars use ultrasonic sensors. The positioning system uses an RTK high-precision positioning system and a SLAM lidar mapping and navigation fusion positioning system. The controller uses an RK3588 controller, and the network system uses a 4G / 5G network. The front radar, rear radar, left radar, right radar, positioning system, and network system are controlled by the controller. This allows for automatic control of the vehicle's surrounding environment, automatic control of the vehicle's safe driving along a set route, automatic and accurate detection of the shape and position of the trash can, automatic loading of the trash can, automatic transportation and unloading of the trash can, and automatic transmission of data to the cloud via the 4G / 5G network.

[0026] The unmanned garbage collection vehicle of this invention also includes a display, indicator lights, pedestrian warning lights, side marker lights, left turn signals, right turn signals, left taillights, and right taillights. The display is located on the upper front part of the outer shell, the indicator lights are located on the outer shell above the display, the pedestrian warning lights are located on the top of the outer shell, the side marker lights are located on the lower front part of the outer shell, the left and right turn signals are located on the left and right front sides of the outer shell, respectively, and the left and right taillights are located on the upper rear sides of the outer shell, respectively. The display, indicator lights, pedestrian warning lights, side marker lights, left and right turn signals, left and right taillights, and right taillights are controlled by the controller. This further enhances pedestrian protection and provides operational reminders.

[0027] This invention has a simple structure, is easy to implement, simple to install and operate, and has low manufacturing cost. Attached Figure Description

[0028] The specific embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0029] Figure 1 This is a three-dimensional schematic diagram of the internal structure of the driverless garbage collection vehicle of the present invention.

[0030] Figure 2 This is a rear perspective perspective view of the structure of the bearing mechanism, lifting mechanism and weighing mechanism of the present invention mounted on the vehicle frame.

[0031] Figure 3 This is a rear-view perspective view of the structure of the bearing mechanism, lifting mechanism and weighing mechanism of the present invention.

[0032] Figure 4 This is a three-dimensional schematic diagram of the limiting mechanism structure of the bearing mechanism of the present invention.

[0033] Figure 5 This is a three-dimensional schematic diagram of the steering system structure of the present invention.

[0034] Figure 6 This is a three-dimensional schematic diagram of the structure of the transmission part of the steering system of the present invention.

[0035] Figure 7 This is a three-dimensional schematic diagram of the positioning mechanism structure of the steering system of the present invention.

[0036] Figure 8 This is a three-dimensional schematic diagram of the vehicle frame structure of the present invention.

[0037] Figure 9 This is a three-dimensional schematic diagram of the external structure of the present invention.

[0038] Figure 10 This is a rear-view perspective view of the external structure of the present invention.

[0039] Figure 11 This is a rear-view stereoscopic diagram showing the invention in use. Detailed Implementation

[0040] See Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Figure 9 , Figure 10 and Figure 11The unmanned garbage collection vehicle shown includes a shell 1, a chassis unit, a power and supply unit, an autonomous driving unit, and a human-machine interaction unit, as well as a lifting and weighing unit. The chassis unit includes a frame 2 and a steering system 3 for precise 360-degree steering while stationary. The power and supply unit includes hub motors 4 providing driving force to the vehicle and a battery 5 providing power. The autonomous driving unit includes a detection system for sensing the environment and identifying garbage bins, and a positioning system for setting the vehicle's driving route. The human-machine interaction unit includes a controller for processing data and a network system for transmitting data. The lifting and weighing unit includes a carrying mechanism 6 for loading the garbage bins, a lifting mechanism 7 for lifting the garbage bins, and a weighing mechanism 8 for measuring the weight of the garbage bins. The steering system 3, hub motors 4, detection system, positioning system, network system, lifting mechanism 7, and weighing mechanism 8 are controlled by the controller.

[0041] As a preferred embodiment of the present invention, such as Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, the weighing mechanism 8 includes a weighing sensor 8-1, the lifting mechanism 7 includes a push cylinder 7-1, a lower bracket 7-2, and an upper bracket 7-3. The bottom end of the cylinder body of the push cylinder 7-1 is connected to the weighing sensor 8-1 through the lower bracket 7-2. The weighing sensor 8-1 is fixedly connected to the vehicle frame 2. The bearing mechanism 6 includes a hook 6-1, a connecting plate 6-2, a lifting frame 6-3, and a limiting mechanism 6-4. The hook 6-1 is connected to the lifting frame 6-3 through the connecting plate 6-2. The lifting frame 6-3 is fixedly connected to the push rod of the push cylinder 7-1 through the upper bracket 7-2. The lifting frame 6-3 is slidably or rollably connected to the vehicle frame 2 in the vertical direction. The limiting mechanism 6-4 is disposed on the lifting frame 6-3 and is used to prevent the garbage bin from shaking.

[0042] As a preferred embodiment of the present invention, such as Figure 2 and Figure 3As shown, the lifting frame 6-3 includes an upper horizontal plate 6-3-1, a left vertical plate 6-3-2, a lower horizontal plate 6-3-3, and a right vertical plate 6-3-4. The upper horizontal plate 6-3-1 is horizontally arranged, the lower horizontal plate 6-3-3 is horizontally arranged, and the left vertical plate 6-3-2 and right vertical plate 6-3-4 are vertically arranged. The upper horizontal plate 6-3-1, left vertical plate 6-3-2, lower horizontal plate 6-3-3, and right vertical plate 6-3-4 are connected end to end to form a frame structure. The connecting plate 6-2 is horizontally arranged, and its left and right sides are connected to the upper parts of the left vertical plate 6-3-2 and right vertical plate 6-3-4, respectively. The hook 6-1 is provided on the connecting plate 6-2. The left side of the left vertical plate 6-3-2 and the right vertical plate 6-3-4 are connected to the upper parts of the right vertical plate 6-3-4. 4. Rollers 6-5 are provided on the right side respectively. Guide grooves 2-1 are provided on the left and right sides of the frame 2 respectively. The lifting frame 6-3 moves up and down in the guide grooves 2-1 through the rollers 6-5 to form a rolling connection with the frame 2. The lower support 7-2 is U-shaped. The bottom center of the lower support 7-2 is connected to the weighing sensor 8-1 by bolts. The bottom end of the push cylinder 7-1 is provided with a connecting rod 7-4. The connecting rod 7-4 is embedded in the lower support 7-2 and connected to the upper part of the lower support 7-2 by a pin. The upper support 7-3 is U-shaped. The top of the upper support 7-3 is connected to the upper cross plate 6-3-1 by bolts. The push rod of the push cylinder 7-1 is embedded in the upper support 7-3 and connected to the lower part of the upper support 7-3 by a pin.

[0043] As a preferred embodiment of the present invention, such as Figure 2 , Figure 3 and Figure 4 As shown, the limiting mechanism 6-4 includes a mounting plate 6-4-1, a limiting collision plate 6-4-2, and a limiting rod 6-4-3. The mounting plate 6-4-1 is vertically and horizontally arranged below the hook 6-1. The mounting plate 6-4-1 is connected to the lifting frame 6-3. The mounting plate 6-4-1 has a through hole. The limiting collision plate 6-4-2 is located in front of the mounting plate 6-4-1. The front end of the limiting rod 6-4-3 passes through the through hole and is connected to the limiting collision plate 6-4-2. The rear end of the limiting rod 6-4-3 is connected to the mounting plate 6-4-1 behind the mounting plate 6-4-1 by a tension spring 6-4-4.

[0044] As a preferred embodiment of the present invention, such as Figure 1 , Figure 5 , Figure 6 and Figure 7As shown, the steering system 3 includes a steering motor 3-1, a steering column 3-2, a left steering wheel 3-3, a right steering wheel 3-4, a left steering wheel bracket 3-5, a right steering wheel bracket 3-6, a first left crossbar 3-7, a first right crossbar 3-8, a first left vertical bar 3-9, a first right vertical bar 3-10, a first bevel gear 3-11, a second bevel gear 3-12, a third bevel gear 3-13, a fourth bevel gear 3-14, a fifth bevel gear 3-15, a sixth bevel gear 3-16, a seventh bevel gear 3-17, and a positioning mechanism 3-18. The steering motor 3-1 is connected to the vehicle frame 2, and the steering column 3-2... The top end is connected to the motor shaft of the steering motor 3-1. The steering column 3-2 is located above the middle of the left steering wheel 3-3 and the right steering wheel 3-4. The first bevel gear 3-11 is located at the bottom end of the steering column 3-2. The first left crossbar 3-7 is horizontally located on the left side of the steering column 3-2. The second bevel gear 3-12 is located at the right end of the first left crossbar 3-7 and meshes with the first bevel gear 3-11. The first right crossbar 3-8 is horizontally located on the right side of the steering column 3-2. The third bevel gear 3-13 is located on the first right crossbar 3-8. -8 At the left end, the third bevel gear 3-13 meshes with the first bevel gear 3-11. The fourth bevel gear 3-14 and the fifth bevel gear 3-15 are respectively located at the left end of the first left horizontal bar 3-7 and the right end of the first right horizontal bar 3-8. The first left vertical bar 3-9 and the first right vertical bar 3-10 are respectively vertically located below the left side of the first left horizontal bar 3-7 and below the right side of the first right horizontal bar 3-8. The sixth bevel gear 3-16 is located at the top of the first left vertical bar 3-9 and meshes with the fourth bevel gear (3-14). The seventh bevel gear 3-17 is located at... At the top of the first right vertical rod 3-10, the seventh bevel gear 3-17 is meshed with the fifth bevel gear 3-15. The bottom of the first left vertical rod 3-9 is connected to the hub shaft of the left steering wheel 3-3 through the left steering wheel bracket 3-5. The bottom of the first right vertical rod 3-10 is connected to the hub shaft of the right steering wheel 3-4 through the right steering wheel bracket 3-6. The positioning mechanism 3-18 includes a positioning shell 3-18-1 and a fixing frame 3-18-2. The positioning shell 3-18-1 defines the position of each bevel gear, and the fixing frame 3-18-2 is fixedly connected to the positioning shell 3-18-1.

[0045] As a preferred embodiment of the present invention, such as Figure 5 and Figure 6As shown, the steering system 3 further includes a second left crossbar 3-19, a second right crossbar 3-20, a second left vertical bar 3-21, a second right vertical bar 3-22, a first coupling 3-23, a second coupling 3-24, a third coupling 3-25, a fourth coupling 3-26, a left rolling bearing 3-27, a right rolling bearing 3-28, a first universal coupling 3-29, and a second universal coupling 3-30. The second left crossbar 3-19 is horizontally arranged to the left of the first left crossbar 3-7. The fourth bevel gear 3-14 is arranged at the left end of the second left crossbar 3-19. The fourth bevel gear 3-14 meshes with the sixth bevel gear 3-16. The right end of the second left crossbar 3-19 is connected to the left end of the first left crossbar 3-7 via the first coupling 3-23. The second right crossbar 3-20 is horizontally positioned to the right of the first right crossbar 3-8. The fifth bevel gear 3-15 is positioned at the right end of the second right crossbar 3-20 and meshes with the seventh bevel gear 3-17. The left end of the second right crossbar 3-20 is connected to the right end of the first right crossbar 3-8 via the second coupling 3-24. The second left vertical bar 3-21... The second left vertical rod 3-21 is positioned below the first left vertical rod 3-9. Its top end is connected to the bottom end of the first left vertical rod 3-9 via the third coupling 3-25, and its bottom end is connected to the hub shaft of the left steering wheel 3-3 via the left steering wheel bracket 3-5. The second right vertical rod 3-22 is positioned below the first right vertical rod 3-10. Its top end is connected to the bottom end of the first right vertical rod 3-10 via the fourth coupling 3-26, and its bottom end is connected to the right steering wheel 3-3 via the right steering wheel bracket 3-6. The steering wheel 3-4 is connected to the hub shaft. The left rolling bearing 3-27 is sleeved on the second left vertical rod 3-21. The outer ring of the left rolling bearing 3-27 is fixedly connected to the frame 2. The right rolling bearing 3-28 is sleeved on the second right vertical rod 3-22. The outer ring of the right rolling bearing 3-28 is fixedly connected to the frame 2. The top end of the steering column 3-2 is connected to the motor shaft of the steering motor 3-1 through the first universal coupling 3-29. The bottom end of the steering column 3-2 is connected to the first bevel gear 3-11 through the second universal coupling 3-30.

[0046] As a preferred embodiment of the present invention, such as Figure 5 and Figure 6As shown, the left steering wheel bracket 3-5 includes a left horizontal support plate 3-5-1 and a left vertical support plate 3-5-2. The left horizontal support plate 3-5-1 is horizontally arranged at the bottom end of the first left vertical rod 3-9, and the left vertical support plate 3-5-2 is vertically arranged on the right side of the left horizontal support plate 3-5-1. The top end of the left vertical support plate 3-5-2 is fixedly connected to the right end of the left horizontal support plate 3-5-1, and the bottom end of the left vertical support plate 3-5-2 is fixedly connected to the hub axle of the left steering wheel 3-3. The right steering wheel bracket 3-6 includes a right horizontal support plate 3-6-1 and a right vertical support plate 3-6-2. The right horizontal support plate 3-6-1 is horizontally arranged at the bottom end of the first right vertical rod 3-10. The right vertical support plate 3-6-2 is vertically arranged on the left side of the right horizontal support plate 3-6-1. The top end of the right vertical support plate 3-6-2 is fixedly connected to the left end of the right horizontal support plate 3-6-1, and the bottom end of the right vertical support plate 3-6-2 is fixedly connected to the hub axle of the right steering wheel 3-4.

[0047] As a preferred embodiment of the present invention, such as Figure 1 and Figure 8 As shown, the frame 2 includes a front frame 2-2, a middle frame 2-3, and a rear frame 2-4. The front frame 2-2 is basket-shaped and is located at the front of the frame 2. A control box 9 is located inside the front frame 2-2, and a controller is located inside the control box 9. The power supply battery 5 is located inside the front frame 2-2. A left steering wheel 3-3 and a right steering wheel 3-4 are respectively located on the lower sides of the front frame 2-2. Two sets of hub motors 4 are provided, one on the left steering wheel 3-3 and the other on the right steering wheel 3-4. The steering system 3 is located at the front frame 2-2. The intermediate frame 2-3 is a vertical frame and is located in the middle section of the frame 2. Guide grooves 2-1 are provided on the vertical frame sides of the intermediate frame 2-3. The load-bearing mechanism 6, the lifting mechanism 7 and the weighing mechanism 8 are located at the intermediate frame 2-3. The rear frame 2-4 is U-shaped and is located at the rear section of the frame 2. The left rear wheel 10 and the right rear wheel 11 are respectively provided on both sides of the rear frame 2-4. The hub motor 4, the steering system 3, the lifting mechanism 7 and the weighing mechanism 8 are controlled by the controller.

[0048] As a preferred embodiment of the present invention, such as Figure 9 , Figure 10 and Figure 11As shown, the detection system includes a front radar 12, a rear radar 13, a left radar 14, and a right radar 15. The front radar 12 is located in the middle of the upper front end of the outer casing 1, the rear radar 13 is located in the middle of the upper rear end of the outer casing 1, and the left radar 14 and right radar 15 are respectively located on the left and right sides of the outer casing 1. The front radar 12 is a 360-degree lidar, the rear radar 13 is a short-range lidar, and both the left radar 14 and right radar 15 are ultrasonic sensors. The positioning system uses an RTK high-precision positioning system and a SLAM lidar mapping and navigation fusion positioning system. The controller uses an RK3588 controller, and the network system uses a 4G / 5G network. The front radar 12, rear radar 13, left radar 14, right radar 15, positioning system, and network system are controlled by the controller.

[0049] As a preferred embodiment of the present invention, such as Figure 9 , Figure 10 and Figure 11 As shown, the unmanned garbage collection vehicle also includes a display 16, an indicator light 17, a pedestrian warning light 18, a side marker light 19, a left turn signal 20, a right turn signal 21, a left taillight 22, and a right taillight (23). The display 16 is located on the upper front part of the housing 1. The indicator light 17 is located on the housing 1 above the display 16. The pedestrian warning light 18 is located on the top of the housing 1. The side marker light 19 is located on the lower front part of the housing 1. The left turn signal 20 and the right turn signal 21 are respectively located on the left front side and the right front side of the housing 1. The left taillight 22 and the right taillight 23 are respectively located on the upper rear side of the housing 1. The display 16, indicator light 17, pedestrian warning light 18, side marker light 19, left turn signal 20, right turn signal 21, left taillight 22, and right taillight 23 are controlled by the controller.

[0050] This invention allows for loading garbage bins using various methods, such as hooking, carrying, or shoveling. Therefore, the supporting mechanism 6 can be implemented using corresponding structures. In practical applications, the supporting mechanism 6 uses a hook structure to hook and hang garbage bins, and can hang both 240L and 120L garbage bins. This structure is simple, practical, and convenient.

[0051] The push cylinder 7-1 described in this invention can be a commercially available electric cylinder or hydraulic cylinder. In practical applications, the push cylinder 7-1 uses a commercially available high-power electric cylinder, which has low noise and high lifting force.

[0052] The first coupling 3-23, the second coupling 3-24, the third coupling 3-25, and the fourth coupling 3-26 of this invention can be commercially available star couplings, planetary couplings, or pin couplings. In practical applications, commercially available star couplings are used, which can provide buffering, shock absorption, and ease of maintenance in the steering system.

[0053] The weighing sensor 8-1 described in this invention can be a commercially available spoke-type weighing sensor, a parallel beam weighing sensor, or a cantilever beam weighing sensor. In practical applications, the weighing sensor 8-1 uses a commercially available spoke-type weighing sensor, which can maintain stable output under vibration conditions, ensuring accurate and reliable weighing measurement.

[0054] The chassis and power unit of this invention feature a completely new frame structure. The front wheels consist of two sets of hub motor steering wheels, and the rear wheels consist of two sets of directional wheels. The two sets of hub motors form the power system, and an additional steering motor is added. The steering system adopts a three-stage bevel gear structure, which allows for flexible steering and a large steering angle. The steering motor rotates the bevel gears, which drive the two sets of hub motor steering wheels to achieve precise 360-degree steering on the spot. This allows for precise control of the unmanned garbage collection vehicle to align with the garbage bin loading point and accurately load the garbage bin.

[0055] This invention relates to a lifting and weighing unit. To adapt to different types of garbage bins, the carrying mechanism employs a hook design for mounting 240L and 120L garbage bins. Simultaneously, the lifting mechanism's drive cylinder is a high-power electric cylinder, with a spoke-type weighing sensor installed at the support point at the bottom of the cylinder body to weigh the mounted garbage bin. Two movable rollers on each side of the lifting frame move up and down within guide grooves in the channel steel on both sides of the frame, limiting the lifting frame's position and reducing damping. This ensures not only the stability of the lifting frame support but also its smooth movement. Furthermore, the limiting mechanism prevents the garbage bin from swaying, resulting in more stable loading, more accurate and stable weighing, and smoother garbage bin transportation. Thus, this invention satisfies both the transportation requirements for different types of garbage bins and the measurement requirements for garbage generation within the community.

[0056] This invention relates to an autonomous driving unit designed for use within residential communities, where the surrounding environment is relatively simple due to open roads. For autonomous driving, this invention employs a 360-degree LiDAR, a short-range LiDAR, and two sets of ultrasonic sensors, along with an LCD display system, indicator lights, pedestrian warning lights, side marker lights, turn signals, taillights, an RTK high-precision positioning system, and a SLAM LiDAR mapping, navigation, and positioning fusion system. In this scenario, it can perceive the environment, locate vehicles, detect trash cans, and provide pedestrian protection and operational alerts.

[0057] The human-computer interaction unit of this invention: In business scenarios, users process the generated business data in the cloud. The vehicle of this invention is equipped with a microcontroller that can control the connection to 4G / 5G network and transmit the business data of the execution process back to the user's big data center.

[0058] After testing, the unmanned garbage collection vehicle of this invention operates completely unattended. It achieves autonomous driving along a designated route, avoiding and bypassing obstacles. It can automatically recognize the outline of garbage bins, adjust the vehicle's posture, and achieve precise 360-degree turning on the spot. It accurately controls the vehicle to align with the garbage bin loading point, accurately lifting and loading the garbage bins, automatically weighing and measuring the amount of garbage, automatically transporting the garbage bins to the destination, and automatically unloading them. It can also automatically connect to 4G / 5G networks to transmit operational data back to the cloud. This invention operates without noise, causing no disturbance to residents, and has very high efficiency, greatly saving labor costs and fully meeting the community's garbage collection needs, achieving excellent practical results.

Claims

1. An unmanned garbage collection vehicle, comprising an outer shell (1), a chassis unit, a power and supply unit, an autonomous driving unit, and a human-machine interaction unit, characterized in that: It also includes a lifting and weighing unit. The chassis unit includes a frame (2) and a steering system (3) that controls the vehicle to turn precisely 360 degrees in place. The power and supply unit includes a hub motor (4) that provides driving force to the vehicle and a power supply battery (5) that provides power to the vehicle. The autonomous driving unit includes a detection system for sensing the environment and identifying trash cans, and a positioning system for setting the vehicle's driving route; The human-computer interaction unit includes a controller for processing data and a network system for transmitting data; The lifting and weighing unit includes a carrying mechanism (6) for loading the garbage bin, a lifting mechanism (7) for lifting the garbage bin, and a weighing mechanism (8) for measuring the weight of the garbage bin.

2. The steering system (3), hub motor (4), detection system, positioning system, network system, lifting mechanism (7) and weighing mechanism (8) are controlled by the controller.

3. The unmanned garbage collection vehicle according to claim 1, characterized in that: The weighing mechanism (8) includes a weighing sensor (8-1), the lifting mechanism (7) includes a push cylinder (7-1), a lower bracket (7-2), and an upper bracket (7-3). The bottom end of the cylinder body of the push cylinder (7-1) is connected to the weighing sensor (8-1) through the lower bracket (7-2). The weighing sensor (8-1) is fixedly connected to the vehicle frame (2). The load-bearing mechanism (6) includes a hook (6-1), a connecting plate (6-2), and a lifting frame (6-3). The hook (6-1) is connected to the lifting frame (6-3) via the connecting plate (6-2). The lifting frame (6-3) is fixedly connected to the push rod of the push cylinder (7-1) via the upper bracket (7-2). The lifting frame (6-3) and the vehicle frame (2) are slidably or rollably connected in the vertical direction. The limiting mechanism (6-4) is set on the lifting frame (6-3) and is used to prevent the garbage bin from shaking.

4. The unmanned garbage collection vehicle according to claim 2, characterized in that: The lifting frame (6-3) includes an upper horizontal plate (6-3-1), a left vertical plate (6-3-2), a lower horizontal plate (6-3-3), and a right vertical plate (6-3-4). The upper horizontal plate (6-3-1) is horizontally arranged, the lower horizontal plate (6-3-3) is vertically arranged, and the left vertical plate (6-3-2) and right vertical plate (6-3-4) are vertically arranged. A horizontal plate (6-3-3) and a right vertical plate (6-3-4) are connected end to end to form a frame structure. A connecting plate (6-2) is installed vertically and horizontally. The left and right sides of the connecting plate (6-2) are connected to the upper parts of the left vertical plate (6-3-2) and the right vertical plate (6-3-4), respectively. A hook (6-1) is installed on the connecting plate (6-2). The left side of the left vertical plate (6-3-2) and the right side of the right vertical plate (6-3-4) are connected to the upper parts of the right vertical plate (6-3-4). Rollers (6-5) are provided on each side. Guide grooves (2-1) are provided on the left and right sides of the frame (2). The lifting frame (6-3) moves up and down in the guide grooves (2-1) through the rollers (6-5) to form a rolling connection with the frame (2). The lower support (7-2) is U-shaped. The bottom center of the lower support (7-2) is connected to the weighing sensor (8-1) by bolts. The bottom end of the push cylinder (7-1) is provided with a connecting rod (7-4). The connecting rod (7-4) is embedded in the lower support (7-2) and connected to the upper part of the lower support (7-2) through a pin. The upper support (7-3) is U-shaped. The top of the upper support (7-3) is connected to the upper cross plate (6-3-1) by bolts. The push rod of the push cylinder (7-1) is embedded in the upper support (7-3) and connected to the lower part of the upper support (7-3) through a pin.

5. The unmanned garbage collection vehicle according to claim 2, characterized in that: The limiting mechanism (6-4) includes a mounting plate (6-4-1), a limiting collision plate (6-4-2), and a limiting rod (6-4-3). The mounting plate (6-4-1) is vertically and horizontally arranged below the hook (6-1). The mounting plate (6-4-1) is connected to the lifting frame (6-3). The mounting plate (6-4-1) has a through hole. The limiting collision plate (6-4-2) is arranged in front of the mounting plate (6-4-1). The front end of the limiting rod (6-4-3) passes through the through hole and is connected to the limiting collision plate (6-4-2). The rear end of the limiting rod (6-4-3) is connected to the mounting plate (6-4-1) behind the mounting plate (6-4-1) by a tension spring (6-4-4).

6. The unmanned garbage collection vehicle according to claim 1, characterized in that: The steering system (3) includes a steering motor (3-1), a steering column (3-2), a left steering wheel (3-3), a right steering wheel (3-4), a left steering wheel bracket (3-5), a right steering wheel bracket (3-6), a first left crossbar (3-7), a first right crossbar (3-8), a first left vertical bar (3-9), a first right vertical bar (3-10), a first bevel gear (3-11), a second bevel gear (3-12), a third bevel gear (3-13), a fourth bevel gear (3-14), a fifth bevel gear (3-15), a sixth bevel gear (3-16), a seventh bevel gear (3-17), and a positioning mechanism (3-18). The steering motor (3-1) is connected to the vehicle frame (2). The top of the steering column (3-2) is connected to the motor shaft of the steering motor (3-1). The steering column (3-2) is located above the middle of the left steering wheel (3-3) and the right steering wheel (3-4). The first bevel gear (3-11) is located at the bottom of the steering column (3-2). The first left crossbar (3-7) is horizontally located on the left side of the steering column (3-2). The second bevel gear (3-12) is located at the right end of the first left crossbar (3-7) and meshes with the first bevel gear (3-11). The first right crossbar (3-8) is horizontally located on the right side of the steering column (3-2). The third bevel gear (3-13) is located on the... At the left end of the first right crossbar (3-8), the third bevel gear (3-13) meshes with the first bevel gear (3-11). The fourth bevel gear (3-14) and the fifth bevel gear (3-15) are respectively located at the left end of the first left crossbar (3-7) and the right end of the first right crossbar (3-8). The first left vertical bar (3-9) and the first right vertical bar (3-10) are respectively vertically located below the left side of the first left crossbar (3-7) and below the right side of the first right crossbar (3-8). The sixth bevel gear (3-16) is located at the top of the first left vertical bar (3-9) and meshes with the fourth bevel gear (3-14). The seventh bevel gear (3-17)... The seventh bevel gear (3-17) is meshed with the fifth bevel gear (3-15) at the top of the first right vertical rod (3-10). The bottom end of the first left vertical rod (3-9) is connected to the hub shaft of the left steering wheel (3-3) through the left steering wheel bracket (3-5). The bottom end of the first right vertical rod (3-10) is connected to the hub shaft of the right steering wheel (3-4) through the right steering wheel bracket (3-6). The positioning mechanism (3-18) includes a positioning shell (3-18-1) and a fixing frame (3-18-2). The positioning shell (3-18-1) defines the position of each bevel gear, and the fixing frame (3-18-2) is fixedly connected to the positioning shell (3-18-1).

7. The unmanned garbage collection vehicle according to claim 5, characterized in that: The steering system (3) further includes a second left crossbar (3-19), a second right crossbar (3-20), a second left vertical bar (3-21), a second right vertical bar (3-22), a first coupling (3-23), a second coupling (3-24), a third coupling (3-25), a fourth coupling (3-26), a left rolling bearing (3-27), a right rolling bearing (3-28), a first universal coupling (3-29), and a second universal coupling (3-30). The second left crossbar (3-19) is horizontally positioned to the left of the first left crossbar (3-7), and the fourth bevel gear (3-14) is positioned at the left end of the second left crossbar (3-19). The fourth bevel gear (3-14) meshes with the sixth bevel gear (3-16). The right end of the second left crossbar (3-19) is connected to the left end of the first left crossbar (3-7) via the first coupling (3-23). ​​The second right crossbar (3-20) is horizontally positioned to the right of the first right crossbar (3-8). The fifth bevel gear (3-15) is positioned at the right end of the second right crossbar (3-20). The fifth bevel gear (3-15) meshes with the seventh bevel gear (3-17). The left end of the second right crossbar (3-20) is connected to the right end of the first right crossbar (3-8) via the second coupling (3-24). The second left vertical bar (3-2... 1) The second left vertical rod (3-21) is positioned below the first left vertical rod (3-9). The top end of the second left vertical rod (3-21) is connected to the bottom end of the first left vertical rod (3-9) via the third coupling (3-25). The bottom end of the second left vertical rod (3-21) is connected to the hub shaft of the left steering wheel (3-3) via the left steering wheel bracket (3-5). The second right vertical rod (3-22) is positioned below the first right vertical rod (3-10). The top end of the second right vertical rod (3-22) is connected to the bottom end of the first right vertical rod (3-10) via the fourth coupling (3-26). The bottom end of the second right vertical rod (3-22) is connected to the hub shaft of the right steering wheel (3-3) via the right steering wheel bracket (3-6). The steering wheel (3-4) is connected to the hub shaft. The left rolling bearing (3-27) is sleeved on the second left vertical rod (3-21). The outer ring of the left rolling bearing (3-27) is fixedly connected to the frame (2). The right rolling bearing (3-28) is sleeved on the second right vertical rod (3-22). The outer ring of the right rolling bearing (3-28) is fixedly connected to the frame (2). The top of the steering column (3-2) is connected to the motor shaft of the steering motor (3-1) through the first universal coupling (3-29). The bottom of the steering column (3-2) is connected to the first bevel gear (3-11) through the second universal coupling (3-30).

8. The unmanned garbage collection vehicle according to claim 5, characterized in that: The left steering wheel bracket (3-5) includes a left horizontal support plate (3-5-1) and a left vertical support plate (3-5-2). The left horizontal support plate (3-5-1) is horizontally arranged at the bottom end of the first left vertical rod (3-9), and the left vertical support plate (3-5-2) is vertically arranged on the right side of the left horizontal support plate (3-5-1). The top end of the left vertical support plate (3-5-2) is fixedly connected to the right end of the left horizontal support plate (3-5-1), and the bottom end of the left vertical support plate (3-5-2) is fixedly connected to the hub axle of the left steering wheel (3-3). The right steering wheel bracket (3-6) includes a right horizontal support plate (3-6-1) and a right vertical support plate (3-6-2). The right horizontal support plate (3-6-1) is horizontally arranged at the bottom end of the first right vertical rod (3-10). The right vertical support plate (3-6-2) is vertically arranged on the left side of the right horizontal support plate (3-6-1). The top end of the right vertical support plate (3-6-2) is fixedly connected to the left end of the right horizontal support plate (3-6-1). The bottom end of the right vertical support plate (3-6-2) is fixedly connected to the hub shaft of the right steering wheel (3-4).

9. The unmanned garbage collection vehicle according to claim 1, characterized in that: The frame (2) includes a front frame (2-2), a middle frame (2-3), and a rear frame (2-4). The front frame (2-2) is basket-shaped and is located at the front of the frame (2). A control box (9) is located inside the front frame (2-2), and a controller is located inside the control box (9). The power supply battery (5) is located inside the front frame (2-2). A left steering wheel (3-3) and a right steering wheel (3-4) are respectively located on the lower sides of the front frame (2-2). Two sets of hub motors (4) are provided, and the two sets of hub motors (4) are respectively located on the left steering wheel (3-3) and the right steering wheel (3-4). The steering system (3) is located at the front frame (2-2). The intermediate frame (2-3) is a vertical frame and is located in the middle section of the frame (2). Guide grooves (2-1) are provided on the vertical frame sides of the intermediate frame (2-3). The load-bearing mechanism (6), lifting mechanism (7) and weighing mechanism (8) are located at the intermediate frame (2-3). The rear frame (2-4) is U-shaped and is located at the rear section of the frame (2). The left rear wheel (10) and right rear wheel (11) are respectively provided on both sides of the rear frame (2-4). The hub motor (4), steering system (3), lifting mechanism (7) and weighing mechanism (8) are controlled by the controller.

10. The unmanned garbage collection vehicle according to claim 1, characterized in that: The detection system includes a front radar (12), a rear radar (13), a left radar (14), and a right radar (15). The front radar (12) is located in the middle of the upper front end of the outer shell (1), the rear radar (13) is located in the middle of the upper rear end of the outer shell (1), the left radar (14) and the right radar (15) are respectively located on the left and right sides of the outer shell (1). The front radar (12) is a 360-degree laser radar, the rear radar (13) is a short-range laser radar, and the left radar (14) and the right radar (15) are both ultrasonic sensors. The positioning system adopts an RTK high-precision positioning system and a SLAM laser radar mapping and navigation fusion positioning system. The controller adopts an RK3588 controller, and the network system adopts a 4G / 5G network. The front radar (12), rear radar (13), left radar (14), right radar (15), positioning system, and network system are controlled by the controller.

11. The unmanned garbage collection vehicle according to claim 1, characterized in that: The driverless garbage collection vehicle also includes a display (16), an indicator light (17), a pedestrian warning light (18), a side marker light (19), a left turn signal (20), a right turn signal (21), a left taillight (22), and a right taillight (23). The display (16) is located on the upper front of the housing (1), the indicator light (17) is located on the housing (1) above the display (16), the pedestrian warning light (18) is located on the top of the housing (1), and the side marker light (19) is located on the top of the housing (1). The left turn signal (20) and right turn signal (21) are respectively located on the left front side and right front side of the housing (1). The left taillight (22) and right taillight (23) are respectively located on the upper side of the rear end of the housing (1). The display (16), indicator light (17), pedestrian warning light (18), side marker light (19), left turn signal (20), right turn signal (21), left taillight (22) and right taillight (23) are controlled by the controller.

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