High-rise building intelligent garbage classification flying robot based on hybrid power and multi-mode obstacle avoidance

Abstract

The invention relates to the technical field of flying robots, and particularly discloses a high-rise building intelligent garbage classification flying robot based on hybrid power and multi-mode obstacle avoidance, comprising: an aircraft main body forming a main bearing structure of the robot; the hybrid power system is integrated on the aircraft body and comprises two auxiliary balance rotors fixedly installed on the upper portion of the aircraft body and foldable track structures symmetrically arranged on the two sides of the aircraft body, and the foldable track structures have the air flight state and the ground advancing state which can be switched; according to the device, full-process automation of intelligent garbage treatment is achieved through a highly-integrated electromechanical system, a hybrid power system is combined with a foldable crawler belt and an auxiliary balance rotor wing, and the robot can be automatically switched between high-altitude flight and ground advancing through real-time data fusion of a gyroscope and a path sensor; and obstacles in a complex building environment are effectively avoided.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of flying robots, in particular to a high-rise building intelligent garbage classification flying robot based on hybrid power and multi-modal obstacle avoidance. BACKGROUND

[0002] At present, garbage disposal devices applied to high-rise building environments mainly rely on indoor service robots of ground mobile platforms, which usually adopt wheel or track chassis structures and are equipped with simple sensors to realize indoor path planning and obstacle avoidance, and are mainly applied to garbage collection and short-distance transportation in families or corridors. The mobile mode is relatively single and the working range is limited. In the realization of garbage classification function, the existing technology mainly completes the function through the setting of intelligent garbage cans with image recognition function at fixed positions. After recognizing the garbage type through the built-in camera, the garbage is pushed into the corresponding storage bin by using the mechanical structure.

[0003] However, the ground mobile robot is limited by its moving mode and cannot effectively cross floors to realize the vertical delivery task of garbage from high-rise residents to the ground collection point. The existing fixed intelligent garbage can only realize the classification function and cannot solve the problem of automatic transportation of garbage from the generation point to the collection point. The classification and transportation links are mutually separated. At the same time, the classification algorithm has limited recognition accuracy when facing complex or shielded garbage items, and lacks a continuous monitoring and stability guarantee mechanism for the storage state of garbage during transportation, which is difficult to meet the actual needs of full unmanned and high-reliability operation in high-rise building scenarios. SUMMARY

[0004] The purpose of the present application is to provide a high-rise building intelligent garbage classification flying robot based on hybrid power and multi-modal obstacle avoidance to solve the problems raised in the background art.

[0005] To achieve the above-mentioned purpose, the present application provides the following technical scheme: a high-rise building intelligent garbage classification flying robot based on hybrid power and multi-modal obstacle avoidance, comprising: an aircraft body constituting the main load-bearing structure of the robot; a hybrid power system integrated on the aircraft body, comprising two auxiliary balance rotors fixedly installed on the upper part of the aircraft body, and foldable track structures symmetrically arranged on both sides of the aircraft body, the foldable track structures having switchable air flight state and ground travel state; a connecting claw with a fixed end connected to the bottom of the aircraft body; an intelligent classification garbage can fixedly installed at the front end of the aircraft body through the detachable end of the connecting claw; a control unit electrically connected with the hybrid power system and the intelligent classification garbage can; wherein the control unit is configured to control the switching of the hybrid power system between the flight mode and the ground travel mode.

[0006] In an embodiment, the charging device comprises a connecting frame, a housing fixedly installed above the connecting frame, a clamping mechanism arranged on the connecting frame and the housing, and a magnetic charging module arranged at a clamping end of the clamping mechanism. A monitoring camera is arranged between the two connecting frames and has a lens direction towards a docking area of the magnetic charging module. The monitoring camera is configured to identify a parking position of the aerial vehicle body and trigger the clamping mechanism to perform a clamping action so that the magnetic charging module is accurately docked with a corresponding charging interface.

[0007] In an embodiment, the foldable track structure comprises a mounting frame composed of a fixed part and a folding part. The fixed part is fixedly connected to a side of the aerial vehicle body, and the folding part is hingedly connected to the fixed part by a hinge. A locking mechanism is arranged at a hinge part between the fixed part and the folding part and comprises at least one locking screw. The locking screw is tightened after the folding part is rotated to a target position to fix the relative position of the folding part and the fixed part. An outer track is arranged on the folding part, and an inner flight fan is arranged on the folding part and located inside the outer track. The folding part can rotate around the pin shaft of the hinge to switch the outer track and the inner flight fan between a ground traveling state and an air flight state.

[0008] In an embodiment, the aerial vehicle body further comprises a sensor group comprising a gyroscope and a path sensor. The gyroscope is fixedly installed in a control cabin of the aerial vehicle body to continuously monitor the attitude angle change of the aerial vehicle body in three-dimensional space and transmit real-time attitude data to the control unit. The path sensor is arranged at the head and the bottom of the aerial vehicle body to obtain obstacle information and terrain feature data on the flight path and transmit environmental perception data to the control unit in real time. The attitude data provided by the gyroscope is used for flight stability control of the aerial vehicle body, and the environmental data provided by the path sensor is used for mobile mode switching decision and path planning of the hybrid power system.

[0009] In an embodiment, a CAN communication module is further included. The CAN communication module is connected with the control unit, the driving unit of the hybrid power system, and the driving unit of the foldable track structure through a CAN bus to transmit the mobile control instructions generated by the control unit to the hybrid power system and the foldable track structure and to receive real-time running state feedback data of the hybrid power system and the foldable track structure.

[0010] In an implementable embodiment, the clamping mechanism comprises two connecting arms, the two connecting arms are slidably arranged on the shell, and the inner end is fixedly connected with the magnetic charging module; two racks, the two racks are fixedly arranged on the two connecting arms respectively, and the tooth surfaces of the two racks are oppositely arranged; a steering engine, the steering engine is fixedly installed inside the shell, and a rotating gear is installed on the output shaft; wherein the rotating gear is simultaneously engaged with the racks on the two connecting arms; the steering engine is signal-connected with the monitoring camera.

[0011] Compared with the prior art, the beneficial effects of the present application are: the device realizes the full-process automation of intelligent garbage treatment through a highly integrated electromechanical system: the hybrid power system combines the foldable track and the auxiliary balance rotor, and through real-time data fusion of the gyroscope and the path sensor, the robot can automatically switch between high-altitude flight and ground travel, effectively avoiding obstacles in complex building environments; the clamping mechanism realizes precise docking of the magnetic charging module through visual positioning of the monitoring camera and linkage control of the steering engine, gear and rack, ensuring the reliability of energy supply; and the data transmission network constructed based on the CAN communication module ensures the high-speed and stable interaction of instructions and data between various sensors, actuators and control units, finally forming a complete technical solution integrating autonomous navigation, intelligent identification, precise operation and efficient energy management, significantly improving the efficiency, safety and intelligent level of garbage treatment in high-rise building scenarios. BRIEF DESCRIPTION OF DRAWINGS

[0012] Figure 1 is a perspective structural schematic diagram of the present application; Figure 2 is an axial structural schematic diagram of the present application; Figure 3 is a mounting rack structural schematic diagram of the present application; Figure 4 is a charging device schematic diagram of the present application; Figure 5 is a clamping mechanism structural schematic diagram of the present application.

[0013] In the figure: 1, aircraft body, 2, connecting claw, 3, auxiliary balance rotor, 4, connecting frame, 5, shell, 6, magnetic charging module, 7, monitoring camera, 8, mounting rack, 9, outer ring track, 10, inner ring flying fan, 11, connecting arm, 12, rack, 13, steering engine, 14, rotating gear, 15, intelligent classification garbage can. DETAILED DESCRIPTION

[0014] With reference to the drawings of the embodiments of the present application, the technical solutions in the embodiments of the present application will be described clearly and completely. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments of the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of the present application.

[0015] Please refer to Figures 1 to 5 The present application provides a technical solution: a high-rise building intelligent garbage classification flying robot based on hybrid power and multi-modal obstacle avoidance, comprising: an aircraft body 1, a hybrid power system, a connecting claw 2, an intelligent classification garbage can 15, and a control unit. The aircraft body constitutes the main load-bearing structure of the robot. The hybrid power system is integrated on the aircraft body 1, including two auxiliary balance rotors 3 fixedly installed on the upper part of the aircraft body 1, and foldable track structures symmetrically arranged on both sides of the aircraft body 1. The foldable track structures have switchable air flight state and ground travel state. The connecting claw 2 is fixedly connected to the bottom of the aircraft body 1. The intelligent classification garbage can 15 is fixedly installed at the front end of the aircraft body 1 through the detachable end of the connecting claw 2. The control unit is electrically connected with the hybrid power system and the intelligent classification garbage can 15. The control unit is configured to control the switching of the hybrid power system between the flight mode and the ground travel mode.

[0016] It should be noted that the intelligent classification garbage can 15 is an integrated intelligent classification garbage can, which is an invention patent with the patent number CN220299350U. It contains a garbage can monomer, an intelligent identification component (PLC controller, camera, and liquid crystal display), and a garbage throwing area. The camera identifies the type of garbage and guides the throwing position. The driving element automatically pushes the garbage into the corresponding can, and the rotating door controls the opening and closing of the passage. After the user throws the garbage into the intelligent classification garbage can 15, the camera immediately collects the optical information of the garbage items, and the automatic sorting of the garbage is completed. In this process, the control unit uses STM32F40 as the core processor. When flying is needed, the control unit controls the hybrid power system to start, and the two auxiliary balance rotors 3 provide lift, and the foldable track structure is unfolded to present the air flight state. When ground maneuvering is needed, the control unit instructs the foldable track structure to fold and drive it to travel, switching to the ground travel state, thereby adapting to complex environments.

[0017] The connecting claw 2 adopts a mechanical arm structure, which is driven by a steering wheel 13 or an electric push rod to realize the grabbing and releasing actions. The mechanical structure, driving mode and basic control logic belong to the known technology in the robot field. Those skilled in the art can select a conventional multi-joint mechanical arm or a simple clamping mechanism to realize the corresponding function according to the actual load and space requirements, and the selection of the specific model and control program does not affect the core protection range of the application.

[0018] As shown in Figure 4 Further, the high-rise building intelligent garbage classification flying robot based on hybrid power and multi-modal obstacle avoidance in some examples further comprises a charging device, the charging device comprising: a connecting frame 4, a clamping mechanism, a magnetic charging module 6 and a monitoring camera 7, a shell 5 is fixedly installed above the connecting frame 4; the clamping mechanism is arranged on the connecting frame 4 and the shell 5; the magnetic charging module 6 is arranged at the clamping end of the clamping mechanism; the monitoring camera 7 is arranged between the two connecting frames 4, and the lens direction faces the docking area of the magnetic charging module 6; wherein the monitoring camera 7 is configured to identify the parking position of the aircraft body 1, and trigger the clamping mechanism to perform clamping action, so that the magnetic charging module 6 is accurately docked with the corresponding charging interface.

[0019] It should be noted that during the charging process, the monitoring camera 7 continuously captures real-time images of the charging docking area on the aircraft body 1 to detect whether it enters the effective recognition range; when the monitoring camera 7 identifies that the aircraft body 1 has arrived at the predetermined parking position, the clamping mechanism is triggered to start immediately, and with the movement of the clamping mechanism, the magnetic charging module 6 generates displacement, until it is accurately positioned and attracted to the corresponding charging contact of the external charging power supply, so as to establish a stable electrical circuit to start power transmission; during the entire charging period, the monitoring camera 7 continuously monitors the docking state, and only after the charging is completed or a stop instruction is received, the clamping mechanism is released and reset, so that the magnetic charging module 6 is separated from the external charging power supply; during this process, the connecting frame 4 always provides a stable installation foundation and structural support for the clamping mechanism, the magnetic charging module 6 and the monitoring camera 7.

[0020] The physical principle and basic structure (including the realization of magnetic attraction positioning and electric conduction) on which the magnetic charging function is based belong to the known mature technology in the field, and its basic working mechanism is common with the widely used magnetic charging scheme in existing consumer electronics and industrial equipment. Therefore, this part of the basic principle is not described redundantly.

[0021] As shown in Figures 1 to 3As shown, in some examples, further, the foldable track structure includes: a mounting bracket 8, a locking mechanism, an outer track 9, and an inner flight fan 10, the mounting bracket 8 is composed of a fixed part and a folding part, the fixed part is fixedly connected to the side of the aircraft body 1, and the folding part is hinged to the fixed part through a hinge; the locking mechanism is arranged at the hinge part between the fixed part and the folding part, and includes at least one locking screw, which is tightened after the folding part is rotated to the target position, so as to fix the relative position of the folding part and the fixed part; the outer track 9 is arranged on the folding part; the inner flight fan 10 is arranged on the folding part and located inside the outer track 9; wherein the folding part can rotate around the pin shaft of the hinge, driving the outer track 9 and the inner flight fan 10 to switch between the ground running state and the air flight state.

[0022] When the flying robot needs to be converted from the air flight state to the ground running state, the folding part of the mounting bracket 8 rotates inwardly around the hinge shaft, so that the folding part is perpendicular to the fixed part, and the folding part and the fixed part are fixed in the perpendicular state by the locking screw, at this time the outer track 9 can contact the ground; when it is needed to be converted to the air flight state, the locking screw is loosened, the folding part rotates outwardly around the hinge shaft, the folding part and the fixed part are in the same horizontal plane, and are locked by the locking screw, at this time the inner flight fan 10 starts to rotate, generates airflow perpendicular to the flight plane to provide auxiliary lift, thereby realizing the structure switching of the two motion modes.

[0023] Wherein, the driving mode of the outer track 9 belongs to the mature conventional technical solution in the art, which outputs power through a brushless DC motor, transmits power to the driving wheel through a gear / chain wheel transmission system, and finally realizes the transmission form of track circulation through the meshing of the driving wheel teeth and the track link. It has been widely used in various tracked mobile platforms. Therefore, the basic driving mechanism itself belongs to the common knowledge in the art, and the specific structural details will not be described here.

[0024] In some examples, further, the aircraft body 1 further includes a sensor group, the sensor group includes a gyroscope and a path sensor; the gyroscope is fixedly installed in the control cabin of the aircraft body 1, used to continuously monitor the attitude angle change of the aircraft body 1 in three-dimensional space, and transmit real-time attitude data to the control unit; the path sensor is arranged at the head and the bottom of the aircraft body 1, used to obtain obstacle information and terrain feature data on the flight path, and transmit environmental perception data to the control unit in real time; The attitude data provided by the gyroscope is used for flight stability control of the aircraft body 1, and the environmental data provided by the path sensor is used for mobile mode switching decision and path planning of the hybrid power system. In the entire workflow, the sensor group operates in parallel: the gyroscope adopts MPU6050 and continuously monitors the real-time attitude angle change of the aircraft body 1 in three-dimensional space, and sends a high-frequency attitude data stream to the control unit to provide immediate correction basis for dynamic balance control during flight and travel; the path sensor synchronously scans the surrounding environment, obtains spatial information such as obstacle distance and terrain features through active detection, and the sensing data is directly input to the path planning algorithm to provide environmental awareness basis for mobile mode switching and obstacle avoidance decision of the hybrid power system.

[0025] In some examples, further comprising a CAN communication module, the CAN communication module is connected with the control unit, the driving unit of the hybrid power system and the driving unit of the foldable track structure through the CAN bus, for transmitting the mobile control instructions generated by the control unit to the hybrid power system and the foldable track structure, and receiving the running state feedback data of the hybrid power system and the foldable track structure in real time.

[0026] As shown in Figure 4 and Figure 5 In some examples, further comprising a CAN communication module, the CAN communication module is connected with the control unit, the driving unit of the hybrid power system and the driving unit of the foldable track structure through the CAN bus, for transmitting the mobile control instructions generated by the control unit to the hybrid power system and the foldable track structure, and receiving the running state feedback data of the hybrid power system and the foldable track structure in real time.

[0027] When the monitoring camera 7 identifies that the aircraft body 1 enters the parking area, the signal triggers the steering gear 13 to start rotating; the output shaft of the steering gear 13 drives the rotating gear 14 to rotate, since the rotating gear 14 is simultaneously engaged with the two connecting arms 11 on the gear 12, and the gear 12 adopts the structure of opposite arrangement, the rotating motion of the rotating gear 14 is converted into the linear motion of the two connecting arms 11 in opposite directions; the symmetrical motion mechanism makes the connecting arm 11 drive the magnetic charging module 6 at the end thereof to approach or move away from the center position synchronously, so as to realize charging the battery inside the aircraft body 1.

[0028] In the description of the application, it is to be understood that the terms "coaxial", "bottom", "one end", "top", "middle", "the other end", "upper", "one side", "top", "inner", "front", "both ends" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation; at the same time, unless otherwise explicitly specified and limited, the terms "set", "mount", "connect", "fixedly mount" and the like should be understood broadly, for example, can be fixedly connected, can also be detachably connected, or integrated; can be mechanically connected, can also be electrically connected; can be directly connected, can also be indirectly connected through an intermediate medium; can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise explicitly limited, the above-mentioned terms in the application can be understood according to the specific meaning in the specific situation by the ordinary skilled in the art.

[0029] Although the embodiments of the application have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations can be made to the embodiments without departing from the principles and spirit of the application, and the scope of the application is defined by the appended claims and their equivalents.

Claims

1. A high-rise building intelligent garbage classification flying robot based on hybrid power and multi-modal obstacle avoidance, characterized in that, The utility model relates to a kind of intelligent garbage collection robot, including: Aircraft body (1), constitutes the main load-bearing structure of robot; Hybrid power system, the hybrid power system is integrated on the aircraft body (1), including two auxiliary balance rotors (3) fixedly installed on the upper portion of aircraft body (1), and foldable track structure is symmetrically arranged on the both sides of aircraft body (1), the foldable track structure has switchable air flight state and ground travel state; Connecting claw (2), the connecting claw (2) fixed end is connected to the bottom of the aircraft body (1); Intelligent classification garbage can (15), the intelligent classification garbage can (15) is fixedly installed in the front end of aircraft body (1) by the detachable end of the connecting claw (2); Control unit, the control unit is electrically connected with the hybrid power system and the intelligent classification garbage can (15) respectively; Wherein, the control unit is configured to control the hybrid power system switches between flight mode and ground travel mode.

2. The high-rise building intelligent garbage classification flying robot based on hybrid power and multi-modal obstacle avoidance according to claim 1, characterized in that: It further includes a charging device, the charging device includes: Connecting frame (4), the upper portion of the connecting frame (4) is fixedly installed with shell (5); Clamping mechanism, the clamping mechanism is arranged on the connecting frame (4) and shell (5); Magnetic attraction charging module (6), the magnetic attraction charging module (6) is arranged at the clamping end of the clamping mechanism; Monitoring camera (7), the monitoring camera (7) is arranged between the two connecting frames (4), and the lens direction is towards the butt joint area of the magnetic attraction charging module (6); Wherein, the monitoring camera (7) is configured to identify the parking position of the aircraft body (1), and trigger the clamping mechanism to perform clamping action, so that the magnetic attraction charging module (6) is accurately butt jointed with the corresponding charging interface.

3. The high-rise building intelligent garbage classification flying robot based on hybrid power and multi-modal obstacle avoidance according to claim 2, characterized in that: The foldable track structure includes: Mounting bracket (8), the mounting bracket (8) is composed of fixed part and folding part, the fixed part is fixedly connected to the side of aircraft body (1), and the folding part is hinged with the fixed part by hinge; Locking mechanism, the locking mechanism is arranged at the hinge position between the fixed part and the folding part, including at least one locking screw, the locking screw is tightened after the folding part rotates to target position, to fix the relative position of the folding part and the fixed part; Outer ring track (9), the outer ring track (9) is arranged on the folding part; Inner ring flight fan (10), the inner ring flight fan (10) is arranged on the folding part and located on the inner side of the outer ring track (9); Wherein, the folding part can rotate around the pin shaft of the hinge, drive the outer ring track (9) and the inner ring flight fan (10) to switch between ground travel state and air flight state.

4. The high-rise building intelligent garbage classification flying robot based on hybrid power and multi-modal obstacle avoidance according to claim 3, characterized in that: The aircraft body (1) further includes a sensor group, the sensor group includes a gyroscope and a path sensor; The gyroscope is fixedly installed in the control cabin of the aircraft body (1), for continuously monitoring the attitude angle change of the aircraft body (1) in three-dimensional space, and transmitting real-time attitude data to the control unit; The path sensor is arranged at the head and bottom of the aircraft body (1), and is used to acquire obstacle information and terrain feature data on the flight path, and transmit the environment perception data to the control unit in real time. The attitude data provided by the gyroscope is used for flight stability control of the aircraft body (1), and the environment data provided by the path sensor is used for mobile mode switching decision and path planning of the hybrid power system.

5. The high-rise building intelligent garbage classification flying robot based on hybrid power and multi-modal obstacle avoidance according to claim 4, characterized in that: The CAN communication module is connected with the control unit, the driving unit of the hybrid power system and the driving unit of the foldable track structure through the CAN bus, and is used for transmitting the mobile control instruction generated by the control unit to the hybrid power system and the foldable track structure, and receiving the running state feedback data of the hybrid power system and the foldable track structure in real time.

6. The high-rise building intelligent garbage classification flying robot based on hybrid power and multi-modal obstacle avoidance according to claim 5, characterized in that: The clamping mechanism comprises: Two connecting arms (11) are slidably arranged on the shell (5), and the inner end is fixedly connected with the magnetic charging module (6); Two racks (12) are fixedly arranged on the two connecting arms (11), and the tooth surfaces of the two racks (12) are oppositely arranged; The steering engine (13) is fixedly installed inside the shell (5), and a rotating gear (14) is installed on the output shaft; The rotating gear (14) is simultaneously engaged with the racks (12) on the two connecting arms (11); the steering engine (13) is signal connected with the monitoring camera (7).

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