Garbage can grabbing equipment and automatic positioning hooking method

Abstract

The invention relates to the technical field of environmental sanitation mechanical equipment, in particular to garbage can grabbing equipment and an automatic positioning hooking method.The garbage can grabbing equipment is provided with a movable frame, a sensing positioning mechanism, a height adjusting mechanism, a grabbing executing mechanism, a display device and a control device; the sensing positioning mechanism comprises a laser emission module, a visual acquisition module and a laser ranging module which are respectively used for forming visible light spots on side marks of the garbage can, acquiring real-time images and measuring distances; the height adjusting mechanism adjusts the single-side height of the frame; the grabbing executing mechanism comprises a mechanical arm and a telescopic and lifting driving module of the mechanical arm. Horizontally aligning a laser spot with the mark by moving the frame back and forth; judging and adjusting the height of the frame to vertically align the light spots; the mechanical arm is controlled to stretch out by a corresponding stroke and ascend to complete hooking based on the measured distance; visual alignment is achieved through laser spots, complex space positioning is simplified into vehicle body translation and height adjustment operation, and the technical requirements for operators are remarkably reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of sanitation mechanical equipment, in particular to a garbage can grabbing device and an automatic positioning and hooking method. BACKGROUND

[0002] In urban sanitation operations, the cleaning and transporting of large garbage cans is a heavy physical labor. The traditional cleaning and transporting method mainly relies on manual dragging, lifting and mounting of garbage cans onto the lifting mechanism of a garbage truck, which not only has high labor intensity and low efficiency, but also has occupational health risks such as waist injury of the operating personnel.

[0003] In order to reduce the manual burden and improve the operating efficiency, the industry has developed garbage can handling vehicles or automatic loading and unloading garbage trucks equipped with mechanical arms. These devices are usually operated by the driver in the vehicle, and the garbage can is grabbed and lifted by controlling the grabber or hook at the end of the mechanical arm, which highly depends on the operation skills and experience of the driver. The driver needs to manually fine-tune the posture of the mechanical arm repeatedly in the cab by observing the rearview mirror or camera image to make the grabber at the end of the mechanical arm accurately align with the specific hooking point (such as the lifting lug or the clamping groove) on the garbage can. This process not only puts high requirements on the driving skills and spatial judgment ability of the driver, but also is tedious and time-consuming, and is prone to misalignment, grabbing failure or even overturning of the garbage can, which seriously affects the continuity and overall efficiency of the cleaning and transporting operation. SUMMARY

[0004] Based on this, the purpose of the present application is to provide a garbage can grabbing device and an automatic positioning and hooking method.

[0005] The present application adopts the following technical solutions:

[0006] A garbage can grabbing device for grabbing a garbage can with positioning marks on the side, comprising a mobile frame, a sensing positioning mechanism, a height adjusting mechanism, a grabbing execution mechanism, a display device and a control device; the sensing positioning mechanism comprises a laser emission module, a visual acquisition module and a laser ranging module arranged on the side of the mobile frame; the laser emission module is used for emitting laser towards the positioning marks to form visible light spots; the visual acquisition module is used for acquiring real-time images containing the garbage can and the positioning marks; the laser ranging module is used for measuring the real-time distance between the mobile frame and the garbage can; the height adjusting mechanism comprises a telescopic driving element fixed to one side of the mobile frame, which is used for adjusting the height of one side of the mobile frame; the grabbing execution mechanism comprises a grabbing mechanical arm, a telescopic driving module and a lifting driving module arranged on the mobile frame; the telescopic driving module and the lifting driving module are drivingly connected with the grabbing mechanical arm and are used for driving the grabbing mechanical arm to perform telescopic and lifting movements respectively; the display device is signal connected with the visual acquisition module and the laser ranging module and is used for displaying the real-time images and the real-time distance; the control device is signal connected with the grabbing execution mechanism to drive the grabbing mechanical arm to perform telescopic and lifting movements.

[0007] Preferably, the positioning marks are cross-shaped marks arranged on the side of the garbage can; and the laser emitted by the laser emission module is a cross-shaped laser beam.

[0008] Preferably, the sensing positioning mechanism further comprises a mounting bracket mounted on the mobile frame, and the laser emission module, the visual acquisition module and the laser ranging module are sequentially mounted on the mounting bracket from top to bottom.

[0009] Preferably, the grabbing mechanical arm comprises a machine cylinder with two ends penetrating through and a telescopic arm movably connected in the machine cylinder; the telescopic driving module is drivingly connected with the telescopic arm to drive the telescopic arm to perform telescopic movement relative to the machine cylinder; and the lifting driving module is drivingly connected with the machine cylinder to drive the machine cylinder to perform vertical lifting.

[0010] Preferably, the telescopic driving module comprises a telescopic driving motor, a first output disc and a first transmission steel wire; both ends of the machine cylinder are provided with rotatably connected rollers; the telescopic driving motor is fixed to the machine cylinder, the first output disc is fixed to the output end of the telescopic driving motor, one end of the first transmission steel wire is wound on the first output disc, and the other end of the first transmission steel wire is wound around the rollers and fixedly connected with the telescopic arm.

[0011] Preferably, the lifting drive module includes a lifting drive motor, a second output disc, and a second transmission steel rope; the lifting drive motor is fixed on the mobile frame, the second output disc is fixed to the output end of the lifting drive motor, one end of the second transmission steel rope is wound around the second output disc, and the other end of the second transmission steel rope is fixedly connected to the barrel.

[0012] Preferably, the mobile frame is provided with a vertically extending guide plate; the barrel is provided with two opposing guide wheels; the two guide wheels are respectively rolledly connected to both sides of the guide plate to guide the lifting and lowering movement of the barrel.

[0013] Preferably, one end of the telescopic arm is provided with a hook for hooking the trash can.

[0014] Preferably, the telescopic drive component is an electric push rod; the electric push rod is located at the middle position on one side of the mobile frame.

[0015] An automated positioning and hooking method, based on the aforementioned trash can grabbing device, includes the following steps: S1. Horizontal reference alignment: Move the mobile frame back and forth, and at the same time observe the position of the light spot formed by the laser emitting module on the positioning mark in the horizontal direction through the display device; continuously adjust the back and forth position of the mobile frame until the light spot is aligned with the preset horizontal reference of the positioning mark in the horizontal direction. S2. Height reference alignment: Determine whether the light spot is aligned with the preset height reference of the positioning mark in the vertical direction after alignment in step S1; if not aligned, operate the telescopic drive to extend and retract to adjust the height of one side of the moving frame until the light spot is aligned with the preset vertical reference of the positioning mark in the vertical direction. S3. Distance Judgment and Grabbing: The real-time distance measured by the laser ranging module is read through the display device; based on the real-time distance, the operating device drives the gripping robotic arm to extend the corresponding stroke; subsequently, the operating device drives the gripping robotic arm to rise to hook the trash can.

[0016] The beneficial effects of this invention are as follows: The garbage bin grabbing device and automated positioning hooking method involved in this invention form a clearly visible light spot on the garbage bin positioning mark using a laser emission module. Operators can directly observe horizontal and vertical deviations without relying on complex spatial imagination or repeated trial and error. Operators only need to control the forward and backward movement of the mobile frame and the height adjustment on one side to achieve precise alignment of the laser spot with the mark, thus naturally completing the spatial alignment of the grabbing robotic arm with the garbage bin hooking point. This process transforms the difficult problem of multi-degree-of-freedom collaborative control of traditional robotic arms into a simple operation similar to vehicle movement, significantly reducing the professional skills required of drivers and training costs, enabling ordinary workers to quickly and stably complete precise grabbing. Simultaneously, the linkage control of laser ranging and robotic arm extension further ensures the accuracy of the grabbing stroke and operational safety, effectively avoiding collisions or missed grabs caused by distance misjudgment. The entire system improves the automation level of sanitation operations while retaining the flexibility of manual judgment, combining high efficiency, reliability, and low barrier to entry. It is particularly suitable for complex and non-standard garbage bin placement scenarios in urban environments, possessing significant practical value and promising prospects for promotion. Attached Figure Description

[0017] Figure 1 This is a first structural schematic diagram of the trash can grabbing device of the present invention; Figure 2 for Figure 1 A partial structural diagram of circle A in the middle; Figure 3 for Figure 1 A schematic diagram of the partial structure of circle B in the middle; Figure 4 This is a schematic diagram of the second structure of the trash can grabbing device of the present invention; Figure 5 for Figure 4 A partial structural diagram of the middle circle C; Figure 6 This is a schematic diagram of the third structure of the trash can grabbing device of the present invention; Figure 7 This is a schematic diagram of the fourth structure of the trash can grabbing device of the present invention; Figure 8 This is a partial structural diagram of the trash can grabbing device of the present invention; Figure 9 This is a diagram showing the first usage state of the trash can grabbing device of the present invention; Figure 10 This is a second usage state diagram of the trash can grabbing device of the present invention; Figure 11 This is a flowchart illustrating the automated positioning and hooking method of the present invention.

[0018] Numbering on the map: 100 - Trash can; 110 - Location marker; 10-Mobile frame; 11-Guide plate; 20-Sensing and positioning mechanism; 21-Laser emitting module; 22-Vision acquisition module; 23-Laser ranging module; 24-Mounting bracket; 30 - Height adjustment mechanism; 31 - Telescopic drive component; 40-Grabbing actuator; 41-Grabbing robotic arm; 411-Barrel; 412-Telescopic arm; 413-Hook; 414-Roller; 415-Guide wheel; 42-Telescopic drive module; 421-Telescopic drive motor; 422-First output disc; 423-First transmission steel rope; 43-Lifting drive module; 431-Lifting drive motor; 432-Second output disc; 433-Second transmission steel rope. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] In the description of this invention, it should be noted that the terms "vertical direction," "up," "down," and "horizontal," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, "first," "second," "third," and "fourth" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0021] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or a connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0022] like Figures 1 to 10As shown, this is a garbage bin grabbing device of the present invention, used to grab standardized garbage bins 100 with specific positioning marks 110 pre-attached to their sides. The above-mentioned garbage bin grabbing device is integrated on a garbage collection vehicle and mainly includes a mobile frame 10, a sensing and positioning mechanism 20, a height adjustment mechanism 30, a grabbing execution mechanism 40, a display device, and a control device.

[0023] Specifically, the mobile frame 10 serves as the basic support platform for the trash can grabbing device and can move back and forth driven by the vehicle's own walking system.

[0024] Specifically, the sensing and positioning mechanism 20 is disposed on the side of the mobile frame 10 and is used to detect and identify the target trash can 100 and obtain its precise position and orientation information. The sensing and positioning mechanism 20 includes a laser emitting module 21, a visual acquisition module 22, and a laser ranging module 23. In this embodiment, the sensing and positioning mechanism 20 also includes a mounting bracket 24 fixed to the mobile frame 10. The laser emitting module 21, the visual acquisition module 22, and the laser ranging module 23 are sequentially mounted on the mounting bracket 24 from top to bottom, forming an integrated detection unit.

[0025] The laser emitting module 21 emits a laser beam toward the positioning mark 110 on the side of the trash can 100. It should be noted that the positioning mark 110 is a cross-shaped reflective marker located on the side of the trash can 100, and the laser emitting module 21 is correspondingly configured to emit a cross-shaped laser beam. This cross-shaped laser beam forms a superimposed, clearly visible cross-shaped light spot on the cross-shaped marker.

[0026] The visual acquisition module 22 can be a high-definition camera, used to continuously acquire real-time video images containing the target trash can 100 and its side crosshair markings. The laser ranging module 23 is used to accurately measure the real-time straight-line distance between the front end of the mobile frame 10 and the side of the trash can 100.

[0027] Specifically, the height adjustment mechanism 30 is used to lift one side of the mobile frame 10 to assist in the vertical alignment of the crosshair light spot with the positioning mark 110. The height adjustment mechanism 30 includes a telescopic drive member 31 fixed to one side of the mobile frame 10. Further, the telescopic drive member 31 is an electric push rod, and its installation position is preferably in the middle of that side of the mobile frame 10 to provide the best lifting and balance effect. It should be noted that when the garbage truck is loaded, the mobile frame 10 will sink. At this time, the telescopic end of the electric push rod extends and contacts the ground. After continuous extension, it can lift the height of that side of the mobile frame 10 so that the crosshair light spot formed by the laser emitting module 21 can align with the positioning mark 110 on the side of the garbage bin 100.

[0028] Specifically, the gripping execution mechanism 40 is the core mechanical component that performs the gripping action. The gripping execution mechanism 40 includes a gripping robotic arm 41, a telescopic drive module 42, and a lifting drive module 43 mounted on the mobile frame 10.

[0029] The gripping robotic arm 41 includes a barrel 411 extending through both ends and a telescopic arm 412 movably disposed within the barrel 411. The end of the telescopic arm 412 is provided with an L-shaped hook 413 for hooking onto the hanging lug or crossbar on the top of the trash can 100.

[0030] The telescopic drive module 42 is driven by the telescopic arm 412 and is used to drive the telescopic arm 412 to extend or retract horizontally relative to the barrel 411. The telescopic drive module 42 includes a telescopic drive motor 421 fixedly mounted on the barrel 411, a first output disc 422 fixed to the output end of the telescopic drive motor 421, and a first transmission steel rope 423. A freely rotatable roller 414 is installed at each of the two openings of the barrel 411. One end of the first transmission steel rope 423 is wound and fixed to the first output disc 422, and the other end passes around the two rollers 414 in sequence before being fixedly connected to the tail of the telescopic arm 412. When the telescopic drive motor 421 rotates, the telescopic arm 412 can be extended or retracted relative to the barrel 411 by retracting or extending the first transmission steel rope 423.

[0031] The lifting drive module 43 is connected to the barrel 411 and is used to drive the entire barrel 411, along with the internal telescopic arm 412, to perform vertical lifting and lowering movements. The lifting drive module 43 includes a lifting drive motor 431 fixed to the mobile frame 10, a second output disc 432 fixed to the output end of the lifting drive motor 431, and a second transmission steel rope 433. One end of the second transmission steel rope 433 is wound and fixed to the second output disc 432, and the other end is directly fixedly connected to the barrel 411. The lifting and lowering of the barrel 411 is achieved by the lifting drive motor 431 winding and releasing the second transmission steel rope 433. To ensure a smooth and sway-free lifting process, a vertically extending guide plate 11 is fixed to the mobile frame 10, and two opposing guide wheels 415 are provided on the back of the barrel 411. These two guide wheels 415 are precisely clamped on both sides of the guide plate 11 and roll along it, thus providing precise guidance for the lifting and lowering of the barrel 411.

[0032] Specifically, the display device can be an in-vehicle display screen installed in the driver's cab, which is connected to the vision acquisition module 22 and the laser ranging module 23 for real-time display of the images captured by the camera and the digital results of laser ranging.

[0033] Specifically, the control device can be a control joystick and buttons installed in the cab. The control device is electrically connected to the telescopic drive motor 421 in the telescopic drive module 42 and the lifting drive motor 431 in the lifting drive module 43. The operator can directly control the extension, retraction, raising and lowering of the gripping robotic arm 41 by operating the control device.

[0034] like Figures 9 to 10 The diagram shows the usage state of the trash can grabbing device of the present invention. In some usage scenarios, there will be parking spaces with square white lines. These parking spaces can help the trash can grabbing device to accurately and quickly grab trash cans.

[0035] like Figure 11 As shown, the automated positioning and hooking method of the present invention, based on the above-mentioned trash can grabbing device, includes the following steps: S1. Horizontal Alignment: The driver drives the vehicle close to the target trash can 100. By observing the camera image on the display device, the driver roughly stops the vehicle within the working range of the robotic arm. Then, the driver observes the crosshair formed by the laser emission module 21 on the crosshair-shaped mark on the side of the trash can 100. The driver slowly moves the vehicle frame 10 back and forth continuously, while closely monitoring the horizontal displacement of the crosshair on the mark. When the vertical center line of the crosshair is aligned with the vertical reference line of the mark, the horizontal alignment is complete.

[0036] S2. Height Reference Alignment: After completing the horizontal alignment, the driver determines the vertical position of the crosshair on the marker. If the center point of the crosshair is aligned with the horizontal reference line of the marker, the height is correct, and the driver can proceed to the next step. If the crosshair is too low, the driver operates the control button to activate the electric push rod of the height adjustment mechanism 30 for fine-tuning. By extending the electric push rod, the height of one side of the moving frame 10 is raised, changing the vertical position of the crosshair until the center point of the crosshair is also aligned with the horizontal reference line of the marker. At this point, the position of the crosshair on the marker is completely calibrated, meaning that the hook 413 at the end of the gripping robotic arm 41 is precisely aligned with the attachment point of the trash can 100 in three-dimensional space.

[0037] S3. Distance Judgment and Grabbing: The operator reads the real-time distance value given by the laser rangefinder module 23 from the display device. Based on this real-time distance, the operator operates the control device to control the telescopic drive module 42, driving the telescopic arm 412 to extend its stroke matching the real-time distance, so that the hook part 413 is exactly below the hooking point of the trash can 100. Next, the operator operates the control device to control the lifting drive module 43, driving the entire robotic arm to rise smoothly. During the ascent, the L-shaped hook part 413 will naturally hook onto the hanging lug of the trash can 100, lifting it off the ground, completing the grabbing operation.

[0038] Compared to existing technologies, the trash can grabbing device and automated positioning hooking method involved in this invention form a clearly visible light spot on the positioning mark 110 of the trash can 100 through the laser emitting module 21. Operators can directly observe horizontal and vertical deviations without relying on complex spatial imagination or repeated trial and error. Operators only need to control the forward and backward movement and unilateral height adjustment of the moving frame 10 to achieve precise alignment of the laser spot with the mark, thus naturally completing the spatial alignment of the grabbing robotic arm 41 with the hooking point of the trash can 100. This process transforms the difficult problem of multi-degree-of-freedom collaborative control of traditional robotic arms into a simple operation similar to vehicle movement, significantly reducing the professional skills required of drivers and training costs, enabling ordinary workers to quickly and stably complete precise grabbing. Simultaneously, the linkage control of laser ranging and robotic arm extension further ensures the accuracy of the grabbing stroke and operational safety, effectively avoiding collisions or missed grabbing due to distance misjudgment. The entire system improves the automation level of sanitation operations while retaining the flexibility of human judgment. It combines high efficiency, reliability and low threshold, and is especially suitable for complex and non-standard garbage bin placement scenarios in urban environments. It has significant practical value and promotion prospects.

[0039] The above description merely illustrates preferred technical solutions of the present invention, and while the description is relatively specific and detailed, it should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and the present invention also intends to include these modifications and variations.

Claims

1. A trash can gripping device for gripping trash cans with positioning marks on their sides, characterized in that, It includes a mobile frame, a sensing and positioning mechanism, a height adjustment mechanism, a gripping and execution mechanism, a display device, and a control device; The sensing and positioning mechanism includes a laser emitting module, a visual acquisition module, and a laser ranging module disposed on the side of the mobile vehicle frame; The laser emitting module is used to emit laser light toward the positioning mark to form a visible light spot; The visual acquisition module is used to acquire real-time images including trash cans and positioning markers; the laser ranging module is used to measure the real-time distance between the mobile frame and the trash can; the height adjustment mechanism includes a telescopic drive component fixed to one side of the mobile frame, and the telescopic drive component is used to adjust the height of one side of the mobile frame. The grasping execution mechanism includes a grasping robotic arm mounted on the mobile frame, a telescopic drive module, and a lifting drive module; the telescopic drive module and the lifting drive module are both driven by the grasping robotic arm and are used to drive the grasping robotic arm to perform telescopic and lifting movements, respectively; the display device is signal-connected to the vision acquisition module and the laser ranging module and is used to display the real-time image and real-time distance; the operating device is signal-connected to the grasping execution mechanism to drive the grasping robotic arm to perform telescopic and lifting movements.

2. The trash can grabbing device according to claim 1, characterized in that, The positioning mark is a cross-shaped mark set on the side of the trash can; the laser emitted by the laser emitting module is a cross-shaped laser beam.

3. The trash can grabbing device according to claim 1, characterized in that, The sensing and positioning mechanism also includes a mounting bracket installed on the mobile frame, and the laser emitting module, the visual acquisition module, and the laser ranging module are installed on the mounting bracket from top to bottom.

4. The trash can grabbing device according to claim 1, characterized in that, The gripping robotic arm includes a barrel extending through both ends and a telescopic arm movably connected within the barrel; the telescopic drive module is driven to connect to the telescopic arm to drive the telescopic arm to extend and retract relative to the barrel. The lifting drive module is connected to the barrel drive to drive the barrel to move vertically up and down.

5. The trash can grabbing device according to claim 4, characterized in that, The telescopic drive module includes a telescopic drive motor, a first output disc, and a first transmission steel rope; both ends of the barrel are provided with rotatably connected rollers; the telescopic drive motor is fixed on the barrel, the first output disc is fixed to the output end of the telescopic drive motor, one end of the first transmission steel rope is wound around the first output disc, and the other end of the first transmission steel rope passes around the rollers and is fixedly connected to the telescopic arm.

6. The trash can grabbing device according to claim 4, characterized in that, The lifting drive module includes a lifting drive motor, a second output disc, and a second transmission steel rope; the lifting drive motor is fixed on the mobile frame, the second output disc is fixed to the output end of the lifting drive motor, one end of the second transmission steel rope is wound around the second output disc, and the other end of the second transmission steel rope is fixedly connected to the barrel.

7. The trash can grabbing device according to claim 6, characterized in that, The mobile frame is provided with a vertically extending guide plate; the barrel is provided with two opposing guide wheels; the two guide wheels are respectively rolledly connected to both sides of the guide plate to guide the lifting and lowering movement of the barrel.

8. The trash can grabbing device according to claim 4, characterized in that, One end of the telescopic arm is equipped with a hook for hooking the trash can.

9. The trash can grabbing device according to claim 1, characterized in that, The telescopic drive component is an electric push rod; the electric push rod is located at the middle position on one side of the mobile frame.

10. An automated positioning and hooking method, based on the trash can grabbing device according to any one of claims 1 to 9, characterized in that, Includes the following steps: S1. Horizontal reference alignment: Move the mobile frame back and forth, and at the same time observe the position of the light spot formed by the laser emitting module on the positioning mark in the horizontal direction through the display device; continuously adjust the back and forth position of the mobile frame until the light spot is aligned with the preset horizontal reference of the positioning mark in the horizontal direction. S2. Height reference alignment: Determine whether the light spot is aligned with the preset height reference of the positioning mark in the vertical direction after alignment in step S1; if not aligned, operate the telescopic drive to extend and retract to adjust the height of one side of the moving frame until the light spot is aligned with the preset vertical reference of the positioning mark in the vertical direction. S3. Distance Judgment and Grabbing: The real-time distance measured by the laser ranging module is read through the display device; based on the real-time distance, the operating device drives the gripping robotic arm to extend the corresponding stroke; subsequently, the operating device drives the gripping robotic arm to rise to hook the trash can.

Images