Automatic door-to-door garbage transportation robot and system

Abstract

The utility model provides an automatic door-to-door garbage transportation robot system, and mainly solves the problems that the current manual garbage transportation efficiency is low, the labor intensity is high, old people living alone cannot move freely treat garbage, and an existing fixed garbage can cannot be flexibly dispatched. According to the scheme, the robot chassis is controllable, the chassis is separated from the garbage can, when a garbage treatment instruction is received, the separable garbage can can be automatically loaded and unloaded, garbage carrying is conducted according to a preset path, the garbage treatment efficiency is improved, the labor intensity is reduced, and the situation of secondary pollution is reduced.

Description

Technical Field

[0001] The invention relates to the field of intelligent unmanned robots, and in particular to a robot system for automatically transporting garbage door-to-door. Background Art

[0002] With the continuous progress of society, people's requirements for the quality of life are constantly improving, and smart products have developed rapidly. Smart trash cans have been widely used in daily life. The induction-type lid opening replaces the traditional manual operation, which undoubtedly improves the convenience. At the same time, after the application of unmanned driving technology in express delivery, takeout and other industries, it has gradually extended to the field of garbage collection and transportation, which helps to save labor costs. However, the existing intelligent garbage collection and transportation system still has some shortcomings in practical applications:

[0003] 1. Large garbage transfer vehicles are usually unable to enter residential areas or residential buildings and can only be parked on both sides of the road. The garbage needs to be manually transported to the vehicles, which is inefficient and labor-intensive.

[0004] 2. Most of the existing trash cans are located on the first floor of residential buildings. Although this is convenient for residents who can move freely, for elderly people living alone who are unable to move, there is a certain risk in carrying the trash downstairs every time.

[0005] 3. Currently, most trash bins are fixed in place and cannot be flexibly dispatched, making it difficult to meet distributed personalized needs.

[0006] 4. Lack of intelligent monitoring and capacity management makes it difficult to deal with overflowing trash bins in a timely manner, which may cause secondary pollution. Summary of the invention

[0007] In order to overcome the deficiencies of the prior art, the present invention provides a robot system and a control method for automatically transporting garbage door-to-door.

[0008] The solution adopted by the present invention to solve the technical problem is:

[0009] A robot for automatically transporting garbage door-to-door includes a garbage bin 1, a robot chassis 2, a charging pile 3 and a garbage bin rack 4; the garbage bin 1 is arranged in the garbage bin rack 4, and when in use, the robot chassis 2 loads the garbage bin 1 from the garbage bin rack 4;

[0010] The robot chassis 2 is a rectangular parallelepiped; a first speaker 6 and a second speaker 7 are arranged near the bottom of one side of the robot chassis 2; the side of the robot chassis 2 where the first speaker 6 and the second speaker 7 are arranged is the front of the robot chassis 2; a first depth camera 5 and a first ultrasonic radar 8 are arranged near the top of the robot chassis 2 on the front of the robot chassis 2; the first depth camera 5 and the first ultrasonic radar 8 are symmetrical with the symmetry axis parallel to the short side of the front in the front of the robot chassis 2; there is a rounded and smooth transition between the front and two adjacent side surfaces of the robot chassis 2;

[0011] The two side surfaces adjacent to the front of the robot chassis 2 are respectively provided with a second ultrasonic radar 9; the second ultrasonic radar 9 is located near the top surface of the robot chassis 2; the two side surfaces adjacent to the front of the robot chassis 2 are respectively provided with a pair of heat dissipation holes 10;

[0012] A second depth camera is arranged in the side opposite to the front of the robot chassis 2; the second depth camera is close to the top surface of the robot chassis 2; a battery assembly is arranged in the side opposite to the front of the robot chassis 2; the battery assembly includes a charging positive electrode 21 and a charging negative electrode 22;

[0013] A pair of driving wheels 24 are arranged on the bottom surface of the robot chassis 2; four universal wheels 23 are arranged on the bottom surface of the robot chassis 2; the driving wheels 24 and the universal wheels 23 are on the same horizontal plane;

[0014] A boss is provided on the top surface of the robot chassis 2; the boss is a rectangular parallelepiped; one side of the boss is coplanar with the front surface of the robot chassis 2; a baffle is provided on the side of the top surface of the boss close to the front surface of the robot chassis 2; the bottom surface of the baffle is fixedly connected to the boss; a data interface 16 is provided on the side of the top surface of the boss away from the front surface of the robot chassis 2; a blind hole 17 is provided on the side of the top surface of the boss away from the front surface of the robot chassis 2;

[0015] A laser radar 25 is arranged on the top surface of the robot chassis 2; the laser radar 25 protrudes from the top surface of the robot chassis 2; the height of the boss is greater than the height of the laser radar 25 protruding from the top surface of the robot;

[0016] A support plate 11 is arranged on the side of the top surface of the boss away from the front of the robot chassis 2; a through hole 15 is arranged on the side of the top surface of the support plate 11 close to the baffle; a screw 14 is arranged in the through hole 15; the screw 14 passes through the through hole 15 and enters the blind hole 17 to fix the support plate 11 and the boss; a support column blind hole is arranged on the bottom surface of the support plate 11; a support column 19 is arranged in the support column blind hole; the support column 19 is a column; a boss is arranged on one end surface of the support column 19; the boss of the support column 19 is inserted into the support column blind hole; the other end surface of the support column 19 is arranged in the support column hole 18 on the top surface of the robot chassis 2;

[0017] A rectangular groove is arranged on the top surface of the support plate 11; a first connecting column 12 and a second connecting column 13 are arranged on the bottom surface of the rectangular groove; the width of the support plate 11 is smaller than the width of the robot chassis 2; the first connecting column 12 is a cylinder; and the second connecting column 13 is an equilateral hexagonal prism;

[0018] The trash can 1 includes a box body 31 and a box cover 26; the box body 31 is a rectangular parallelepiped; the top surface of the box body 31 is open; a front panel 30 is arranged on one side of the box body 31; the side of the box body 31 on which the front panel 30 is arranged is the front of the box body 31; the length of the short side of the front of the box body 31 is the same as the length of the long side of the front of the robot chassis 2; the front panel 30 is a quadrangular pyramid; a second infrared distance sensor 28 is arranged on the side of the front panel 30 close to the open side of the box body 31; a display screen 29 is arranged on the top surface of the front panel 30;

[0019] The box cover 26 is disposed on the open top surface of the box body 31; the box body 31 and the box cover 26 are connected via a hinge 32; the first infrared distance sensor 27 is disposed on the bottom surface of the box cover 26;

[0020] A limiting groove is provided on the bottom surface of the box body 31; the limiting groove is a groove; the limiting groove has the same length as the supporting plate 11; the limiting groove has the same width as the supporting plate 11; the limiting groove has the same depth as the height of the supporting plate 11; a first connecting groove 34 and a second connecting groove 33 are provided on the bottom surface of the limiting groove; the first connecting groove 34 is a cylindrical groove; the second connecting groove 33 is an equilateral hexagonal groove; a third connecting groove 35 and a fourth connecting groove 36 are provided on the bottom surface of the box body 31; a fifth connecting groove 35' and a sixth connecting groove 36' are provided on the bottom surface of the box body 31; the third connecting groove 34 is provided on the bottom surface of the box body 31; a third connecting groove 35' and a sixth connecting groove 36' are provided on the bottom surface of the box body 31; a third connecting groove 34 is ... The connection groove 35 and the sixth connection groove 36' are symmetrical with the centroid of the bottom surface of the box body 31; the fourth connection groove 36 and the fifth connection groove 35' are symmetrical with the centroid of the bottom surface of the box body 31; the distance between the third connection groove 35 and the fourth connection groove 36 is equal to the distance between the fifth connection groove 35' and the sixth connection groove 36'; the distance between the third connection groove 35 and the fifth connection groove 35' is equal to the distance between the fourth connection groove 36 and the sixth connection groove 36'; the third connection groove 35, the fourth connection groove 36, the fifth connection groove 35' and the sixth connection groove 36' are all the same cylindrical grooves;

[0021] The depth of the first connection groove 34 is the same as the height of the first connection column 12; the cross-sectional radius of the first connection groove 34 is the same as the cross-sectional radius of the first connection column 12; the depth of the second connection groove 33 is the same as the height of the second connection column 13; the hexagonal side length of the cross section of the second connection groove 33 is the same as the hexagonal side length of the cross section of the second connection column 13;'

[0022] The trash bin frame 4 includes a bin frame 42, a base 37 and a lifting cylinder 41; the bin frame 42 is a rectangular parallelepiped; the top surface of the bin frame 42 is open; one side surface where the long side of the top surface of the bin frame 42 is located is open; the base 37 is arranged on the lower surface of the bottom surface of the bin frame 42; the base 37 is close to one side surface where the short side of the bottom surface of the bin frame 42 is located; the lifting cylinder 41 is arranged on the outer wall of the other side surface where the short side of the bottom surface of the bin frame 42 is located;

[0023] A plurality of partitions are arranged in the box frame 42; the partitions divide the box frame 42 into a plurality of box frame slots; the height of the box frame slot is the same as the height of the box body 31; the length of the box frame slot is the same as the length of the box body 31; the width of the box frame slot is the same as the width of the box body 31; a groove is arranged on the bottom surface of the box frame slot; a first base connecting column 39 and a second base connecting column 40 are arranged on the inner surface of the box frame slot; a third base connecting column 39' and a fourth base connecting column 40' are arranged on the inner surface of the box frame slot; a space between the first base connecting column 39 and the second base connecting column 40 is provided. The distance between the first connecting column 39 of the base and the third connecting column 39' of the base is equal to the distance between the third connecting groove 35 and the fourth connecting groove 36; the distance between the first connecting column 39 of the base and the third connecting column 39' of the base is equal to the distance between the third connecting groove 35 and the fifth connecting groove 35'; the line connecting the first connecting column 39 of the base and the second connecting column 40 of the base is parallel to the line connecting the third connecting column 39' of the base and the fourth connecting column 40' of the base; the line connecting the first connecting column 39 of the base and the third connecting column 39' of the base is parallel to the line connecting the second connecting column 40 of the base and the fourth connecting column 40' of the base;

[0024] The charging pile 3 includes an indicator light 43, a charging pile positive electrode 44 and a charging pile negative electrode 45;

[0025] The lifting cylinder 41 includes a lifting frame control system; the lifting frame control system includes a microcontroller, a drive circuit, a motor, a reducer, a screw lifting mechanism and a limit sensor;

[0026] A system of a robot for automatically transporting garbage door-to-door, wherein a chassis control system is arranged in the robot chassis 2; the chassis control system includes a motion control module, a power supply module, a safety monitoring module and a communication module; the motion control module includes a motor driver chip and an encoder interface, which are used to control the precise movement of the drive motor and obtain feedback mileage signals; the power supply module includes a battery pack and a power management chip, which supply power to the entire system and monitor the power; the safety monitoring module includes an obstacle detection sensor, a tilt sensor and an emergency stop button, which are used to monitor the operating environment and system status to ensure safe operation; the communication module adopts 5G wireless communication technology and is responsible for data interaction with other subsystems and servers;

[0027] A system for a robot that automatically transports garbage door-to-door also includes a system server and a database storage system; the server receives call information issued by a user for door-to-door garbage collection and transportation, and obtains the user's home address information, user location information, garbage bin location information, status information, community floor and elevator distribution information and preset path information from the database; the server communicates with the user and the robot chassis through a wireless network.

[0028] A system of a robot for automatically transporting garbage door-to-door also includes an elevator dispatching module; the elevator dispatching module interacts with the elevator and communicates with the robot chassis through a wireless network; after the elevator dispatching module receives an elevator call request from the robot chassis, the elevator dispatching module interacts with the elevator; the elevator call request includes elevator calling floor and target floor information.

[0029] The beneficial effects of the present invention are as follows: by adopting the solution of the present invention, the garbage treatment efficiency is improved, the labor intensity and the secondary pollution are reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 The following is a schematic diagram of the overall system usage;

[0031] Figure 2 This is a schematic diagram of the robot chassis structure;

[0032] Figure 3 This is a schematic diagram of the robot chassis structure and supporting plate;

[0033] Figure 4 It is a structural schematic diagram of the bottom surface of the robot chassis;

[0034] Figure 5 The schematic diagram of the structure of the trash bin is shown in FIG.

[0035] Figure 6 The schematic diagram of the bottom structure of the garbage bin is shown in FIG.

[0036] Figure 7 It is a structural schematic diagram of a trash bin frame;

[0037] Figure 8 This is a schematic diagram of a charging pile;

[0038] Fig. 9 is a control flow chart;

[0039] 1 is a trash bin, 2 is a robot chassis, 3 is a charging pile, 4 is a trash bin rack; 5 is a first depth camera, 6 is a first speaker, 7 is a second speaker, 8 is a first ultrasonic radar, 9 is a second ultrasonic radar, 10 is a heat dissipation hole, 11 is a support plate, 12 is a first connecting column, 13 is a second connecting column, 14 is a screw, 15 is a through hole, 16 is a data interface, 17 is a blind hole, 18 is a supporting column hole, 19 is a supporting column, 20 is a second depth camera, 21 is a positive charging electrode, 22 is a negative charging electrode, 23 is a universal wheel, 24 is a driving wheel, 25 is a laser radar, 26 is a box cover, 27 is The first infrared distance sensor, 28 is the second infrared distance sensor, 29 is the display screen, 30 is the front panel, 31 is the box body, 32 is the hinge, 33 is the first connecting slot, 34 is the second connecting slot, 35 is the third connecting slot, 36 is the fourth connecting slot, 35' is the fifth connecting slot, 36' is the sixth connecting slot; 37 is the base, 38 is the power cord, 39 is the first connecting column of the base, 40 is the second connecting column of the base, 39' is the third connecting column of the base, 40' is the fourth connecting column of the base, 41 is the lifting cylinder, 42 is the box frame, 43 is the indicator light, 44 is the positive charging pole of the charging pile, and 45 is the negative charging pole of the charging pile; DETAILED DESCRIPTION

[0040] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0041] The technical solution adopted by the present invention to solve the technical problem is a robot system for automatically transporting garbage door-to-door, including a garbage bin 1, a robot chassis 2, a charging pile 3 and a garbage bin rack 4; the garbage bin 1 is arranged in the garbage bin rack 4, and when in use, the robot chassis 2 loads the garbage bin 1 from the garbage bin rack 4;

[0042] The robot chassis 2 is a rectangular parallelepiped; a first speaker 6 and a second speaker 7 are arranged near the bottom of one side of the robot chassis 2; the side of the robot chassis 2 where the first speaker 6 and the second speaker 7 are arranged is the front of the robot chassis 2; a first depth camera 5 and a first ultrasonic radar 8 are arranged near the top of the robot chassis 2 on the front of the robot chassis 2; the first depth camera 5 and the first ultrasonic radar 8 are symmetrical with the symmetry axis parallel to the short side of the front in the front of the robot chassis 2; there is a rounded and smooth transition between the front and two adjacent side surfaces of the robot chassis 2;

[0043] The two side surfaces adjacent to the front of the robot chassis 2 are respectively provided with a second ultrasonic radar 9; the second ultrasonic radar 9 is located near the top surface of the robot chassis 2; the two side surfaces adjacent to the front of the robot chassis 2 are respectively provided with a pair of heat dissipation holes 10;

[0044] A second depth camera is arranged in the side opposite to the front of the robot chassis 2; the second depth camera is close to the top surface of the robot chassis 2; a battery assembly is arranged in the side opposite to the front of the robot chassis 2; the battery assembly includes a charging positive electrode 21 and a charging negative electrode 22;

[0045] A pair of driving wheels 24 are arranged on the bottom surface of the robot chassis 2; four universal wheels 23 are arranged on the bottom surface of the robot chassis 2; the driving wheels 24 and the universal wheels 23 are on the same horizontal plane;

[0046] A boss is provided on the top surface of the robot chassis 2; the boss is a rectangular parallelepiped; one side of the boss is coplanar with the front surface of the robot chassis 2; a baffle is provided on the side of the top surface of the boss close to the front surface of the robot chassis 2; the bottom surface of the baffle is fixedly connected to the boss; a data interface 16 is provided on the side of the top surface of the boss away from the front surface of the robot chassis 2; a blind hole 17 is provided on the side of the top surface of the boss away from the front surface of the robot chassis 2;

[0047] A laser radar 25 is arranged on the top surface of the robot chassis 2; the laser radar 25 protrudes from the top surface of the robot chassis 2; the height of the boss is greater than the height of the laser radar 25 protruding from the top surface of the robot;

[0048] A support plate 11 is arranged on the side of the top surface of the boss away from the front of the robot chassis 2; a through hole 15 is arranged on the side of the top surface of the support plate 11 close to the baffle; a screw 14 is arranged in the through hole 15; the screw 14 passes through the through hole 15 and enters the blind hole 17 to fix the support plate 11 and the boss; a support column blind hole is arranged on the bottom surface of the support plate 11; a support column 19 is arranged in the support column blind hole; the support column 19 is a column; a boss is arranged on one end surface of the support column 19; the boss of the support column 19 is inserted into the support column blind hole; the other end surface of the support column 19 is arranged in the support column hole 18 on the top surface of the robot chassis 2;

[0049] A rectangular groove is arranged on the top surface of the support plate 11; a first connecting column 12 and a second connecting column 13 are arranged on the bottom surface of the rectangular groove; the width of the support plate 11 is smaller than the width of the robot chassis 2; the first connecting column 12 is a cylinder; and the second connecting column 13 is an equilateral hexagonal prism;

[0050] The trash can 1 includes a box body 31 and a box cover 26; the box body 31 is a rectangular parallelepiped; the top surface of the box body 31 is open; a front panel 30 is arranged on one side of the box body 31; the side of the box body 31 on which the front panel 30 is arranged is the front of the box body 31; the length of the short side of the front of the box body 31 is the same as the length of the long side of the front of the robot chassis 2; the front panel 30 is a quadrangular pyramid; a second infrared distance sensor 28 is arranged on the side of the front panel 30 close to the open side of the box body 31; a display screen 29 is arranged on the top surface of the front panel 30;

[0051] The box cover 26 is disposed on the open top surface of the box body 31; the box body 31 and the box cover 26 are connected via a hinge 32; the first infrared distance sensor 27 is disposed on the bottom surface of the box cover 26;

[0052] A limiting groove is arranged on the bottom surface of the box body 31; the limiting groove is a groove; the length of the limiting groove is the same as the length of the supporting plate 11; the width of the limiting groove is the same as the width of the supporting plate 11; the depth of the limiting groove is the same as the height of the supporting plate 11; a first connecting groove 34 and a second connecting groove 33 are arranged on the bottom surface of the limiting groove; the first connecting groove 34 is a cylindrical groove; the second connecting groove 33 is an equilateral hexagonal groove; a third connecting groove 35 and a fourth connecting groove 36 are arranged on the bottom surface of the box body 31; a fifth connecting groove 35' and a sixth connecting groove 36' are arranged on the bottom surface of the box body 31; the third The connecting groove 35 and the sixth connecting groove 36' are symmetrical with the centroid of the bottom surface of the box body 31; the fourth connecting groove 36 and the fifth connecting groove 35' are symmetrical with the centroid of the bottom surface of the box body 31; the distance between the third connecting groove 35 and the fourth connecting groove 36 is equal to the distance between the fifth connecting groove 35' and the sixth connecting groove 36'; the distance between the third connecting groove 35 and the fifth connecting groove 35' is equal to the distance between the fourth connecting groove 36 and the sixth connecting groove 36'; the third connecting groove 35, the fourth connecting groove 36, the fifth connecting groove 35' and the sixth connecting groove 36' are all the same cylindrical grooves;

[0053] The depth of the first connection groove 34 is the same as the height of the first connection column 12; the cross-sectional radius of the first connection groove 34 is the same as the cross-sectional radius of the first connection column 12; the depth of the second connection groove 33 is the same as the height of the second connection column 13; the hexagonal side length of the cross section of the second connection groove 33 is the same as the hexagonal side length of the cross section of the second connection column 13;

[0054] The trash bin frame 4 includes a bin frame 42, a base 37 and a lifting cylinder 41; the bin frame 42 is a rectangular parallelepiped; the top surface of the bin frame 42 is open; one side surface where the long side of the top surface of the bin frame 42 is located is open; the base 37 is arranged on the lower surface of the bottom surface of the bin frame 42; the base 37 is close to one side surface where the short side of the bottom surface of the bin frame 42 is located; the lifting cylinder 41 is arranged on the outer wall of the other side surface where the short side of the bottom surface of the bin frame 42 is located;

[0055] A plurality of partitions are arranged in the box frame 42; the partitions divide the box frame 42 into a plurality of box frame slots; the height of the box frame slot is the same as the height of the box body 31; the length of the box frame slot is the same as the length of the box body 31; the width of the box frame slot is the same as the width of the box body 31; a groove is arranged on the bottom surface of the box frame slot; a first base connecting column 39 and a second base connecting column 40 are arranged on the inner surface of the box frame slot; a third base connecting column 39' and a fourth base connecting column 40' are arranged on the inner surface of the box frame slot; the space between the first base connecting column 39 and the second base connecting column 40 The distance is equal to the distance between the third connection slot 35 and the fourth connection slot 36; the distance between the first connection column 39 of the base and the third connection column 39' of the base is equal to the distance between the third connection slot 35 and the fifth connection slot 35'; the line connecting the first connection column 39 of the base and the second connection column 40 of the base is parallel to the line connecting the third connection column 39' of the base and the fourth connection column 40' of the base; the line connecting the first connection column 39 of the base and the third connection column 39' of the base is parallel to the line connecting the second connection column 40 of the base and the fourth connection column 40' of the base;

[0056] The charging pile 3 includes an indicator light 43, a charging pile positive electrode 44 and a charging pile negative electrode 45;

[0057] The lifting cylinder 41 includes a lifting frame control system; the lifting frame control system includes a microcontroller, a drive circuit, a motor, a reducer, a screw lifting mechanism and a limit sensor;

[0058] A chassis control system is set in the robot chassis 2; the chassis control system includes a motion control module, a power supply module, a safety monitoring module and a communication module; the motion control module includes a motor driver chip and an encoder interface, which are used to control the precise movement of the drive motor and obtain feedback mileage signals; the power supply module includes a battery pack and a power management chip, which supply power to the entire system and monitor the power; the safety monitoring module includes an obstacle detection sensor, a tilt sensor and an emergency stop button, which are used to monitor the operating environment and system status to ensure safe operation; the communication module adopts 5G wireless communication technology and is responsible for data interaction with other subsystems and servers;

[0059] A robot system for automatically transporting garbage door-to-door also includes a system server and a database storage system; the server receives call information issued by a user for door-to-door garbage collection and transportation, and obtains the user's home address information, user location information, garbage bin location information, status information, community floor and elevator distribution information and preset path information from the database; the server communicates with the user and the robot chassis through a wireless network.

[0060] A robot system for automatically transporting garbage door-to-door also includes an elevator dispatching module; the elevator dispatching module interacts with the elevator and communicates with the robot chassis through a wireless network; after the elevator dispatching module receives an elevator call request from the robot chassis, the elevator dispatching module interacts with the elevator; the elevator call request includes information about the elevator call floor and the target floor;

[0061] A control method of a robot system for automatically transporting garbage door-to-door is:

[0062] Step 1: The system server receives the user's call command and sends a call message to the idle robot chassis;

[0063] Step 2: The chassis control system of the robot chassis obtains the call information through the wireless interface;

[0064] Step 3: After the chassis control system of the robot chassis obtains the call information, the chassis control system of the robot chassis reaches the location of the trash bin rack according to the preset path information;

[0065] Step 4: The chassis control system of the robot chassis communicates with the lifting frame control system, and detects the position alignment information through the limit sensor. The chassis control system of the robot chassis automatically aligns and completes the docking, locking and loading of the garbage bin according to the position alignment information;

[0066] Step 5: After the robot chassis is loaded with the trash can, the chassis control system of the robot chassis determines whether to go up or down the stairs according to the call information;

[0067] If you need to go upstairs, jump to step 5.1;

[0068] If you don’t need to go upstairs, skip to step 6;

[0069] Step 5.1: The chassis control system of the robot chassis sends an elevator call request to the elevator dispatching module according to the preset path information; the chassis control system of the robot chassis receives the response information from the elevator dispatching module and navigates to the elevator entrance according to the response information;

[0070] Step 5.2: After the elevator arrives, the elevator dispatch module sends a station confirmation signal to the chassis control system of the robot chassis

[0071] Step 5.3: After receiving the arrival confirmation signal, the chassis control system of the robot chassis enters the elevator;

[0072] Step 5.4: When the elevator reaches the predetermined floor, the elevator dispatching module sends an arrival signal to the chassis control system of the robot chassis;

[0073] Step 5.5: The chassis control system of the robot chassis receives the arrival signal, drives out of the elevator, and enters step 6;

[0074] Step 6: According to the call information, the robot chassis arrives at the user's door, and the chassis control system of the robot chassis sends a prompt message to the user; the chassis control system of the robot chassis activates the infrared sensor switch on the trash bin;

[0075] Step 7: After receiving the prompt message, the user opens the door;

[0076] Step 8: After the infrared sensor on the trash can detects that the door is open, the trash can lid is opened and waits for the user to put in the trash;

[0077] Step 9: After the user puts the garbage in, close the lid of the garbage bin;

[0078] Step 10: The robot chassis receives the server information and determines whether there is a task to be executed;

[0079] If there is no task to be executed, go to step 11;

[0080] If there is a task to be executed, the call information is analyzed and the process jumps to step 5;

[0081] Step 11: The chassis control system of the robot chassis returns to the location of the trash bin rack;

[0082] Step 12: The chassis control system of the robot chassis communicates with the lifting frame control system, and detects the position alignment information through the limit sensor. The chassis control system of the robot chassis automatically aligns and completes the docking, locking and unloading of the garbage bin according to the position alignment information;

[0083] Step 13: After unloading the trash bin, the chassis control system of the robot chassis controls the robot chassis to return to the charging pile.

Claims

1. A robot that automatically transports garbage door-to-door, characterized by: It comprises a trash bin (1), a robot chassis (2), a charging pile (3) and a trash bin rack (4); the trash bin (1) is arranged inside the trash bin rack (4); when in use, the robot chassis (2) loads the trash bin (1) from the trash bin rack (4); The robot chassis (2) is a rectangular parallelepiped; a first loudspeaker (6) and a second loudspeaker (7) are arranged at a position close to the bottom surface of one side surface of the robot chassis (2); the side surface of the robot chassis (2) where the first loudspeaker (6) and the second loudspeaker (7) are arranged is the front surface of the robot chassis (2); a first depth camera (5) and a first ultrasonic radar (8) are arranged at a position close to the top surface of the robot chassis (2) on the front surface of the robot chassis (2); the first depth camera (5) and the first ultrasonic radar (8) are symmetrical in the front surface of the robot chassis (2) and are parallel to the symmetry axis of the short side of the front surface; and there is a rounded and smooth transition between the front surface of the robot chassis (2) and the two adjacent side surfaces; A second ultrasonic radar (9) is respectively arranged on two side surfaces adjacent to the front surface of the robot chassis (2); the second ultrasonic radar (9) is located close to the top surface of the robot chassis (2); and a pair of heat dissipation holes (10) is respectively arranged on two side surfaces adjacent to the front surface of the robot chassis (2); A second depth camera (20) is arranged in the side surface opposite to the front surface of the robot chassis (2); the second depth camera (20) is close to the top surface of the robot chassis (2); a battery assembly is arranged in the side surface opposite to the front surface of the robot chassis (2); the battery assembly comprises a charging positive electrode (21) and a charging negative electrode (22); A pair of driving wheels (24) are arranged on the bottom surface of the robot chassis (2); four universal wheels (23) are arranged on the bottom surface of the robot chassis (2); the driving wheels (24) and the universal wheels (23) are on the same horizontal plane; A boss is arranged on the top surface of the robot chassis (2); the boss is a rectangular parallelepiped; one side of the boss is coplanar with the front surface of the robot chassis (2); a baffle is arranged on the side of the top surface of the boss close to the front surface of the robot chassis (2); the bottom surface of the baffle is fixedly connected to the boss; a data interface (16) is arranged on the side of the top surface of the boss away from the front surface of the robot chassis (2); and a blind hole (17) is arranged on the side of the top surface of the boss away from the front surface of the robot chassis (2); A laser radar (25) is arranged on the top surface of the robot chassis (2); the laser radar (25) protrudes from the top surface of the robot chassis (2); the height of the boss is greater than the height of the laser radar (25) protruding from the top surface of the robot; A support plate (11) is arranged on the side of the top surface of the boss away from the front of the robot chassis (2); a through hole (15) is arranged on the side of the top surface of the support plate (11) close to the baffle; a screw (14) is arranged in the through hole (15); the screw (14) passes through the through hole (15) and enters the blind hole (17) to fix the support plate (11) and the boss; a support column blind hole is arranged on the bottom surface of the support plate (11); A support column (19) is arranged in the support column blind hole; the support column (19) is a column; a boss is arranged on one end surface of the support column (19); the boss of the support column (19) is inserted into the support column blind hole; the other end surface of the support column (19) is arranged in the support column hole (18) on the top surface of the robot chassis (2); A rectangular groove is arranged on the top surface of the support plate (11); a first connecting column (12) and a second connecting column (13) are arranged on the bottom surface of the rectangular groove; the width of the support plate (11) is smaller than the width of the robot chassis (2); the first connecting column (12) is a cylinder; and the second connecting column (13) is an equilateral hexagonal prism; The trash can (1) comprises a box body (31) and a box cover (26); the box body (31) is a rectangular parallelepiped; the top surface of the box body (31) is open; a front panel (30) is arranged on one side of the box body (31); the side of the box body (31) on which the front panel (30) is arranged is the front of the box body (31); the length of the short side of the front of the box body (31) is the same as the length of the long side of the front of the robot chassis (2); the front panel (30) is a quadrangular pyramid; a second infrared distance sensor (28) is arranged on the side of the front panel (30) close to the open side of the box body (31); and a display screen (29) is arranged on the top surface of the front panel (30); A box cover (26) is arranged on the open top surface of the box body (31); the box body (31) and the box cover (26) are connected via a hinge 32; a first infrared distance sensor (27) is arranged on the bottom surface of the box cover (26); A limiting groove is arranged on the bottom surface of the box body (31); the limiting groove is a groove; the limiting groove has the same length as the supporting plate (11); the limiting groove has the same width as the supporting plate (11); the limiting groove has the same depth as the height of the supporting plate (11); a first connecting groove (34) and a second connecting groove (33) are arranged on the bottom surface of the limiting groove; the first connecting groove (34) is a cylindrical groove; the second connecting groove (33) is an equilateral hexagonal prism groove; a third connecting groove (35) and a fourth connecting groove (36) are arranged on the bottom surface of the box body (31); a fifth connecting groove (35') and a sixth connecting groove (36') are arranged on the bottom surface of the box body (31); the third connecting groove (3 5) and the sixth connecting groove (36') are symmetrical with the center of mass of the bottom surface of the box body (31); the fourth connecting groove (36) and the fifth connecting groove (35') are symmetrical with the center of mass of the bottom surface of the box body (31); the distance between the third connecting groove (35) and the fourth connecting groove (36) is equal to the distance between the fifth connecting groove (35') and the sixth connecting groove (36'); the distance between the third connecting groove (35) and the fifth connecting groove (35') is equal to the distance between the fourth connecting groove (36) and the sixth connecting groove (36'); the third connecting groove (35), the fourth connecting groove (36), the fifth connecting groove (35') and the sixth connecting groove (36') are all the same cylindrical grooves; The depth of the first connection groove (34) is the same as the height of the first connection column (12); the cross-sectional radius of the first connection groove (34) is the same as the cross-sectional radius of the first connection column (12); the depth of the second connection groove (33) is the same as the height of the second connection column (13); the hexagonal side length of the cross section of the second connection groove (33) is the same as the hexagonal side length of the cross section of the second connection column (13); The trash bin frame (4) comprises a bin frame (42), a base (37) and a lifting cylinder (41); the bin frame (42) is a rectangular parallelepiped; the top surface of the bin frame (42) is open; a side surface where the long side of the top surface of the bin frame (42) is located is open; the base (37) is arranged on the lower surface of the bottom surface of the bin frame (42); the base (37) is close to a side surface where the short side of the bottom surface of the bin frame (42) is located; the lifting cylinder (41) is arranged on the outer wall of the other side surface where the short side of the bottom surface of the bin frame (42) is located; A plurality of partitions are arranged in the box frame (42); the partitions divide the box frame (42) into a plurality of box frame slots; the height of the box frame slot is the same as the height of the box body (31); the length of the box frame slot is the same as the length of the box body (31); the width of the box frame slot is the same as the width of the box body (31); a groove is arranged on the bottom surface of the box frame slot; a first base connecting column (39) and a second base connecting column (40) are arranged on the inner surface of the box frame slot; a third base connecting column (39') and a fourth base connecting column (40') are arranged on the inner surface of the box frame slot; the distance between the first base connecting column (39) and the second base connecting column (40) is The distances between the first connecting column (39) and the third connecting column (39') of the base are equal to the distance between the third connecting column (35) and the fifth connecting column (35'); the line connecting the first connecting column (39) and the second connecting column (40) of the base is parallel to the line connecting the third connecting column (39') and the fourth connecting column (40') of the base; the line connecting the first connecting column (39) and the third connecting column (39') of the base is parallel to the line connecting the second connecting column (40) and the fourth connecting column (40') of the base; The charging pile (3) comprises an indicator light (43), a charging pile positive electrode (44) and a charging pile negative electrode (45); The lifting cylinder (41) includes a lifting frame control system; the lifting frame control system includes a microcontroller, a drive circuit, a motor, a reducer, a lead screw lifting mechanism and a limit sensor.

2. A system using the robot for automatically transporting garbage door-to-door according to claim 1, characterized in that: A chassis control system is arranged in the robot chassis (2); the chassis control system comprises a motion control module, a power supply module, a safety monitoring module and a communication module; the motion control module comprises a motor driver chip and an encoder interface, which are used to control the precise motion of the drive motor and obtain feedback mileage signals; the power supply module comprises a battery pack and a power management chip, which supplies power to the entire system and monitors the power; the safety monitoring module comprises an obstacle detection sensor, a tilt sensor and an emergency stop button, which are used to monitor the operating environment and system status to ensure safe operation; The communication module adopts 5G wireless communication technology and is responsible for data interaction with other subsystems and servers.

3. The system of a robot for automatically transporting garbage door-to-door according to claim 2, characterized in that: It also includes a system server and a database storage system; the server receives call information issued by users for door-to-door garbage collection and transportation, and obtains the user's home address information, user location information, garbage bin location information, status information, community floor, elevator distribution information and preset path information from the database; the server communicates with the user and the robot chassis through a wireless network.

4. The system of a robot for automatically transporting garbage door-to-door according to claim 2, characterized in that: Including elevator dispatch module; The elevator dispatch module interacts with the elevator and communicates with the robot chassis via a wireless network; After the elevator dispatch module receives the elevator call request from the robot chassis, the elevator dispatch module interacts with the elevator; The elevator call request includes the calling floor and the target floor information.

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