Mountain garbage cleaning robot

Abstract

The utility model discloses a mountain garbage cleaning robot, including an intelligent recognition unit, which is installed at the front end of a garbage storage box and is used for mountain garbage image recognition; an automatic obstacle avoidance unit, which includes a plurality of obstacle avoidance radars, and the plurality of obstacle avoidance radars are evenly installed around the bottom of a bottom plate on a cleaning robot body, and are used for obstacle recognition and avoidance when the cleaning robot body is walking. By arranging the intelligent recognition unit on the mountain garbage cleaning robot, the image captured by the camera on the intelligent recognition unit is processed by an intelligent image processor, and the garbage on the mountain is recognized and classified, so that the cleaning robot can pick up and store different types of garbage in time, prevent the garbage from being trapped inside the mountain, and protect the mountain ecosystem.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a mountain garbage cleaning robot. Background Art

[0002] As an important carrier of emerging technologies and key equipment of modern industries, robots lead the digital development and intelligent upgrading of industries, and constantly breed new industries, new models and new formats. With the development of intelligent technology, intelligent robots are used in all walks of life. The garbage pollution problem has always been a key project in my country's environmental governance. However, due to the terrain problems, the internal garbage pollution control effect of mountain scenic spots is not significant.

[0003] The existing mountain garbage cleaning robot (a Danxia scenic area mountain garbage picking device with application number 202011427446.4) installs a mechanical arm on the remote-controlled vehicle body to manually remotely pick up garbage on the Danxia landform mountain. No intelligent recognition unit is set on the mountain garbage cleaning robot to intelligently identify and pick up garbage on the mountain. There is no intelligent obstacle avoidance unit, automatic sensing unit and navigation unit on the mountain garbage cleaning robot, so that the mountain garbage cleaning robot can walk freely and cross roads and trails in the mountain area. At the same time, the mountain garbage cleaning robot is not provided with an air quality temperature and humidity monitoring unit, so that the mountain garbage cleaning robot can prevent and warn of natural disasters such as fire while cleaning the mountain garbage. Utility Model Content

[0004] In view of the above-mentioned defects or deficiencies in the prior art, it is expected to provide a mountain garbage cleaning robot to solve the technical problems that the existing mountain garbage cleaning robots are unable to walk freely in the complex terrain of mountain scenic spots, cross the roads and trails in the mountains, and intelligently identify and pick up garbage on the mountains, and they are not equipped with air quality, temperature and humidity monitoring units, and cannot enable the mountain garbage cleaning robots to prevent and warn of natural disasters such as fires while cleaning mountain garbage.

[0005] According to the technical solution provided in the embodiment of the present application, the mountain garbage cleaning robot includes an intelligent recognition unit installed at the front end of the garbage storage box for mountain garbage image recognition;

[0006] An automatic obstacle avoidance unit, which includes a plurality of obstacle avoidance radars, and the plurality of obstacle avoidance radars are evenly installed around the bottom of the bottom plate of the cleaning robot body, and are used to identify and avoid obstacles when the cleaning robot body is walking;

[0007] The picking unit includes a gripping finger, a mechanical arm and a rotating base. The gripping finger is installed at the front end of the mechanical arm and is used to grip and pick up the mountain garbage after identification. The bottom of the mechanical arm is hinged on the rotating base, and the rotating base is movably installed on the top of the bottom plate so that the rotating base drives the mechanical arm to rotate.

[0008] A navigation unit, comprising a Beidou locator, which is fixedly installed inside the bottom plate and is used for navigating the action route of the cleaning robot;

[0009] The monitoring and early warning unit comprises an air temperature and humidity detector, which is installed at the front end of the garbage storage box and is used for mountain air temperature and humidity monitoring and early warning.

[0010] Furthermore, the intelligent recognition unit includes a camera and a processor, the camera is electrically connected to the processor, and the camera is fixedly installed at the front end of the garbage storage box, and is used for dynamic image recognition during the walking process of the cleaning robot body.

[0011] Furthermore, the obstacle avoidance radar is a laser radar.

[0012] Furthermore, a driving mechanism is installed at the rear end of the clamping fingers, so that the driving mechanism drives the clamping fingers to clamp and pick up the mountain garbage, and the driving mechanism is fixedly installed in the connecting box, and a rotating mechanism and an electronic tag are also installed in the connecting box. The driving mechanism is fixedly connected to the rotating mechanism through a connecting shaft, and the electronic tag is electrically connected to the reader installed on the garbage storage box, so that the reader opens the garbage storage box.

[0013] Furthermore, the driving mechanism includes a telescopic driving member, a telescopic rod and two linkage rods, one end of the two linkage rods is hinged to each clamping plate, and the other end is fixedly mounted on a connecting block, and the connecting block is movably mounted on the telescopic rod, and a spring is sleeved on the telescopic rod, so that the telescopic driving member drives the telescopic rod to extend and retract, thereby driving the two clamping plates to clamp or release the garbage.

[0014] Furthermore, the rotating mechanism includes a rotating driving member, which is fixedly mounted on the front end of the robotic arm, and an output end of the rotating driving member is fixedly connected to the driving mechanism so that the rotating driving member drives the driving mechanism to rotate.

[0015] Furthermore, the air temperature and humidity detector is a digital sensor integrating humidity and temperature, and is used for monitoring the temperature and humidity of the mountain cleaned by the cleaning robot body.

[0016] Furthermore, auxiliary support units are installed on both sides of the base plate, and the auxiliary support units include two groups of support mechanisms, and the two groups of support mechanisms are installed in parallel and correspondingly on both sides of the base plate to assist the movement of the base plate.

[0017] Furthermore, the support mechanism includes two auxiliary wheels, two groups of support frames and a connecting frame. The connecting frame is horizontally arranged on the side of the base plate, and the two groups of support frames are installed in parallel and at intervals at both ends of the connecting frame. The two auxiliary wheels are vertically installed at both ends of the connecting frame, so that the support mechanism can provide auxiliary support for the movement of the base plate.

[0018] Furthermore, it also includes a moving unit, which is composed of two groups of track wheels and a second driving mechanism. The two groups of track wheels are installed in parallel and correspondingly on both sides of the base plate, and the two groups of track wheels are movably connected by two connecting shafts. The second driving mechanism is installed on the connecting shaft located at the front end so that the second driving mechanism drives the two groups of track wheels to rotate.

[0019] Furthermore, the track wheel is composed of a front track wheel and a rear track wheel, and the front track wheel and the rear track wheel are arranged alternately front and back so that the rear wheel of the front track wheel and the front wheel of the rear track wheel are installed in parallel on the connecting shaft.

[0020] Furthermore, the second driving mechanism includes a second rotating driving member, a driving gear and a driven gear, the driven gear is fixedly mounted on the connecting shaft, and the driven gear is meshingly connected to the driving gear, and the driving gear is fixedly connected to the output end of the second rotating driving member, so that the second rotating driving member drives the two sets of track wheels installed on the connecting shaft to rotate.

[0021] Furthermore, it also includes a solar energy collection unit, which is installed at the rear end of the base plate and is used to collect electrical energy from the cleaning robot body.

[0022] Furthermore, the solar energy collection unit includes a second telescopic drive member, a support rod, a third rotating drive member and two solar panels, the two solar panels are installed in parallel on the connecting rod, and a connecting ear plate is fixedly installed on the bottom of the connecting rod, the connecting ear plate is movably hinged to the top of the support rod, and the output end of the third rotating drive member is fixedly connected to the second connecting shaft hinged on the connecting ear plate, so that the third rotating drive member drives the two solar panels to rotate along the hinged drive, and the bottom of the support rod is fixedly connected to the output end of the second telescopic drive member, so that the second telescopic drive member drives the support rod to move up and down in the vertical direction to adjust the height of the solar panels.

[0023] Furthermore, the garbage storage box has an appearance of a spherical shape of an insect shell.

[0024] In summary, the beneficial effects of this application are:

[0025] 1. By setting an intelligent recognition unit on the mountain garbage cleaning robot, the images captured by the camera on the intelligent recognition unit are processed by the intelligent image processor to identify and classify the garbage on the mountain, so that the cleaning robot can pick up and store different types of garbage in time, prevent garbage from being trapped inside the mountain, and protect the mountain ecosystem;

[0026] Second, by setting up an automatic obstacle avoidance unit on the mountain garbage cleaning robot, a number of laser obstacle avoidance radars installed at the bottom of the base plate can perform a full-scale scan of obstacles around the cleaning robot during its operation, so that the cleaning robot can make direction adjustments in advance to prevent accidental collisions and avoid obstacles in time;

[0027] 3. By setting a picking unit on the mountain garbage cleaning robot, after the intelligent recognition unit recognizes the mountain garbage, the processing information is transmitted to the picking unit, so that the mechanical arm and the gripping fingers on the picking unit are started to grip and pick up the garbage on the mountain. After picking up, the electronic tag installed on the picking unit is electrically connected to the reader on the garbage storage box. After the reader performs contactless automatic recognition, the garbage storage box automatically opens, and the gripping fingers drop the garbage into the garbage storage box, completing the garbage picking action, thereby improving the garbage picking efficiency of the mountain garbage cleaning robot;

[0028] Fourth, by setting a navigation unit on the mountain garbage cleaning robot, the cleaning robot can use the Beidou satellite navigation system to enter the mountain terrain route information into the internal system and mark the garbage collection point before being deployed. When the garbage is full, it will automatically go to the garbage collection point to dispose of the garbage, and then return to work, thereby improving the garbage removal efficiency of the mountain garbage cleaning robot;

[0029] 5. By setting up a monitoring and early warning unit on the mountain garbage cleaning robot, the cleaning robot can collect air temperature and humidity data information on the mountain during the cleaning process, and transmit the data to the environmental air quality continuous automatic monitoring data platform, make corresponding comparisons and collections on the current air temperature and humidity conditions, and grasp the trend of air quality changes in the entire scenic area in real time, and provide early warning and protection against impending natural disasters. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Other features, objects and advantages of the present application will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings:

[0031] Figure 1This is a front view schematic diagram of the overall structure of the utility model;

[0032] Figure 2 This is a schematic diagram of the overall structure of the utility model from a side view;

[0033] Figure 3 This is a schematic diagram of the bottom structure of the utility model;

[0034] Figure 4 It is a schematic diagram of the cross-sectional structure of the utility model and the mechanical arm unit;

[0035] Figure 5 This is a schematic diagram of the structure of the walking unit of the utility model.

[0036] Numbers in the figure: cleaning robot body-100, intelligent recognition unit-110, camera-111, automatic obstacle avoidance unit-120, obstacle avoidance radar-121, picking unit-130, clamping finger-131, clamping plate-1311, mechanical arm-132, rotating base-133, driving mechanism-134, telescopic driving member-1341, telescopic rod-1342, linkage rod-1343, connecting box-135, rotating mechanism-136, electronic tag-137, navigation unit-140, monitoring and early warning unit-150, auxiliary support unit-160, support Support mechanism-161, auxiliary wheel-1611, support frame-1612, connecting frame-1613, mobile unit-170, track wheel-171, front track wheel-1711, rear track wheel-1712, second driving mechanism-172, second rotating driving member-1721, driving gear-1722, driven gear-1723, solar energy collection unit-180, second telescopic driving member-181, support rod-182, third rotating driving member-183, solar cell panel-184, garbage storage box-190, reader-191, bottom plate-1000. DETAILED DESCRIPTION

[0037] The present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the relevant utility model, rather than to limit the utility model. It is also necessary to explain that, for ease of description, only the parts related to the utility model are shown in the accompanying drawings.

[0038] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0039] Mountain garbage cleaning robot, its structure is as follows Figure 1-Figure 5As shown, it includes an intelligent recognition unit 110, an automatic obstacle avoidance unit 120, a picking unit 130, a navigation unit 140 and a monitoring and early warning unit 150. The intelligent recognition unit 110 is installed at the front end of the garbage storage box 190 for mountain garbage image recognition; the automatic obstacle avoidance unit 120 includes a plurality of obstacle avoidance radars 121, and the plurality of obstacle avoidance radars 121 are evenly installed around the bottom of the bottom plate 1000 on the cleaning robot body 100, which are used to identify and avoid obstacles when the cleaning robot body 100 is walking; the picking unit 130 includes a gripping finger 131, a mechanical arm 132 and a rotating base 133, The gripping finger 131 is installed at the front end of the mechanical arm 132, and is used for gripping and picking up mountain garbage after identification. The bottom of the mechanical arm 132 is hinged on the rotating base 133, and the rotating base 133 is movably installed on the top of the base plate 1000, so that the rotating base 133 drives the mechanical arm 132 to rotate; the navigation unit 140, which includes a Beidou locator, the Beidou locator is fixedly installed inside the base plate 1000, and is used for navigating the action route of the cleaning robot; the monitoring and early warning unit 150, which includes an air temperature and humidity detector, the air temperature and humidity detector is installed at the front end of the garbage storage box 190, and is used for mountain air temperature and humidity monitoring and early warning.

[0040] During the process of the mountain garbage cleaning robot cleaning the mountain garbage, the mobile unit 170 installed at the bottom of the base plate 1000 on the cleaning robot body 100 is started, so that the second driving mechanism 172 on the mobile unit 170 drives the track wheels 171 installed on both sides of the base plate 1000 to rotate, so that the cleaning robot moves on different terrains on the mountain. At the same time, auxiliary support units 160 are installed on both sides of the base plate 1000 of the cleaning robot. The two auxiliary wheels 1611 arranged at the front and rear of the auxiliary support unit 160 provide auxiliary support for the moving cleaning robot, thereby improving the turning flexibility of the cleaning robot body 100 in the mountain and reducing the damage to the environment. During the movement of the cleaning robot body 100, the base plate 10 00, the intelligent recognition unit 110 installed on the garbage storage box 190 fixedly installed on the top is started, so that the camera 111 on the intelligent recognition unit 110 can intelligently recognize the image in the moving process, so as to transmit the information after image recognition to the picking unit 130, so as to start the mechanical arm 132 on the picking unit 130, and drive the gripping fingers 131 connected to the front end of the mechanical arm 132 to grip and pick up the garbage on the surface of the mountain or on the plants on the mountain. After picking up, the electronic tag installed on the picking unit 130 is electrically connected to the reader 191 on the garbage storage box 190, so that the reader 191 controls the box door on the garbage storage box 190 to open, so that the garbage gripped by the gripping fingers 131 enters the garbage storage box 190 for collection, and the garbage on the cleaning machine 130 is picked up by the reader 191 on the garbage storage box 190. During the process of the robot body 100 cleaning the mountain garbage, the cleaning robot body 100 is provided with a navigation unit 140, so that before the cleaning robot is deployed, the Beidou satellite navigation system is used to first enter the mountain terrain route information into the internal system and mark the garbage collection point. After the garbage is full, it automatically goes to the garbage collection point to dump the garbage, and then returns to work, thereby improving the garbage removal efficiency of the mountain garbage cleaning robot. At the same time, the cleaning robot body 100 is provided with an automatic obstacle avoidance unit 120, so that the cleaning robot is provided with a monitoring and early warning unit 150, and a plurality of laser obstacle avoidance radars 121 installed at the bottom of the base plate 1000 perform a full-scale scan of the obstacles around the cleaning robot during its work, so that the cleaning machine People make direction adjustments in advance to prevent collision accidents, avoid obstacles in time, and improve the garbage removal efficiency of the mountain garbage cleaning robot. In the process of cleaning the mountain garbage, the garbage storage box 190 on the cleaning robot is provided with a monitoring and early warning unit 150, so that the cleaning robot can collect the air temperature and humidity data information on the mountain in the process of cleaning the mountain garbage, and transmit the data to the environmental air quality continuous automatic monitoring data platform, make corresponding comparisons and collections on the current air temperature and humidity conditions, and grasp the trend of air quality changes in the entire scenic area in real time, and give early warning and protection against impending natural disasters. In the process of cleaning the mountain garbage by the cleaning robot body 100,A solar energy collection unit 180 is also installed at the rear end of the cleaning robot body 100, so that the high-efficiency solar panel carried at the rear end of the cleaning robot body 100 can adjust the optimal angle for the corresponding time period according to the irradiation angle, collect solar energy, and use renewable energy for power supply, thereby improving the garbage removal efficiency of the mountain garbage cleaning robot.

[0041] As a preferred embodiment, please refer to Figure 1 and Figure 2 The intelligent recognition unit 110 includes a camera 111 and a processor. The camera 111 is electrically connected to the processor. The processor is fixedly installed inside the base plate 1000, and the camera 111 is fixedly installed at the front end of the garbage storage box 190, so that the camera 111 can dynamically recognize the image of the cleaning robot body 100 during its walking process, and transmit the recognized information to the processor in time, so that the processor can control the picking unit 130 installed on the cleaning robot to perform garbage picking actions.

[0042] As a preferred embodiment, please refer to Figure 3 The obstacle avoidance radar 121 is a laser radar, which uses optical-magnetic fusion technology to obtain more dense sampling points, achieve rapid response to obstacles, and carry out faster and more timely obstacle avoidance alarms. It has a measurement range of 12m radius and a measurement error of <=2%. It can achieve three-dimensional obstacle avoidance and more than 8,000 ranging actions per second. It is equipped with a USB interface to connect to the Raspberry Pi chip to receive, identify, process and convert images, respond to changes in external factors, and quickly respond to obstacles and adjust the direction.

[0043] As a preferred embodiment, please refer to Figure 2 and Figure 4 A driving mechanism 134 is installed at the rear end of the clamping finger 131, so that the driving mechanism 134 drives the clamping finger 131 to clamp and pick up the mountain garbage, and the driving mechanism 134 is fixedly installed in the connecting box 135, and a rotating mechanism 136 and an electronic tag are also installed in the connecting box 135. The driving mechanism 134 is fixedly connected to the rotating mechanism 136 through a rotating shaft, and the electronic tag is electrically connected to the reader 191 installed on the garbage storage box 190, so that the reader 191 opens the garbage storage box 190.

[0044] As a preferred embodiment, please refer to Figure 4The driving mechanism 134 includes a telescopic driving member 1341, a telescopic rod 1342 and two linkage rods 1343. One end of the two linkage rods 1343 is hinged to each clamping plate 1311, and the other end is fixedly installed on the connecting block, and the connecting block is movably installed on the telescopic rod 1342, and a spring is sleeved on the telescopic rod 1342, so that the telescopic driving member 1341 drives the telescopic rod 1342 to be telescopic, so that the connecting block movably installed at the front end of the telescopic rod 1342 moves along the telescopic direction of the telescopic rod 1342, thereby driving the two linkage rods 1343 movably connected on both sides of the connecting block to rotate, so that the two clamping plates 1311 fixedly connected by the two linkage rods 1343 are retracted inward, thereby clamping the mountain garbage.

[0045] As a preferred embodiment, please refer to Figure 4 The rotating mechanism 136 includes a rotating driving member, which is fixedly installed at the front end of the mechanical arm 132, and the output end of the rotating driving member is fixedly connected to the driving mechanism 134, so that the rotating driving member drives the driving mechanism 134 to rotate, thereby driving the clamping fingers 131 connected to the driving mechanism 134 to rotate, so that the clamping fingers 131 can clamp different forms of mountain garbage.

[0046] As a preferred embodiment, please refer to Figure 1 and Figure 2 The air temperature and humidity detector is a digital sensor integrating humidity and temperature, which includes a resistive humidity measuring element and an NTC temperature measuring element. The digital sensor integrating humidity and temperature is connected to a high-performance Raspberry Pi chip. Through a simple circuit connection of a microprocessor such as a single-chip microcomputer, the humidity and temperature of the cleaning robot body 100 where it moves are collected in real time.

[0047] As a preferred embodiment, please refer to Figure 1 and Figure 3 Auxiliary support units 160 are also installed on both sides of the base plate 1000. The auxiliary support units 160 include two groups of support mechanisms 161, and the two groups of support mechanisms 161 are installed in parallel and correspondingly on both sides of the base plate 1000 to assist the movement of the base plate 1000.

[0048] As a preferred embodiment, please refer to Figure 1 and Figure 3The support mechanism 161 includes two auxiliary wheels 1611, two groups of support frames 1612 and a connecting frame 1613. The connecting frame 1613 is horizontally arranged on the side of the base plate 1000, and the two groups of support frames 1612 are formed by hingedly connecting a plurality of connecting frames 1613, and the plurality of connecting frames 1613 form an arc structure, thereby increasing the support strength of the support mechanism 161, and the two groups of support frames 1612 are installed in parallel and at intervals at both ends of the connecting frame 1613, and the two auxiliary wheels 1611 are vertically installed at both ends of the connecting frame 1613, and elastic parts are arranged on the top of the two auxiliary wheels 1611, so that the elastic parts elastically support the movement of the auxiliary wheels 1611, so that the support mechanism 161 can provide auxiliary support for the movement of the base plate 1000, so that the cleaning robot body 100 can move on different terrains and mountains.

[0049] As a preferred embodiment, please refer to Figure 1 and Figure 2 , and also includes a mobile unit 170, which is composed of two sets of track wheels 171 and a second driving mechanism 172134. The two sets of track wheels 171 are installed in parallel and correspondingly on both sides of the base plate 1000, and the two sets of track wheels 171 are movably connected by two connecting shafts. A second driving mechanism 172 is installed on the connecting shaft at the front end, so that the second driving mechanism 172 drives the two sets of track wheels 171 to rotate, so that the track wheels 171 rotate to drive the cleaning robot body 100 to move along different mountains, replacing the original single tire setting, so that when the cleaning robot body 100 walks in the mountains, it has the advantages of small ground contact pressure, high traction efficiency, and good performance, less compaction effect on soil and vegetation, and can be more suitable for mountain working environments.

[0050] As a preferred embodiment, please refer to Figure 3 and Figure 5 The track wheel 171 is composed of a front track wheel 1711 and a rear track wheel 1712. The front track wheel 1711 and the rear track wheel 1712 are arranged alternately front and back, so that the rear wheel of the front track wheel 1711 and the front wheel of the rear track wheel 1712 are installed in parallel on the connecting shaft, so that the driving mechanism 134 drives the fixedly connected connecting shaft to rotate, which can drive the front track wheel 1711 and the rear track wheel 1712 to transmit, thereby improving the power transmission efficiency.

[0051] As a preferred embodiment, please refer to Figure 5The second driving mechanism 172134 includes a second rotating driving member 1721, a driving gear 1722 and a driven gear 1723. The driven gear 1723 is fixedly installed on the connecting shaft, and the driven gear 1723 is meshed and connected with the driving gear 1722, and the driving gear 1722 is fixedly connected to the output end of the second rotating driving member 1721, so that the second rotating driving member 1721 drives the driving gear 1722 to rotate, thereby rotating the driven gear 1723 meshed with the driving gear 1722, so that the connecting shaft fixedly installed with the driven gear 1723 rotates, so that the two sets of track wheels 171 installed on both sides of the connecting shaft rotate.

[0052] As a preferred embodiment, please refer to Figure 1 and Figure 2 The cleaning robot body 100 also includes a solar energy collection unit 180 , which is installed at the rear end of the base plate 1000 and is used to collect electrical energy for the cleaning robot body 100 .

[0053] As a preferred embodiment, please refer to Figure 1 and Figure 2 The solar energy collection unit 180 includes a second telescopic driving member 181, a support rod 182, a third rotating driving member 183 and two solar panels 184, the two solar panels 184 are installed in parallel on the connecting rod, and a connecting ear plate is fixedly installed at the bottom of the connecting rod, and the connecting ear plate is movably hinged to the top of the support rod 182, and the output end of the third rotating driving member 183 is fixedly connected to the second connecting shaft hinged on the connecting ear plate, so that the third rotating driving member 183 drives the two solar panels 184 to rotate along the hinged drive, and the bottom of the support rod 182 is fixedly connected to the output end of the second telescopic driving member 181, so that The second telescopic driving member 181 drives the supporting rod 182 to move up and down in the vertical direction to adjust the height of the solar panel 184. By installing a high-efficiency solar panel 184 at the rear end of the cleaning robot, the solar panel 184 can adjust the angle of the solar panel 184 as the lighting conditions in the mountain change, so that the solar panel 184 can collect the renewable energy generated by the light and supply power to the cleaning robot, so that the cleaning robot body 100 can move autonomously after obtaining power, and provide power to the electrical components installed inside it, so that the cleaning robot can continuously clean garbage in the mountain.

[0054] As a preferred embodiment, please refer to Figure 1 and Figure 2 The garbage storage box 190 has a spherical shape like an insect shell, thereby ensuring the central stability of the cleaning robot body 100, so that the cleaning robot can handle a variety of terrains and better cope with garbage picking tasks.

[0055] The working principle of the utility model is:

[0056] During the process of the mountain garbage cleaning robot cleaning mountain garbage, the mobile unit 170 installed at the bottom of the base plate 1000 on the cleaning robot body 100 is started, so that the second driving mechanism 172 on the mobile unit 170 drives the track wheels 171 installed on both sides of the base plate 1000 to rotate, so that the staggered front track wheels 1711 and the rear track wheels 1712 rotate synchronously, so that the cleaning robot can move on different terrains on the mountain. At the same time, auxiliary support units 160 are installed on both sides of the base plate 1000 of the cleaning robot. The two auxiliary wheels 1611 arranged in front and behind the connecting frame 1613 on the auxiliary support unit 160 provide auxiliary support for the moving cleaning robot, thereby improving the turning flexibility of the cleaning robot body 100 in the mountain. Active, reduce damage to the environment, and during the movement of the cleaning robot body 100, the intelligent recognition unit 110 installed on the garbage storage box 190 on the top of the bottom plate 1000 is started, so that the camera 111 on the intelligent recognition unit 110 can intelligently recognize the image during the movement of the cleaning robot, so as to transmit the information after image recognition to the picking unit 130, so that the mechanical arm 132 on the picking unit 130 is started, and the linkage arm on the mechanical arm 132 is driven to adjust and bend the angle, so that the clamping finger 131 contacts the garbage on the mountain, and the two clamping plates 1311 on the clamping finger 131 are driven by the telescopic driving member 1341 on the driving mechanism 134 to rotate inward, so as to The body is pulled and clamped for picking up. After picking up, the electronic tag installed on the picking unit 130 on the cleaning machine is electrically connected to the reader 191 on the garbage storage box 190, so that the reader 191 controls the box door on the garbage storage box 190 to open, so that the garbage clamped by the clamping fingers 131 enters the garbage storage box 190 for collection. In the process of the cleaning robot body 100 cleaning the mountain garbage, the cleaning robot body 100 is provided with a navigation unit 140, so that the cleaning robot uses the Beidou satellite navigation system to enter the mountain terrain route information into the internal system and mark the garbage collection point before delivery. After the garbage is full, it automatically goes to the garbage collection point to deliver the garbage, and then returns to work, thereby improving the efficiency of mountain garbage collection. The garbage removal efficiency of the cleaning robot is improved. When the cleaning robot body 100 moves along the action track set by the navigation, the cleaning robot body 100 is provided with an automatic obstacle avoidance unit 120. A plurality of laser obstacle avoidance radars 121 installed at the bottom of the base plate 1000 perform a full-scale scan of obstacles around the cleaning robot during its operation, so that the cleaning robot can make direction adjustments in advance to prevent accidental collisions and avoid obstacles in time, thereby improving the garbage removal efficiency of the mountain garbage cleaning robot. At the same time, a monitoring and early warning unit 150 is provided on the cleaning robot, so that the cleaning robot can collect air temperature and humidity data information on the mountain during the cleaning of mountain garbage, and transmit the data to the environmental air quality continuous automatic monitoring data platform.The current air temperature and humidity conditions are compared and collected accordingly, and the trend of air quality changes in the entire scenic area is grasped in real time, and early warnings are given for impending natural disasters. During the cleaning process of the cleaning robot body 100 cleaning the mountain garbage, a solar energy collection unit 180 is also installed at the rear end of the cleaning robot body 100, so that the high-efficiency solar panel carried at the rear end of the cleaning robot body 100 can adjust the optimal angle for the corresponding time period according to the irradiation angle, collect solar energy, and use renewable energy for power supply, thereby improving the garbage removal efficiency of the mountain garbage cleaning robot.

[0057] The beneficial effects of the utility model are:

[0058] 1. By setting an intelligent recognition unit 110 on the mountain garbage cleaning robot, the image captured by the camera 111 on the intelligent recognition unit 110 is processed by the intelligent image processor to identify and classify the garbage on the mountain, so that the cleaning robot can pick up and store different types of garbage in time, prevent the garbage from being trapped inside the mountain, and protect the mountain ecosystem;

[0059] Second, by setting an automatic obstacle avoidance unit 120 on the mountain garbage cleaning robot, a plurality of laser obstacle avoidance radars 121 installed at the bottom of the base plate 1000 can perform a full-scale scan of obstacles around the cleaning robot during its operation, so that the cleaning robot can make direction adjustments in advance to prevent accidental collisions and avoid obstacles in time;

[0060] 3. By setting a picking unit 130 on the mountain garbage cleaning robot, after the intelligent recognition unit 110 recognizes the mountain garbage, the processing information is transmitted to the picking unit 130, so that the mechanical arm 132 and the clamping finger 131 on the picking unit 130 are started to clamp and pick up the garbage on the mountain. After picking up, the electronic tag installed on the picking unit 130 is electrically connected to the reader 191 on the garbage storage box 190. After the reader 191 performs contactless automatic recognition, the garbage storage box 190 automatically opens, and the clamping finger 131 drops the garbage into the garbage storage box 190, completing the garbage picking action, thereby improving the garbage picking efficiency of the mountain garbage cleaning robot;

[0061] Fourth, by setting a navigation unit 140 on the mountain garbage cleaning robot, the cleaning robot uses the Beidou satellite navigation system to input the mountain terrain route information into the internal system and mark the garbage collection point before being deployed. When the garbage is full, it automatically walks to the garbage collection point to put the garbage, and then returns to work, thereby improving the garbage removal efficiency of the mountain garbage cleaning robot;

[0062] 5. By setting a monitoring and early warning unit 150 on the mountain garbage cleaning robot, the cleaning robot can collect the air temperature and humidity data information on the mountain during the mountain garbage cleaning process, and transmit the data to the environmental air quality continuous automatic monitoring data platform, so as to make corresponding comparison and collection of the current air temperature and humidity conditions, and grasp the trend of air quality changes in the entire scenic area in real time, and provide early warning and protection against impending natural disasters;

[0063] 6. By setting a solar energy collection unit 180 on the mountain garbage cleaning robot, the high-efficiency solar panel 184 carried on the rear end of the cleaning robot body 100 can adjust the optimal angle for the corresponding time period according to the irradiation angle, collect solar energy, and use renewable energy for power supply, thereby improving the garbage removal efficiency of the mountain garbage cleaning robot.

[0064] The above description is only an explanation of the preferred embodiments of the present application and the technical principles and other schemes used. At the same time, the scope of the utility model involved in the present application is not limited to the technical scheme formed by a specific combination of the above technical features, but also includes other technical schemes formed by any combination of the above technical features or their equivalent features without departing from the concept of the utility model. For example, the above features are replaced with the technical features with similar functions disclosed in the present application (but not limited to) to form a technical scheme.

Claims

1. Mountain garbage cleaning robot, its characteristics are: It comprises an intelligent recognition unit (110) which is installed at the front end of the garbage storage box (190) and is used for mountain garbage image recognition; An automatic obstacle avoidance unit (120), comprising a plurality of obstacle avoidance radars (121), wherein the plurality of obstacle avoidance radars (121) are evenly mounted around the bottom of a base plate (1000) on a cleaning robot body (100), and are used for identifying and avoiding obstacles when the cleaning robot body (100) is walking; A picking unit (130) comprises a gripping finger (131), a mechanical arm (132) and a rotating base (133), wherein the gripping finger (131) is mounted at the front end of the mechanical arm (132) and is used for gripping and picking up the identified mountain garbage, and the bottom of the mechanical arm (132) is hinged on the rotating base (133), and the rotating base (133) is movably mounted on the top of the bottom plate (1000) so that the rotating base (133) drives the mechanical arm (132) to rotate; A navigation unit (140), comprising a Beidou locator, the Beidou locator being fixedly mounted inside the base plate (1000) and used for navigating the action route of the cleaning robot; The monitoring and early warning unit (150) comprises an air temperature and humidity detector, which is installed at the front end of the garbage storage box (190) and is used for mountain air temperature and humidity monitoring and early warning.

2. The mountain garbage cleaning robot according to claim 1 is characterized in that: The intelligent recognition unit (110) comprises a camera (111) and a processor, the camera (111) being electrically connected to the processor, and the camera (111) being fixedly mounted at the front end of the garbage storage box (190) and used for dynamic image recognition during the walking process of the cleaning robot body (100).

3. The mountain garbage cleaning robot according to claim 1 is characterized in that: The obstacle avoidance radar (121) is a laser radar.

4. The mountain garbage cleaning robot according to claim 1 is characterized in that: A driving mechanism (134) is installed at the rear end of the gripping finger (131) so that the driving mechanism (134) drives the gripping finger (131) to grip and pick up the mountain garbage, and the driving mechanism (134) is fixedly installed in a connection box (135), and a rotating mechanism (136) and an electronic tag (137) are also installed in the connection box (135). The driving mechanism (134) is fixedly connected to the rotating mechanism (136) via a rotating shaft, and the electronic tag (137) is electrically connected to a reader (191) installed on the garbage storage box (190) so that the reader (191) opens the garbage storage box (190).

5. The mountain garbage cleaning robot according to claim 4 is characterized in that: The driving mechanism (134) comprises a telescopic driving member (1341), a telescopic rod (1342) and two linkage rods (1343), one end of the two linkage rods (1343) is hinged to each clamping plate (1311), and the other end is fixedly mounted on a connecting block, and the connecting block is movably mounted on the telescopic rod (1342), and a spring is sleeved on the telescopic rod (1342), so that the telescopic driving member (1341) drives the telescopic rod (1342) to extend and retract, thereby driving the two clamping plates (1311) to clamp or release garbage.

6. The mountain garbage cleaning robot according to claim 4 is characterized in that: The rotating mechanism (136) comprises a rotating driving member, which is fixedly mounted on the front end of the mechanical arm (132), and the output end of the rotating driving member is fixedly connected to the driving mechanism (134), so that the rotating driving member drives the driving mechanism (134) to rotate.

7. The mountain garbage cleaning robot according to claim 1 is characterized in that: The air temperature and humidity detector is a digital sensor integrating humidity and temperature, and is used for monitoring the temperature and humidity of the mountain cleaned by the cleaning robot body (100).

8. The mountain garbage cleaning robot according to claim 1 is characterized in that: Auxiliary support units (160) are also installed on both sides of the base plate (1000), and the auxiliary support units (160) include two groups of support mechanisms (161), and the two groups of support mechanisms (161) are installed in parallel and correspondingly on both sides of the base plate (1000) to assist in the movement of the base plate (1000).

9. The mountain garbage cleaning robot according to claim 8 is characterized in that: The support mechanism (161) comprises two auxiliary wheels (1611), two groups of support frames (1612) and a connecting frame (1613); the connecting frame (1613) is horizontally arranged on the side of the base plate (1000), and the two groups of support frames (1612) are installed in parallel and at intervals at both ends of the connecting frame (1613); the two auxiliary wheels (1611) are vertically installed at both ends of the connecting frame (1613), so that the support mechanism (161) can provide auxiliary support for the movement of the base plate (1000).

10. The mountain garbage cleaning robot according to claim 1 is characterized in that: The invention also comprises a moving unit (170), wherein the moving unit (170) is composed of two groups of track wheels (171) and a second driving mechanism (172), wherein the two groups of track wheels (171) are arranged in parallel and are installed on both sides of the base plate (1000) in correspondence, and the two groups of track wheels (171) are movably connected via two connecting shafts, and the second driving mechanism (172) is installed on the connecting shaft at the front end so that the second driving mechanism (172) drives the two groups of track wheels (171) to rotate.

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