Purging type sweeping garbage truck

Abstract

The utility model discloses a blowing type sweeping garbage truck, which relates to the technical field of intelligent robots and comprises a truck body, a blowing mechanism and a blowing channel connected with the blowing mechanism are arranged on the truck body, a mechanical arm used for guiding the blowing channel is further arranged on the truck body, and an air outlet of the blowing channel is close to the end portion of the mechanical arm. The vehicle body is further provided with a first camera used for detecting the area where garbage is located. A position recognition module and a control module are arranged on the vehicle body, and the position recognition module, the air blowing mechanism, the mechanical arm, the first camera and the second camera are all electrically connected with the control module. By arranging the position recognition module and the first camera, the position of garbage in a dead angle area can be quickly recognized, position information is transmitted to the control module, the control module controls the mechanical arm to send an air outlet of the air blowing channel to the side, away from the road surface, of the garbage, and then the air blowing mechanism can be started; and fallen leaves, paper scraps and other garbage in the dead angle area are blown to the road surface, and cleaning is completed.

Description

Technical Field

[0001] The utility model relates to the technical field of intelligent robots, in particular to a purging type garbage cleaning vehicle. Background Art

[0002] With the increasingly prominent phenomenon of the aging of Chinese society, the continuous rise of domestic labor costs, and the gradual disappearance of the demographic dividend, the current way of maintaining cleanliness by manpower has problems such as manual dead corners, low cleaning efficiency, and untimely cleaning. Moreover, cleaners are not only very hardworking, with repetitive mechanical labor and high labor intensity, but also have a high incidence of chronic respiratory diseases due to the working environment. Even the complex and changeable traffic and road conditions will put their lives at risk. Therefore, technicians in this field have developed unmanned intelligent garbage cleaning vehicles to replace manual labor. However, the existing unmanned intelligent garbage cleaning vehicles can only clean paved roads at present, and are powerless for dead corner areas such as roadside grasslands and bicycle and motorcycle parking areas that the unmanned intelligent garbage cleaning vehicles cannot enter, such as fallen leaves, paper scraps and other garbage in the above-mentioned dead corner areas. Content of the Utility Model

[0003] The purpose of the utility model is to provide a purging type garbage cleaning vehicle to solve the problems existing in the above-mentioned prior art and effectively clean fallen leaves, paper scraps and other garbage in roadside grasslands and bicycle and motorcycle parking areas.

[0004] To achieve the above purpose, the utility model provides the following scheme:

[0005] A purging type garbage cleaning vehicle includes a vehicle body, a blowing mechanism and a blowing channel connected to the blowing mechanism are arranged on the vehicle body, a robotic arm for guiding the blowing channel is also arranged on the vehicle body, and the air outlet of the blowing channel is close to the end of the robotic arm; a first camera for detecting the area where the garbage is located is also arranged on the vehicle body; a position recognition module and a control module are arranged on the vehicle body, and the position recognition module, the blowing mechanism, the robotic arm and the first camera are all electrically connected to the control module.

[0006] Preferably, the blowing channel is arranged along the robotic arm.

[0007] Preferably, the blowing channel adopts a flexible hose.

[0008] Preferably, a second camera for monitoring whether the garbage is blown out of the dead corner area is arranged at the end of the robotic arm, and the second camera is electrically connected to the control module.

[0009] Preferably, a lidar for sensing the surrounding environment is also arranged on the vehicle body, and the lidar is electrically connected to the control module.

[0010] Preferably, a sweeper device for cleaning the garbage on the road is further provided on the vehicle body, and the sweeper device is electrically connected to the control module.

[0011] Preferably, a rotary sweeper device for cleaning the garbage on the road is further provided on the vehicle body, and the rotary sweeper device is electrically connected to the control module.

[0012] Preferably, a water spraying device electrically connected to the control module is further provided on the vehicle body.

[0013] Preferably, a traveling assembly electrically connected to the control module is provided at the bottom of the vehicle body.

[0014] Preferably, the traveling assembly includes a wheel set and a driving mechanism for providing power to the wheel set, and the driving mechanism is electrically connected to the control module.

[0015] The utility model has achieved the following technical effects compared with the prior art:

[0016] By providing a position recognition module and a first camera, the positions of the garbage in dead corner areas such as the grassland and the parking areas for bicycles and motorcycles by the roadside can be quickly recognized, and the position information is transmitted to the control module. By controlling the control module to move the air outlet of the blowing channel to the side of the garbage away from the road surface by the robotic arm, the blowing mechanism can be turned on to blow the fallen leaves, paper scraps and other garbage in the dead corner areas onto the road surface to complete the cleaning. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model or the prior art, the following will briefly introduce the drawings required to be used in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present utility model, and those of ordinary skill in the art can also obtain other drawings based on these drawings without creative efforts.

[0018] Figure 1 It is a schematic structural diagram of a blowing type garbage cleaning vehicle disclosed by the present utility model;

[0019] Wherein, 1, wheel set; 2, vehicle body; 3, blowing mechanism; 4, first camera; 5, blowing channel; 6, robotic arm; 7, second camera; 8, air outlet. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0020] The technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model. Persons familiar with this technology can easily understand other advantages and effects of the present utility model from the content disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without making creative efforts belong to the scope protected by the present utility model.

[0021] It should be noted that the structures, ratios, sizes, etc. shown in the drawings of this specification are only used to cooperate with the content disclosed in the specification for persons familiar with this technology to understand and read, and are not used to limit the limiting conditions under which the present utility model can be implemented. Therefore, they do not have technical essential significance. Any modification of the structure, change of the proportional relationship or adjustment of the size, without affecting the effects that the present utility model can produce and the purposes that can be achieved, should still fall within the scope covered by the technical content disclosed in the present utility model. In the description of the present utility model, it should be understood that the orientation or positional relationship indicated by the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present utility model, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present utility model. In addition, the terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. Thus, the features defined with "first", "second", etc. may explicitly or implicitly include one or more of such features. In the description of the present utility model, unless otherwise specified, the meaning of "a plurality" is two or more.

[0022] It should also be noted that in the embodiments of the present application, the same reference numerals are used to represent the same component or the same part.

[0023] The purpose of the present utility model is to provide a purging type garbage truck to solve the problems existing in the prior art and effectively clean the garbage such as fallen leaves and paper scraps in the grass beside the road and the areas where bicycles and motorcycles are parked.

[0024] To make the above objects, features and advantages of the present utility model more obvious and understandable, the present utility model will be further described in detail below with reference to the drawings and specific embodiments.

[0025] Please refer to Figure 1, this embodiment provides a purging type garbage truck, including a vehicle body 2, on which a blowing mechanism 3 and a blowing channel 5 connected to the blowing mechanism 3 are provided. A robotic arm 6 for guiding the blowing channel 5 is also provided on the vehicle body 2, and the air outlet 8 of the blowing channel 5 is close to the end of the robotic arm 6; A first camera 4 for detecting the area where the garbage is located is also provided on the vehicle body 2; A position recognition module and a control module are provided on the vehicle body 2, and the position recognition module, the blowing mechanism 3, the robotic arm 6, and the first camera 4 are all electrically connected to the control module.

[0026] The recognition and positioning of garbage in the dead corner area are achieved through the first camera 4 and the position recognition module provided on the vehicle body 2. The position recognition module is installed with recognition software, such as the mature and classic Yolov5 AI model, which has multiple versions of TensorFlow and PyTorch and can run normally on platforms such as PC level, Nvidia's Nano, and domestic RK3568 / 3588. A lidar for sensing the surrounding environment is also provided on the vehicle body 2, and the lidar is electrically connected to the control module.

[0027] The position recognition module recognizes the garbage position information in the dead corner area according to the image information collected by the first camera 4. The coordinates (x, y) of the garbage recognized by the camera on the imaging plane correspond to a ray L emitted from the imaging origin in the real world. Combining the ground surface scanned by the lidar, the intersection point of the ray L and the surface is the coordinate position of the garbage in the real world.

[0028] A robotic arm 6 is installed on the side or front of the vehicle body 2. The robotic arm 6 is a mature existing technology in the field, such as the Lingyue ROS robotic arm six-axis robot robotic arm commonly used.

[0029] The blowing channel 5 can be integrally attached along the length direction of the robotic arm 6, and the air outlet 8 of the blowing channel 5 is close to the end of the robotic arm 6. The blowing channel 5 can adopt various pipe bodies, and a flexible hose is adopted in this embodiment. The air outlet 8 can be adjusted in the horizontal and vertical directions under the drive of the robotic arm 6.

[0030] According to the garbage pixels and distances recognized by the first camera 4 and the position recognition module, the position coordinates of the garbage can be obtained. The robotic arm 6 adjusts the air outlet 8 to the side of the garbage away from the road surface and points it at the garbage according to this coordinate. The adjustment of the robotic arm 6 can (but is not limited to) use the MoveIt (https: / / moveit.ros.org / ) software in the robotic arm toolbox of the well-known ROS (https: / / ros.org / ) open source software package for the required coordinate calculation and motion control.

[0031] As a preferred solution of this embodiment, a second camera 7 for monitoring the purging state of the garbage is further provided at the end of the robotic arm 6. The second camera 7 is electrically connected to the control module. During the garbage purging process, the second camera 7 identifies and tracks the garbage to ensure that all or most of the garbage is purged into the road area.

[0032] The switch and gear of the blowing mechanism 3 are controlled by the control module to start after the robotic arm 6 points to the garbage. During the movement of the robotic arm 6 to switch the target garbage, the blowing mechanism 3 is controlled to stop working to save electric energy. The gear switch of the blowing mechanism 3 can (but is not limited to) be controlled by a power MOS transistor (for the working principle, see https: / / en.wikipedia.org / wiki / MOSFET), taking over the on-off function of the mechanical push-button switch in the prior art. The on-off of the MOS transistor can be managed by the single-chip microcomputer through the general-purpose IO, which is a common automatic control means.

[0033] After the cleaning is completed, the robotic arm 6 retracts and the blowing mechanism 3 is turned off.

[0034] When the robotic arm 6 extends and retracts, the vehicle body 2 emits a voice warning, such as "The robotic arm of the sweeper is operating. Do not approach."

[0035] During the extension and contraction of the robotic arm 6, if the lidar or the first camera 4 or the second camera 7 detects an object approaching (for example, the distance is less than 1 meter), the movement will stop to prevent the robotic arm 6 from hurting people.

[0036] In addition, the vehicle body 2 is also provided with a broom device for cleaning the garbage on the road, a rotary broom device for cleaning the garbage on the road, a water spraying device, etc., which are standard equipment for a conventional sweeper. The broom device, the rotary broom device, the water spraying device, etc. are all electrically connected to the control module.

[0037] A traveling component for driving the vehicle body 2 to move forward is provided at the bottom of the vehicle body 2. The traveling component includes a wheel set 1 and a second driving mechanism for providing power to the wheel set 1. The second driving mechanism is electrically connected to the control module.

[0038] After the pick-up type garbage sweeper reaches the dead corner areas such as the identified grassland and bicycle parking area driven by the traveling component, it identifies the garbage position, and the robotic arm 6 extends for purging. After the purging of this area is completed, it moves to the next area to be purged and repeats until the purging task is completed.

[0039] In the description of the present application, it should be noted that unless otherwise clearly specified and defined, the terms "installed", "connected", and "coupled" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific situations.

[0040] If the present utility model discloses or involves components or structural members that are fixedly connected to each other, then, unless otherwise stated, the fixed connection can be understood as: a detachable fixed connection (for example, connected by bolts or screws), or it can be understood as: a non-detachable fixed connection (for example, riveting, welding). Of course, the mutually fixed connection can also be replaced by an integral structure (for example, manufactured by integral casting process) (except when it is clearly impossible to adopt the integral forming process).

[0041] In addition, unless otherwise stated, the terms used to represent the positional relationship or shape in any of the technical solutions disclosed in the present utility model include states or shapes that are approximate, similar, or close to them.

[0042] Any component provided by the present utility model can either be assembled from multiple separate components or be a single component manufactured by an integral forming process.

[0043] Adaptability changes made according to actual needs are all within the protection scope of the present utility model.

[0044] It should be noted that for those skilled in the art, it is obvious that the present utility model is not limited to the details of the above exemplary embodiments, and without departing from the spirit or basic characteristics of the present utility model, the present utility model can be implemented in other specific forms. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting. The scope of the present utility model is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be encompassed within the present utility model. Any reference signs in the claims should not be regarded as limiting the claimed rights.

[0045] Specific examples are used in the present utility model to elaborate on the principles and implementation manners of the present utility model. The description of the above embodiments is only used to help understand the method and its core idea of the present utility model; at the same time, for those of ordinary skill in the art, according to the idea of the present utility model, there will be changes in the specific implementation manners and application scopes. In summary, the content of this specification should not be understood as a limitation to the present utility model.

Claims

1. A purging type garbage truck, characterized in that: It includes a vehicle body, on which a blowing mechanism and a blowing channel connected to the blowing mechanism are provided. A robotic arm for guiding the blowing channel is also provided on the vehicle body, and the air outlet of the blowing channel is close to the end of the robotic arm. A first camera for detecting the area where the garbage is located is also provided on the vehicle body. A position recognition module and a control module are provided on the vehicle body, and the position recognition module, the blowing mechanism, the robotic arm and the first camera are all electrically connected to the control module.

2. The purging type refuse collection vehicle according to claim 1, wherein: The blowing channel is arranged along the robotic arm.

3. The purging type refuse collector according to claim 2, wherein: The blowing channel uses a flexible hose.

4. The purging type refuse cleaning vehicle according to claim 1, wherein: A second camera for monitoring whether the garbage is blown out of the dead corner area is provided at the end of the robotic arm, and the second camera is electrically connected to the control module.

5. The purging type refuse collector according to claim 1, wherein: A lidar for sensing the surrounding environment is also provided on the vehicle body, and the lidar is electrically connected to the control module.

6. The purging type garbage truck according to claim 1, wherein: A sweeper device for cleaning the garbage on the road is also provided on the vehicle body, and the sweeper device is electrically connected to the control module.

7. The purging type refuse collector according to claim 1, wherein: A rotary sweeper device for cleaning the garbage on the road is also provided on the vehicle body, and the rotary sweeper device is electrically connected to the control module.

8. The purging type refuse collector according to claim 1, characterized in that: A water spraying device electrically connected to the control module is also provided on the vehicle body.

9. The purging type refuse cleaning vehicle according to any one of claims 1-8, characterized in that: A traveling assembly electrically connected to the control module is provided at the bottom of the vehicle body.

10. The purging type refuse collector according to claim 9, wherein: The traveling assembly includes a wheel set and a driving mechanism for providing power to the wheel set, and the driving mechanism is electrically connected to the control module.

Images