Trash can grabbing, lifting and collection device, control method and vehicle

Abstract

A trash can grabbing, lifting and collection device, a control method and a vehicle. Said device comprises: guide rails, the guide rails being slidably provided with a sliding mechanism, the bottom of the sliding mechanism being snap-fastened to the guide rails, the sliding mechanism being hinged to a grabbing mechanism, a lifting cylinder for lifting the grabbing mechanism along a hinge position being provided between the sliding mechanism and the grabbing mechanism, and the sliding mechanism being further provided with a radar sensor and a camera which cooperate with the grabbing mechanism to grab and lift a trash can; and pull rods, the top of each pull rod being provided with a flip-over bent rod, the bottoms of the pull rods being connected to the sliding mechanism, and a rotation cylinder used for lifting the sliding mechanism to the tops of the guide rails and lifting the bottom of the sliding mechanism to be separate from the guide rails being provided on the flip-over bent rods. Said device enables intelligent trash collection simply by means of operations inside a vehicle cab, and only needs one driver for operations without the need of other operators, thus greatly reducing the labor cost.

Description

Garbage bin grabbing collection device, control method and vehicle Technical Field

[0001] The invention relates to a garbage bin grabbing and collecting device, a control method and a vehicle, and belongs to the technical field of garbage collection. Background Art

[0002] With the development of urbanization, garbage generation is increasing, and the number of trash cans is also increasing. How to quickly transport the garbage from the cans is a crucial issue. The current solution involves pairing several operators with one vehicle, which is labor-intensive, poses a high risk of infection from odors and viruses, and creates a poor working environment. Sometimes, collection points are too close, forcing operators to climb onto the top of the loader to travel the short distance rather than sit in the passenger seat, a dangerous task.

[0003] A side-loading garbage truck in the prior art can satisfy the driver's operation inside the cab, but this device cannot meet the actual use needs. The main limitations are as follows:

[0004] 1) The existing technology has fixed requirements for the distance and angle of the trash cans, but in actual use, the placement of the trash cans does not meet the fixed requirements and needs to be manually adjusted;

[0005] 2) Most of the time, garbage cans contain sewage, so it is required that the garbage cans should not spill sewage during collection, causing secondary pollution;

[0006] 3) Existing garbage trucks have high requirements for the angle and height of garbage bins when grabbing them, but in actual use, garbage bins are often placed randomly on curbs and ramps;

[0007] 4) Existing garbage trucks have high requirements on the driver's operation and are not intelligent enough. Summary of the Invention

[0008] The purpose of the present invention is to provide a garbage bin grabbing and collecting device, a control method and a vehicle to solve the technical problems of low working efficiency and lack of intelligence of existing garbage collection vehicles.

[0009] First aspect:

[0010] A garbage bin grabbing and collecting device, comprising:

[0011] Sliding mechanism

[0012] A guide rail, wherein the guide rail is slidably connected to the sliding mechanism, the sliding mechanism is hinged with a clamping mechanism, a lifting cylinder is provided between the sliding mechanism and the clamping mechanism for raising the clamping mechanism along the hinged position, and the sliding mechanism is further provided with a radar sensor and a camera for cooperating with the clamping mechanism to grab the trash can;

[0013] A pull rod, the top of which is provided with a turning rod, the bottom of which is connected to the sliding mechanism, and the turning rod is provided with a rotating cylinder for lifting the sliding mechanism to the top of the guide rail and lifting the bottom of the sliding mechanism off the guide rail.

[0014] Furthermore, the sliding mechanism includes a movable frame and a parallelogram structure, the top of the movable frame is slidably connected to the guide rail, one side of the bottom of the movable frame is clamped to the guide rail, the other side of the bottom of the movable frame is hinged to one end of the parallelogram structure, and the other end of the parallelogram structure is used to install the clamping mechanism.

[0015] Furthermore, one end of the lifting cylinder is connected to the top of the movable frame, and the other end of the lifting cylinder is connected to the parallelogram structure.

[0016] Furthermore, a rotating device for adjusting the angle of the clamping mechanism is provided between the clamping mechanism and the parallelogram structure.

[0017] Furthermore, the rotating device adopts a hydraulic motor or an electric motor.

[0018] Furthermore, the parallelogram structure is provided with a hanging tooth near one end of the clamping mechanism and above the corresponding clamping mechanism.

[0019] Furthermore, the clamping mechanism includes two mutually clamping claws, and the clamping claws are clamped or opened by a clamping cylinder.

[0020] Furthermore, the claws are provided with anti-slip straps.

[0021] Second aspect:

[0022] A vehicle comprises the garbage bin grabbing and collecting device of the first aspect, wherein an interactive screen cooperating with a radar sensor and a camera is provided in the cab of the vehicle, the vehicle is provided with a box body, the guide rails are provided on the sides of the box body, the rotating cylinder is provided on the top of the box body, the rotating cylinder drives the turning rod to rotate, so that the pull rod drives the movable frame and the quadrilateral mechanism to rise along the guide rail until the garbage bin can be poured into the box body in the direction of the opening.

[0023] The third aspect:

[0024] A method for controlling the garbage bin grabbing and collecting device of the vehicle according to the second aspect, executed by a controller, the method comprising:

[0025] The camera captures the image of the trash can, determines the position and angle of the trash can from the image, and transmits the position and angle of the trash can to the interactive screen;

[0026] The radar sensor senses the distance and height of the trash can and transmits it to the interactive screen;

[0027] The interactive screen moves the vehicle to a position where the grabbing and collecting device can grab the trash can based on the information transmitted by the camera and radar sensor, and prompts the driver through voice and text that there is a trash can within the grabbing range. If there are multiple trash cans, a selection prompt box will appear;

[0028] The gripping mechanism automatically adjusts the angle, height and distance of the gripping claws according to the position of the selected trash can to achieve the gripping of the trash can;

[0029] By controlling the rotating cylinder, lifting cylinder and clamping cylinder, the trash can can be lifted, turned over and placed along the guide rail.

[0030] Compared with the existing technology, the beneficial effects achieved by the present invention are: the intelligent garbage collection device of the present invention can be completed inside the vehicle cab, and only requires a driver to work, without the need for additional operators, which greatly saves labor costs;

[0031] The present invention cooperates with the interactive screen device and has an automatically working control system in the background. The driver can make a selection on the screen to receive prompts or automatic control, thereby realizing the intelligent garbage bin's intelligent grabbing and garbage collection function. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] FIG1 is a schematic diagram of the overall structure of the present invention;

[0033] Figure 2 is a schematic diagram of the clamping mechanism of the present invention;

[0034] FIG3 is a schematic diagram of a state of the garbage collection process of the present invention;

[0035] FIG4 is a schematic diagram of the present invention showing a non-operating rotary cylinder;

[0036] Figure 5 is a schematic diagram of the extension of the rotary cylinder of the present invention;

[0037] FIG6 is a partially enlarged schematic diagram of FIG4 of the present invention;

[0038] FIG7 is a partially enlarged schematic diagram of FIG5 of the present invention;

[0039] FIG8 is a partially enlarged schematic diagram of FIG3 of the present invention;

[0040] FIG9 is a partially enlarged schematic diagram of FIG1 of the present invention;

[0041] In the figure: 1. Box; 2. Guide rail; 3. Pull rod; 4. Lifting cylinder; 5. Parallelogram structure; 6. Clamping mechanism; 7. Vehicle; 8. Interactive screen; 9. Holding claw; 10. Anti-slip strap; 11. Support; 12. Radar sensor; 13. Rotating device; 14. Camera; 15. Hanging gear; 16. Turning rod; 17. Rotating cylinder; 18. Moving frame; 19. Holding cylinder; 20. Connecting rod. DETAILED DESCRIPTION

[0042] In order to make the technical means, creative features, objectives and effects achieved by the present invention easier to understand, the present invention is further described below in conjunction with specific implementation methods.

[0043] Example 1:

[0044] As shown in Figures 1 to 9, a garbage bin grabbing and collecting device is disclosed, comprising:

[0045] Sliding mechanism;

[0046] A guide rail 2 is slidably connected to the sliding mechanism, the sliding mechanism is hinged with a clamping mechanism 6, a lifting cylinder 4 is provided between the sliding mechanism and the clamping mechanism 6 to raise the clamping mechanism 6 along the hinged position, and the sliding mechanism is also provided with a radar sensor 12 and a camera 14 for cooperating with the clamping mechanism 6 to grab the trash can;

[0047] The pull rod 3 has a turning rod 16 at its top, and the bottom of the pull rod 3 is connected to the sliding mechanism. The turning rod 16 is provided with a rotating cylinder 17 for lifting the sliding mechanism to the top of the guide rail 2 and lifting the bottom of the sliding mechanism off the guide rail 2.

[0048] In this embodiment, it is worth noting that a circular arc rail is set at the top of the guide rail 2, so that the entire guide rail 2 can extend to the top of the box body 1, and the sliding mechanism can be raised from the side of the box body 1 to the top, so that the trash can can pour garbage into the box body 1.

[0049] As shown in Figures 4 and 5, the rotating cylinder 17 is arranged on both sides of the opening at the top of the box body 1, and the cylinder rod end is arranged to be tilted upward. The cylinder rod end of the rotating cylinder 17 is connected to the connecting rod 20, which is arranged on the turning rod 16. The turning rod 16 is hinged to the box body 1. The rotating cylinder 17 is extended to tilt the connecting rod upward, thereby driving the turning rod 16 to be lifted upward around the hinge point as shown in Figure 5, thereby raising the sliding mechanism and the clamping mechanism 6 to the position shown in Figure 3.

[0050] In this embodiment, in order to ensure that the direction of the trash can can be changed when the sliding mechanism rises and can be poured into the opening of the box body 1, the sliding mechanism includes a moving frame 18 and a parallelogram structure 5. The running track of the moving frame 18 is: the end connected to the guide rail moves to the arc track, and the end engaged with the guide rail 2 is driven by the pull rod 3 and the turning rod 16 to the position shown in Figure 3. It should be noted that when the pull rod 3 and the turning rod 16 are in action, in order to ensure that the trash in the trash can can be poured into the opening on the box body 1, a parallelogram structure 5 needs to be provided, specifically:

[0051] The top of the movable frame 18 is slidably connected to the guide rail 2, one side of the bottom of the movable frame 18 is clamped with the guide rail 2, and the other side of the bottom is hinged to one end of the parallelogram structure 5. The other end of the parallelogram structure 5 is used to install the clamping mechanism 6, one end of the lifting cylinder 4 is connected to the top of the movable frame 18, and the other end of the lifting cylinder 4 is connected to the parallelogram structure 5.

[0052] The lifting cylinder 4 reduces the angle between the parallelogram structure 5 and the movable frame 18, so that the trash can can form an angle at the top of the box body 1, and the trash in the can can be poured into the box body. At the same time, during the rising process, the angle of the trash can can be adjusted by the lifting cylinder 4 to ensure that the trash in the can can be poured out smoothly.

[0053] In this embodiment, a rotation device 13 for adjusting the angle of the gripping mechanism 6 is provided between the gripping mechanism 6 and the parallelogram structure 5. In this embodiment, the rotation device 13 utilizes a hydraulic motor or an electric motor. This motor or hydraulic motor adjusts the angle of the gripping mechanism 6. This allows the gripping mechanism 6 to be rotated by the rotation mechanism at the gripping claws when the angle of the trash can is too high to properly grip it. This allows the gripping mechanism 6 to be properly positioned so that the grabbing and collecting device faces the trash can. After gripping the trash can, the electric motor or hydraulic motor rotates the gripping mechanism 6 to its normal position.

[0054] In this embodiment, the clamping mechanism 6 includes two clamping claws 9 that clamp together, and the clamping claws 9 are clamped or opened by a clamping cylinder. The parallelogram structure 5 is close to one end of the clamping mechanism 6 and is provided with a hanging tooth 15 above the corresponding clamping mechanism 6. As shown in Figure 2, the clamping mechanism is designed with two rotatable clamping claws 9, and the clamping mechanism 6 is designed with a hanging tooth 15. The bucket is clamped by the clamping claws 9 and the trash can is clamped by the hanging tooth 15 to ensure that the bucket does not fall during the process of lifting and turning the bucket.

[0055] In the above embodiment, the claws 9 are provided with anti-slip straps 10. As shown in FIG2 , an adjustable anti-slip strap 10 is installed at the claws 9, which can clamp various trash cans such as square and round ones without damaging the trash cans.

[0056] Example 2:

[0057] A vehicle includes the garbage bin grabbing and collecting device of Example 1, wherein the driver's cab of the vehicle is provided with an interactive screen 8 cooperating with a radar sensor 12 and a camera 14, the vehicle is provided with a box body 1, the guide rail 2 is provided on the side of the box body 1, and the rotating cylinder 17 is provided on the top of the box body 1. The rotating cylinder 17 drives the turning rod 16 to rotate, so that the pull rod 3 drives the movable frame 18 and the quadrilateral mechanism 5 to rise along the guide rail 2 until the garbage bin can be poured into the box body 1 in the opening direction.

[0058] In a specific implementation, the driver drives the vehicle to the vicinity of a roadside trash can, obtains the location information of the trash can through the interactive screen 8 in the vehicle, and controls the extension and contraction of each cylinder in Example 1 to automatically grab, lift, flip and place the trash can.

[0059] Example 3:

[0060] A method for controlling a garbage bin grabbing and collecting device of a vehicle including the second embodiment, executed by a controller, the method comprising:

[0061] The camera 14 acquires an image of the trash can, determines the position and angle of the trash can from the image, and transmits the position and angle of the trash can to the interactive screen 8;

[0062] The radar sensor 12 senses the distance and height of the trash can and transmits the information to the interactive screen 8;

[0063] The interactive screen 8 moves the vehicle to a position where the grabbing and collecting device can grab the garbage can according to the information transmitted by the camera 14 and the radar sensor 12, and prompts the driver through voice and text that there is a garbage can within the grabbing range, and when there are multiple garbage cans, a selection prompt box appears;

[0064] The gripping mechanism 6 automatically adjusts the angle, height and distance of the gripping claw 9 according to the position of the selected trash can to achieve the gripping of the trash can;

[0065] By controlling the rotating oil cylinder 17, the lifting oil cylinder 4 and the holding oil cylinder 19, the trash can can be lifted, turned over and placed along the guide rail.

[0066] The above method is described in detail as follows:

[0067] The entire intelligent grabbing and collecting device, as shown in Figure 1, is located on the side of the vehicle. An interactive screen 8 is located inside the cab for control and operation, allowing the driver to perform intelligent grabbing and collecting of garbage without exiting the vehicle. As shown in Figure 2, a camera 14 and a radar sensor 12 are added to the garbage gripping mechanism 6. The camera 14 is used to capture images of the garbage bin and determine its position and angle from the image, while the radar sensor 12 is used to sense the distance and height of the garbage bin. An interactive screen device 8 is located inside the cab. When the camera 14 detects a garbage bin, it provides voice and text notifications to the driver indicating that the bin is within the grabbing range. If multiple bins are available, a selection prompt box appears, allowing the driver to select one. When the driver selects a particular bin, the intelligent grabbing and collecting device automatically adjusts the angle, height, and distance of the gripping claw 9 based on the bin's position to grab the bin. The gripping claw then automatically retracts to the guide rail 2, allowing the operator to automatically lift, dump, and place the bin, reducing the operator's workload. If the bin is not within the grabbing range, the interactive screen device prompts the driver to move the vehicle a short distance until the bin is within the grabbing range. As shown in Figure 2, an adjustable anti-slip strap 10 is installed at the gripping claw 9, which can clamp a variety of trash cans, such as square and round ones, without damaging them. By pulling up the oil cylinder 4 and pushing the parallelogram structure 5, the gripping mechanism 6 is lowered. The parallelogram structure 5 and the guide rail 3 can be used to adjust the distance and height between the gripping mechanism 6 and the trash can to accommodate the gripping of various cans. In addition, the use of the parallelogram structure 5 can ensure that the trash is not spilled during the process of gripping and lifting the trash can. The gripping mechanism 6 is designed with a rotating device 13. When the angle of the trash can is too high to grip properly, the gripping mechanism 6 is rotated by the rotating mechanism at the gripping claw 9, so that the gripping and collecting device is facing the trash can, and the trash can is properly gripped.

[0068] After grabbing the trash can, the gripping device 6 is rotated to the normal position by the rotating device 13, and then the operation is performed according to Figure 3.

[0069] The intelligent garbage collection device of the present invention can be completed inside the vehicle cab, and only requires a driver to work, without the need for additional operators, which greatly saves labor costs;

[0070] The present invention cooperates with the interactive screen device and has an automatically working control system in the background. The driver can make a selection on the screen to receive prompts or automatic control, thereby realizing the intelligent garbage bin's intelligent grabbing and garbage collection function.

[0071] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A trash can lifting and collecting device, characterized in that, Comprising: A sliding mechanism; A guide rail (2), the guide rail (2) is slidably connected to the sliding mechanism, the sliding mechanism is hinged with a clamping mechanism (6), a lifting oil cylinder (4) for lifting the clamping mechanism (6) along the hinge position is arranged between the sliding mechanism and the clamping mechanism (6), and the sliding mechanism is further provided with a radar sensor (12) and a camera (14) for cooperating with the clamping mechanism (6) to grab a trash can; A pull rod (3), a turning lever (16) is arranged at the top of the pull rod (3), the bottom of the pull rod (3) is connected to the sliding mechanism, and a rotating oil cylinder (17) for lifting the sliding mechanism to the top of the guide rail (2) and lifting the bottom of the sliding mechanism away from the guide rail (2) is arranged on the turning lever (16).

2. The trash can lifting and collecting device according to claim 1, wherein The sliding mechanism comprises a moving frame (18) and a parallelogram structure (5), the top of the moving frame (18) is slidably connected to the guide rail (2), one side of the bottom of the moving frame (18) is clamped to the guide rail (2), the other side of the bottom of the moving frame (18) is hinged to one end of the parallelogram structure (5), and the other end of the parallelogram structure (5) is used for installing the clamping mechanism (6).

3. The trash can lifting and collecting device according to claim 2, wherein, One end of the lifting oil cylinder (4) is connected to the top of the moving frame (18), and the other end of the lifting oil cylinder (4) is connected to the parallelogram structure (5).

4. The trash can lifting and collecting device according to claim 2, characterized in that, A rotating device (13) for adjusting the angle of the clamping mechanism (6) is arranged between the clamping mechanism (6) and the parallelogram structure (5).

5. The trash can lifting and collecting device according to claim 4, characterized in that, The rotating device (13) adopts a hydraulic motor or an electric motor.

6. The trash can lifting and collecting device according to claim 2, wherein, A hanging tooth (15) is further arranged at one end of the parallelogram structure (5) close to the clamping mechanism (6) and above the clamping mechanism (6).

7. The trash can lifting and collecting device according to claim 1, characterized in that, The clamping mechanism (6) comprises two mutually clamping claws (9), and the clamping claws (9) are clamped or opened by a clamping oil cylinder.

8. The trash can lifting and collecting device according to claim 7, characterized in that, The clamping claws (9) are provided with anti-slip straps (10).

9. A vehicle, characterized in that, Including the trash can grabbing and collecting device according to any one of claims 1-8, an interactive screen (8) cooperating with the radar sensor (12) and the camera (14) is arranged in the cab of the vehicle, the vehicle is provided with a box body (1), the guide rail (2) is arranged on the side of the box body (1), the rotating oil cylinder (17) is arranged on the top of the box body (1), the rotating oil cylinder (17) drives the turning lever (16) to rotate, so that the pull rod (3) drives the moving frame (18) and the quadrilateral mechanism (5) to rise along the guide rail (2) until the opening direction of the trash can can be poured into the box body (1).

10. A control method for a trash can lifting and collecting device according to claim 7, which is executed by a controller, characterized in that, The method comprises: Obtaining an image of the trash can through the camera (14), judging the position and angle of the trash can from the image, and transmitting the position and angle of the trash can to the interactive screen (8); Sensing the distance and height of the trash can through the radar sensor (15) and transmitting them to the interactive screen (8); Based on the images, angles, distances, and heights of the trash cans transmitted by the camera (14) and the radar sensor (12), the interactive screen (8) moves the vehicle to a position where the grappling and collection device can grab the trash can, and uses voice and text to prompt the driver that there is a trash can within the grappling range. When there are multiple trash cans, a selection prompt box appears; The clamping mechanism (6) automatically adjusts the angles, heights, and distances of the grippers (9) according to the positions of the selected trash cans to achieve the grasping of the trash cans; By controlling the rotation oil cylinder (17), the lifting oil cylinder (4), and the clamping oil cylinder (19), the trash can is lifted, emptied, and placed along the guide rail.

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