阅读说明：本技术 一种无人上料垃圾车的作业系统、方法和垃圾车 (Operation system and method of unmanned feeding garbage truck and garbage truck ) 是由 陈海初 王志锋 林泽欣 童俊 于 2019-10-29 设计创作，主要内容包括：本发明提供了一种无人上料垃圾车的作业系统、方法和垃圾车,所述作业系统包括图像采集模块、垃圾检测模块、控制模块、以及机械臂,所述垃圾车包括所述作业系统并根据所述方法进行作业。本发明通过对垃圾桶进行智能识别以及通过控制机械臂完成智能作业,上料无需人工干涉,实现单人即可完成垃圾收运作业,减少人工劳动,安全性更高,同时通过增加垃圾检测模块对待处理的垃圾桶内的垃圾量进行检测,检测其是否达到倾倒需求,只对达到倾倒需求的垃圾桶进行倾倒,提高效率,降低作业时间,而且还在垃圾车上增加清洗箱对垃圾桶进行清洗,减少污水对环境的污染,该清洗动作通过控制模块以及智能识别系统进行操作,能够有效减少对工作人员的伤害。(The invention provides an operation system and method of an unmanned feeding garbage truck and the garbage truck. According to the garbage can intelligent identification device, intelligent operation is completed through intelligent identification of the garbage can and the control mechanical arm, manual interference is not needed during feeding, garbage collection and transportation can be completed by a single person, manual labor is reduced, safety is higher, meanwhile, the garbage detection module is added to detect the amount of garbage in the garbage can to be treated, whether the garbage can meets the dumping requirement is detected, only the garbage can meeting the dumping requirement is dumped, efficiency is improved, operation time is reduced, the garbage can is cleaned by the aid of the cleaning box additionally arranged on a garbage truck, pollution of sewage to the environment is reduced, the cleaning operation is operated through the control module and the intelligent identification system, and injury to workers can be effectively reduced.)

1. An operating system of an unmanned feeding garbage truck, characterized in that the operating system comprises:

an image acquisition module, a garbage detection module, a control module and a mechanical arm, wherein,

the image acquisition module is used for acquiring the position information of at least one garbage can relative to the mechanical arm in the operation interval of the mechanical arm, the position information of at least one garbage can to be processed relative to a garbage truck and an image of the garbage can dumping garbage to a vehicle-mounted garbage can in the operation interval;

the garbage detection module is used for acquiring whether the garbage amount of the garbage can in the position information of the at least one garbage can to be processed meets the dumping requirement or not and transmitting the position information of the at least one garbage can to be processed, which meets the dumping requirement, to the control module;

the control module is used for controlling the mechanical arm to finish the garbage collection operation in at least one garbage can in the operation interval after the position information of at least one garbage can in the operation interval relative to the mechanical arm and the position information in at least one garbage can to be processed, which meets the dumping requirement, are combined for processing.

2. The operating system of an unmanned aerial vehicle as claimed in claim 1, wherein the controlling of the robot arm to perform the garbage collection operation in the at least one garbage can within the operation section after the processing of the position information of the at least one garbage can within the operation section relative to the robot arm and the position information of the at least one garbage can to be processed meeting the dumping requirement comprises:

planning a motion track of the mechanical arm according to the position information of at least one garbage can relative to the mechanical arm in the operation interval;

controlling the mechanical arm to grab at least one garbage can in the operation interval according to the motion trail;

controlling the mechanical arm according to the position information of the pouring opening of the vehicle-mounted garbage can to enable at least one garbage can in the operation interval to pour garbage to the vehicle-mounted garbage can;

and controlling the mechanical arm to place the at least one garbage can back to the original position in the operation interval according to the position information of the at least one garbage can relative to the mechanical arm in the operation interval.

3. The work system of an unmanned aerial vehicle as defined in claim 2, wherein after replacing at least one trash can within the work area, the control module is further configured to: marking the at least one garbage can which is put back in place as completed based on the position information of the at least one garbage can in the working interval relative to the mechanical arm, and no longer controlling the mechanical arm to grab the at least one garbage can marked as completed.

4. The robotic loading vehicle operating system of claim 3, wherein when all of the bins within the operating range of the robotic arm are marked as completed, the control module is further configured to: planning the shortest motion track of the garbage truck according to the position information of the at least one garbage can to be processed relative to the garbage truck;

and controlling the garbage truck to move according to the shortest motion track of the garbage truck, so that the garbage bin adjacent to the garbage bin marked as finished is positioned in the operation interval of the mechanical arm, and the garbage bin marked as finished is positioned outside the operation interval of the mechanical arm.

5. The operating system of an unmanned aerial vehicle as defined in claim 1, wherein the image capturing module comprises a first image capturing module installed at a front end of the arm, a second image capturing module installed at a right corner of the vehicle, and a third image capturing module installed at a dumping opening edge of the vehicle-mounted garbage can.

6. An operation method of an unmanned feeding garbage truck is characterized by comprising the following steps:

collecting position information of at least one garbage can relative to a mechanical arm in an operation interval of the mechanical arm;

step two, planning the motion trail of the mechanical arm according to the position information of at least one garbage can relative to the mechanical arm in the operation interval;

step three, controlling the mechanical arm to grab at least one garbage can in the operation interval according to the motion track;

controlling the mechanical arm according to the position information of the dumping opening of the vehicle-mounted garbage can to enable at least one garbage can in the operation interval to dump garbage to the vehicle-mounted garbage can;

fifthly, controlling the mechanical arm to place at least one garbage can in the operation interval back to the original position;

step six, marking the at least one garbage can which is placed back to the original position as completed based on the position information of the at least one garbage can in the working interval relative to the mechanical arm, and no longer controlling the mechanical arm to grab the at least one garbage can marked as completed;

collecting the position information of at least one garbage can to be processed relative to the garbage truck;

step eight, planning the shortest motion track of the garbage truck according to the position information of the at least one garbage can to be processed relative to the garbage truck;

and step nine, controlling the garbage truck to move according to the shortest motion track of the garbage truck, so that the garbage bin adjacent to the garbage bin marked as finished is located in the operation interval of the mechanical arm, and the garbage bin marked as finished is located outside the operation interval of the mechanical arm.

7. The method of claim 6, wherein prior to collecting information about the position of at least one bin relative to the robotic arm within the range of operation of the robotic arm, the method further comprises: collecting position information of at least one garbage can to be processed relative to a garbage truck;

and controlling the garbage truck to stop according to the position information of the at least one garbage can to be processed relative to the garbage truck so that the first garbage can or the last garbage can in the at least one garbage can to be processed according to the driving direction of the garbage truck is positioned in the operation interval of the mechanical arm.

8. A refuse vehicle, characterized in that it comprises an operating system of an unmanned feeding refuse vehicle according to any one of claims 1-5.

Technical Field

The invention relates to the field of environmental sanitation equipment, in particular to an operating system and method of an unmanned feeding garbage truck and the garbage truck.

Background

The garbage truck is mainly used for municipal sanitation and large-scale factory and mine transportation of various garbage, and is particularly suitable for transportation of residential garbage in a community. The production and development of the garbage truck are a significant invention and creation for human society, especially for cities. Urban population is centralized, the quantity of garbage generated every day is large, urban land is limited, and timely treatment of the garbage is a big problem. The garbage truck can help sanitation workers to clean garbage in time, and the garbage can be changed into valuable on site, so that the working strength of the sanitation workers is greatly reduced, and the problem of urban garbage is also solved. The development of the garbage truck can solve the problem of urban garbage and relieve the pressure of sanitation workers.

Through mass search, the problem of sewage leakage is solved by adding a lifting mechanism to incline the dustbin towards the direction of the vehicle head in the working state of the garbage vehicle in the prior art, such as the garbage vehicle disclosed by the publication number CN 102658941B; or a garbage truck disclosed in the publication number CN105775528A, in which a large mechanical arm is added to lift the buried garbage can; or the phenomenon that the existing garbage truck is single in function, incapable of absorbing dust, large in size, small in storage cavity, poor in sealing performance and complex in structure is solved by adding components such as a dust collector on the garbage truck with the publication number of CN 106628760A.

As described above, the garbage truck according to the related art is inefficient, and the health of the transportation staff is easily damaged by dust, rotten smell, and the like that are scattered when the garbage is dumped. Thirdly, the existing garbage transport vehicle is not provided with a garbage can cleaning structure, so that after garbage is dumped, the odor inside the garbage transport vehicle, which is covered by the garbage on the upper layer, can be emitted to pollute the surrounding air.

Disclosure of Invention

The invention provides an operating system and method of an unmanned feeding garbage truck and the garbage truck to solve the problems,

in order to achieve the purpose, the invention adopts the following technical scheme:

an operating system of an unmanned feeding garbage truck, characterized in that the operating system comprises:

an image acquisition module, a garbage detection module, a control module and a mechanical arm, wherein,

the image acquisition module is used for acquiring the position information of at least one garbage can relative to the mechanical arm in the operation interval of the mechanical arm, the position information of at least one garbage can to be processed relative to a garbage truck and an image of the garbage can dumping garbage to a vehicle-mounted garbage can in the operation interval;

the garbage detection module is used for acquiring whether the garbage amount of the garbage can in the position information of the at least one garbage can to be processed meets the dumping requirement or not and transmitting the position information of the at least one garbage can to be processed, which meets the dumping requirement, to the control module;

the control module is used for controlling the mechanical arm to finish the garbage collection operation in at least one garbage can in the operation interval after the position information of at least one garbage can in the operation interval relative to the mechanical arm and the position information in at least one garbage can to be processed, which meets the dumping requirement, are combined for processing.

Further, the step of controlling the mechanical arm to complete the collection operation of the garbage in the at least one garbage can in the operation interval after the position information of the at least one garbage can in the operation interval relative to the mechanical arm and the position information of the at least one garbage can to be processed meeting the dumping requirement are processed in a combined mode comprises the following steps:

planning a motion track of the mechanical arm according to the position information of at least one garbage can relative to the mechanical arm in the operation interval;

controlling the mechanical arm to grab at least one garbage can in the operation interval according to the motion trail;

controlling the mechanical arm according to the position information of the pouring opening of the vehicle-mounted garbage can to enable at least one garbage can in the operation interval to pour garbage to the vehicle-mounted garbage can;

and controlling the mechanical arm to place the at least one garbage can back to the original position in the operation interval according to the position information of the at least one garbage can relative to the mechanical arm in the operation interval.

Further, after the at least one trash can within the working interval is put back to the home position, the control module is further configured to: marking the at least one garbage can which is put back in place as completed based on the position information of the at least one garbage can in the working interval relative to the mechanical arm, and no longer controlling the mechanical arm to grab the at least one garbage can marked as completed.

Further, when all the garbage cans in the operation interval of the mechanical arm are marked as finished, the control module is further used for: planning the shortest motion track of the garbage truck according to the position information of the at least one garbage can to be processed relative to the garbage truck;

and controlling the garbage truck to move according to the shortest motion track of the garbage truck, so that the garbage bin adjacent to the garbage bin marked as finished is positioned in the operation interval of the mechanical arm, and the garbage bin marked as finished is positioned outside the operation interval of the mechanical arm.

Furthermore, the image acquisition module comprises a first image acquisition module arranged at the front end of the mechanical arm, a second image acquisition module arranged at the right vertex angle of the garbage truck and a third image acquisition module arranged at the dumping opening edge of the vehicle-mounted garbage can.

An operation method of an unmanned feeding garbage truck comprises the following steps:

collecting position information of at least one garbage can relative to a mechanical arm in an operation interval of the mechanical arm;

step two, planning the motion trail of the mechanical arm according to the position information of at least one garbage can relative to the mechanical arm in the operation interval;

step three, controlling the mechanical arm to grab at least one garbage can in the operation interval according to the motion track;

controlling the mechanical arm according to the position information of the dumping opening of the vehicle-mounted garbage can to enable at least one garbage can in the operation interval to dump garbage to the vehicle-mounted garbage can;

fifthly, controlling the mechanical arm to place at least one garbage can in the operation interval back to the original position;

step six, marking the at least one garbage can which is placed back to the original position as completed based on the position information of the at least one garbage can in the working interval relative to the mechanical arm, and no longer controlling the mechanical arm to grab the at least one garbage can marked as completed;

collecting the position information of at least one garbage can to be processed relative to the garbage truck;

step eight, planning the shortest motion track of the garbage truck according to the position information of the at least one garbage can to be processed relative to the garbage truck;

and step nine, controlling the garbage truck to move according to the shortest motion track of the garbage truck, so that the garbage bin adjacent to the garbage bin marked as finished is located in the operation interval of the mechanical arm, and the garbage bin marked as finished is located outside the operation interval of the mechanical arm.

Further, before collecting the position information of at least one garbage can in the operation interval of the mechanical arm relative to the mechanical arm, the method further comprises the following steps: collecting position information of at least one garbage can to be processed relative to a garbage truck;

and controlling the garbage truck to stop according to the position information of the at least one garbage can to be processed relative to the garbage truck so that the first garbage can or the last garbage can in the at least one garbage can to be processed according to the driving direction of the garbage truck is positioned in the operation interval of the mechanical arm.

The garbage truck comprises an operation system of the unmanned feeding garbage truck.

The beneficial technical effects obtained by the invention are as follows:

1. the intelligent identification is carried out on the garbage can by adopting the image acquisition module and the intelligent operation is completed on the control mechanical arm by the control module, the loading does not need manual interference, the garbage collection and transportation operation can be completed by a single person, the manual labor is reduced, and the safety is higher.

2. Simultaneously detect through increasing the rubbish detection module rubbish volume in the garbage bin of treating, detect it and whether reach and empty the demand, only empty the garbage bin that reaches and empty the demand, raise the efficiency, reduce the activity duration.

3. Increase on the garbage truck and wash the case and wash the garbage bin, reduce the pollution of sewage to the environment, this washing action is operated through control module and intelligent recognition system, can effectively reduce the injury to the staff.

Drawings

The invention will be further understood from the following description in conjunction with the accompanying drawings. The components in the figures are not necessarily to scale, emphasis instead being placed upon illustrating the principles of the embodiments. Like reference numerals designate corresponding parts throughout the different views.

FIG. 1 is a schematic flow chart illustrating a method for operating an unmanned garbage truck according to an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of an unmanned feeding garbage truck according to an embodiment of the present invention;

FIG. 3 is a schematic structural diagram of an operating system of an unmanned garbage truck according to an embodiment of the present invention;

FIG. 4 is a schematic flow chart illustrating a method for operating an unmanned garbage truck according to an embodiment of the present invention;

fig. 5 is a schematic flow chart of an operation method of an unmanned feeding garbage truck according to an embodiment of the present invention.

Description of reference numerals: 1-an image acquisition module; 11-a first image acquisition module; 12-a second image acquisition module; 13-a third image acquisition module; 2-a garbage detection module; 3-a control module; 4-mechanical arm.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to embodiments thereof; it should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. Other systems, methods, and/or features of the present embodiments will become apparent to those skilled in the art upon review of the following detailed description. It is intended that all such additional systems, methods, features and advantages be included within this description, be within the scope of the invention, and be protected by the accompanying claims. Additional features of the disclosed embodiments are described in, and will be apparent from, the detailed description that follows.

The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar components; in the description of the present invention, it should be understood that if there is an orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", etc. based on the orientation or positional relationship shown in the drawings, it is only for convenience of describing the present invention and simplifying the description, but it is not intended to indicate or imply that the device or component referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and are not to be construed as limiting the present patent, and the specific meaning of the terms described above will be understood by those of ordinary skill in the art according to the specific circumstances.

The invention relates to an operating system and method of an unmanned feeding garbage truck and the garbage truck, which explain the following embodiments according to the description of the attached drawings: