CN108858226B - Intelligent tableware recycling robot with multi-sensor integrated SLAM technology - Google Patents
Intelligent tableware recycling robot with multi-sensor integrated SLAM technology Download PDFInfo
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- CN108858226B CN108858226B CN201810800112.3A CN201810800112A CN108858226B CN 108858226 B CN108858226 B CN 108858226B CN 201810800112 A CN201810800112 A CN 201810800112A CN 108858226 B CN108858226 B CN 108858226B
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- 238000004064 recycling Methods 0.000 title claims abstract description 47
- 238000005516 engineering process Methods 0.000 title claims abstract description 9
- 239000002699 waste material Substances 0.000 claims abstract description 53
- 230000007246 mechanism Effects 0.000 claims abstract description 33
- 238000005259 measurement Methods 0.000 claims abstract description 16
- 230000004927 fusion Effects 0.000 claims abstract description 9
- 230000008878 coupling Effects 0.000 claims description 9
- 238000010168 coupling process Methods 0.000 claims description 9
- 238000005859 coupling reaction Methods 0.000 claims description 9
- 238000000034 method Methods 0.000 claims description 6
- 230000009471 action Effects 0.000 claims description 4
- 235000003166 Opuntia robusta Nutrition 0.000 claims description 3
- 244000218514 Opuntia robusta Species 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 3
- 235000014347 soups Nutrition 0.000 claims 1
- 235000021158 dinner Nutrition 0.000 abstract description 6
- 230000000007 visual effect Effects 0.000 abstract description 5
- 238000010276 construction Methods 0.000 abstract description 4
- 230000006872 improvement Effects 0.000 description 7
- 238000011084 recovery Methods 0.000 description 6
- 230000001133 acceleration Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses an intelligent tableware recycling robot of a multi-sensor fusion SLAM technology, which comprises a robot body and a multi-sensor fusion SLAM system, wherein the robot body comprises a chassis, a supporting structure, a waste recycling mechanism and a tableware recycling mechanism, and a walking assembly is arranged on the chassis; the robot body is provided with a SLAM system with a laser radar sensor, an inertial measurement sensor, a visual sensor and a multi-sensor fusion of an upper computer. The laser radar sensor, the vision sensor and the inertial measurement sensor can transmit detected information to an SLAM system arranged on an upper computer, and the SLAM system makes a decision to control the intelligent tableware recycling robot to perform map construction, positioning, navigation and dynamic obstacle avoidance; simultaneously, the waste recycling mechanism and the tableware recycling mechanism arranged on the robot body can facilitate the dinners to place tableware. The invention is used for recycling tableware.
Description
Technical Field
The invention relates to the field of intelligent manufacturing robots, in particular to an intelligent tableware recycling robot with a multi-sensor integrated SLAM technology.
Background
SLAM (simultaneous localization AND MAPPING) refers to a process in which a moving object carrying a sensor positions itself during movement while building its surroundings in an appropriate form. The mobile robot is really applied, one key function is autonomous navigation, and the core technology for realizing the autonomous navigation of the mobile robot is SLAM, obstacle avoidance and autonomous path planning. Through more than twenty years of research efforts, many SLAM methods have been successfully implemented, ranging from ground mobile robots SLAM, to SLAM in air, water, underwater and amphibious environments; from the initial indoor small environment to the thousands of kilometers of urban-scale outdoor large environment today; from the initial laser-based sensing approach to the current vision and multisensor based approach. The SLAM system with the multi-sensor fusion has the advantages of strong real-time performance, low cost performance, high robustness and the like, and is a popular direction of the current research.
In large-scale science and technology garden, university and manufacturing industry factory etc. manpower intensive areas, often set up large-scale dining hall, the area is more than several thousand square meters basically. This type of environment is characterized by being densely populated and fluid. In order to ensure clean and tidy canteen, at present, a relatively traditional method is generally adopted to divide an independent tableware recycling area, a tableware recycling device is fixedly placed, a diner walks to the recycling area to place tableware, and then the tableware is uniformly recycled by a servicer. Because the dining area is large, the walking distance is long, and the tableware recycling area is often crowded with a large number of dinners to queue, the sanitation is difficult to ensure, and the efficiency is low.
The existing robots used for dining halls are a robot used for dish transfer and a robot used for cleaning, but no robot specially used for dish recovery exists, and a robot capable of moving autonomously and used for dish recovery is widely demanded.
Disclosure of Invention
The invention aims to solve the technical problems that: the existing tableware recovery device cannot plan tracks and autonomously move, man-machine interaction cannot be carried out, and the tableware recovery process is complex.
The invention solves the technical problems as follows: the intelligent tableware recycling robot comprises a robot body and a multi-sensor integrated SLAM system, wherein the robot body comprises a chassis, a supporting structure arranged above the chassis, a waste recycling mechanism arranged above the chassis and a tableware recycling mechanism arranged above the chassis, and the waste recycling mechanism and the tableware recycling mechanism are connected with the chassis through the supporting structure; be equipped with on the robot body and have laser radar sensor, inertial measurement sensor, vision sensor and the multisensor integrated SLAM system of host computer, laser radar sensor, inertial measurement sensor and host computer all locate on the chassis, the vision sensor is located the bearing structure upside, be equipped with on the chassis receive multisensor integrated SLAM system control's walking subassembly.
As a further improvement of the technical scheme, the supporting structure comprises a first bottom plate, a second bottom plate, a third bottom plate and a fourth bottom plate which are arranged at intervals from bottom to top, and the supporting structure further comprises a connecting rod, and the first bottom plate, the second bottom plate, the third bottom plate and the fourth bottom plate are fixedly connected to the chassis through the connecting rod.
As a further improvement of the technical scheme, the chassis is a box-shaped member, the walking assembly comprises a universal wheel arranged below the chassis, two motors arranged in the chassis, and two driving wheels arranged in the chassis, wherein the lower ends of the two coaxial driving wheels penetrate through the chassis and are coplanar with the lower ends of the universal wheel; a shaft coupling is arranged between the motor and the driving wheel, and a rotating shaft of the motor is linked with a transmission shaft of the driving wheel through the shaft coupling.
As a further improvement of the technical scheme, the tableware recycling mechanism comprises a fixed bracket box and a movable bracket box, wherein the fixed bracket box is arranged between the third bottom plate and the fourth bottom plate, and is fixedly connected with the third bottom plate; the two movable brackets are arranged between the second bottom plate and the third bottom plate, are respectively arranged on the front side and the rear side of the second bottom plate, are provided with sliding rails, are controlled by a multi-sensor fused SLAM system, are movably connected with the second bottom plate through the sliding rails, and are respectively connected with the second bottom plate and the movable bracket at two ends, so that the movable bracket arranged on the front side and the rear side of the second bottom plate can move forwards/backwards relative to the second bottom plate when the electric push rod stretches.
As a further improvement of the technical scheme, the robot body is also provided with a loudspeaker, a microphone and a switch which are controlled by the multi-sensor integrated SLAM system, the loudspeaker, the microphone, the switch and the vision sensor are all arranged on the fourth bottom plate, and the vision sensor is arranged on the left side of the fourth bottom plate; the laser radar sensor is arranged on the left side of the chassis, the inertial measurement sensor is arranged on the right side of the chassis, the upper computer is arranged in the chassis, and a battery is further arranged in the chassis.
As a further improvement of the technical scheme, the fixed bracket box is in a cuboid shape and comprises two bracket boxes and two dinner plate boxes which are symmetrically arranged at the center of the horizontal plane projection; the two movable supporting boxes are symmetrically arranged at the horizontal plane projection center, and each movable supporting box comprises a bowl box, a chopstick box and a spoon box.
As a further improvement of the above technical solution, the waste recycling mechanism is disposed between the first bottom plate and the second bottom plate, and the waste recycling mechanism includes a waste bin with a waste inlet at the top and a waste bin disposed above the waste bin:
the fixed block is arranged on the connecting rod, the chute is connected with the fixed block through the fixed shaft, an inlet of the chute is arranged on the outer side of the supporting structure, and an outlet of the chute is close to the waste inlet;
The bottom of the waste box is clamped with the first bottom plate.
As a further improvement of the technical scheme, the fixed shaft is provided with a bearing and a torsion spring, the fixed shaft fixedly connected with the chute is movably connected with the fixed block through the bearing, and two ends of the torsion spring are respectively connected with the chute and the fixed block, so that an outlet of the chute is close to the waste inlet under the action of the torsion spring; the two fixed blocks are respectively arranged at the two ends of the fixed shaft and are collectively called as unloading mechanism components, and the two unloading mechanism components are respectively arranged at the left side and the right side of the supporting structure; at least four connecting rods are arranged; the waste bin comprises a bin seat, a bin cover arranged above the bin seat, and two handles respectively arranged on the front side and the rear side of the bin seat, wherein the waste inlet is formed in the bin cover, the bin cover is clamped with the bin seat, and the bin seat is fixedly connected with the two handles.
The beneficial effects of the invention are as follows: according to the invention, a multi-sensor integrated SLAM system with a laser radar sensor, an inertial measurement sensor, a visual sensor and an upper computer is arranged on a movable robot body, the laser radar sensor, the visual sensor and the inertial measurement sensor can detect obstacle information, image information, acceleration and angular velocity information when the robot moves and image information, the detected information is transmitted to the SLAM system arranged on the upper computer, the SLAM system makes a decision, and the intelligent tableware recycling robot is controlled to perform map construction, positioning, navigation and dynamic obstacle avoidance, so that the intelligent tableware recycling robot can recycle tableware to a dining area in an autonomous cruising mode under a dynamic crowding environment; simultaneously, the waste recycling mechanism and the tableware recycling mechanism arranged on the robot body can facilitate the dinners to place tableware. The system has reasonable design and powerful functions, is convenient to install and use, can reduce employment of service staff in a large-area restaurant, reduces labor cost, and can also prevent clothes from being polluted due to collision of diners, thereby improving restaurant service quality and reducing restaurant operation cost. The invention is used for recycling tableware.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings that are required to be used in the description of the embodiments will be briefly described below. It is evident that the drawings described are only some embodiments of the invention, but not all embodiments, and that other designs and drawings can be obtained from these drawings by a person skilled in the art without inventive effort.
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a front view of an embodiment;
FIG. 3 is a left side view of an embodiment;
FIG. 4 is a schematic view of an embodiment;
FIG. 5 is a schematic view of a walking assembly of an embodiment;
FIG. 6 is a schematic diagram of a second floor structure of an embodiment;
FIG. 7 is an enlarged partial cross-sectional view of FIG. 3;
FIG. 8 is a schematic diagram of a mobile tote structure of an embodiment;
Fig. 9 is a schematic view of the structure of the fixing bracket of the embodiment.
Detailed Description
The conception, specific structure, and technical effects produced by the present invention will be clearly and completely described below with reference to the embodiments and the drawings to fully understand the objects, features, and effects of the present invention. It is apparent that the described embodiments are only some embodiments of the present invention, but not all embodiments, and that other embodiments obtained by those skilled in the art without inventive effort are within the scope of the present invention based on the embodiments of the present invention. In addition, all coupling/connection relationships mentioned herein do not refer to direct connection of the components, but rather, refer to the fact that a more optimal coupling structure may be formed by adding or subtracting coupling aids depending on the particular implementation. The technical features in the invention can be interactively combined on the premise of no contradiction and conflict.
Referring to fig. 1 to 9, this is one embodiment of the present invention, specifically: the intelligent tableware recycling robot comprises a robot body and a multi-sensor integrated SLAM system, wherein the robot body comprises a chassis 19, a supporting structure arranged above the chassis 19, a waste recycling mechanism arranged above the chassis 19 and a tableware recycling mechanism arranged above the chassis 19, and the waste recycling mechanism and the tableware recycling mechanism are connected with the chassis 19 through the supporting structure; the robot body is provided with a multi-sensor fused SLAM system with a laser radar sensor 17, an inertial measurement sensor 18, a visual sensor 1 and an upper computer 24, wherein the laser radar sensor 17, the inertial measurement sensor 18 and the upper computer 24 are all arranged on the chassis 19, the visual sensor 1 is arranged on the upper side of the supporting structure, and the chassis 19 is provided with a walking component controlled by the multi-sensor fused SLAM system. The multi-sensor integrated SLAM system with the laser radar sensor 17, the inertial measurement sensor 18, the vision sensor 1 and the upper computer 24 is arranged on a movable robot body, the laser radar sensor 17, the vision sensor 1 and the inertial measurement sensor 18 can detect obstacle information, image information, acceleration and angular velocity information when the robot moves and image information, the detected information is transmitted to the SLAM system arranged on the upper computer 24, the SLAM system makes a decision, and the intelligent tableware recycling robot is controlled to perform map construction, positioning, navigation and dynamic obstacle avoidance, so that the purpose that the tableware recycling device can autonomously move is achieved; simultaneously, the waste recycling mechanism and the tableware recycling mechanism arranged on the robot body can facilitate the dinners to place tableware.
Further as a preferred embodiment, the supporting structure comprises a first bottom plate 16, a second bottom plate 10, a third bottom plate 8 and a fourth bottom plate 5 which are arranged at intervals from bottom to top, and the supporting structure further comprises a connecting rod 6, wherein the first bottom plate 16, the second bottom plate 10, the third bottom plate 8 and the fourth bottom plate 5 are fixedly connected with the chassis 19 through the connecting rod 6. The supporting structure is a vertical layer structure, so that the gravity center of the robot body is stable, the stability is maintained in the moving process of the robot, and meanwhile, the supporting structure is arranged in multiple layers, and the space for storing tableware can be increased.
Further as a preferred embodiment, the chassis 19 is a box-shaped member, the walking assembly comprises a universal wheel 20 arranged below the chassis 19, two motors 23 arranged in the chassis, and two driving wheels 21 arranged in the chassis, and the lower ends of the two coaxial driving wheels 21 penetrate through the chassis 19 and are in a same horizontal plane with the lower ends of the universal wheel 20; a coupling 22 is provided between the motor 23 and the driving wheel 21, and a rotation shaft of the motor 23 is coupled to a transmission shaft of the driving wheel 21 through the coupling 22. The two motors 23 are independently controlled by a multi-sensor fused SLAM system, and the two driving wheels 21 are respectively driven by independent motors 23, so that the two driving wheels 21 can rotate at different linear speeds and realize flexible steering by matching with the universal wheel 20.
Further as a preferred embodiment, the tableware recovery mechanism comprises a fixed tray 7 and a movable tray 9, wherein the fixed tray 7 is arranged between the third bottom plate 8 and the fourth bottom plate 5, and the fixed tray 7 is fixedly connected with the third bottom plate 8; the two movable brackets 9 arranged between the second bottom plate 10 and the third bottom plate 8 are respectively arranged on the front side and the rear side of the second bottom plate 10, a sliding rail 25 and an electric push rod 26 controlled by a multi-sensor integrated SLAM system are arranged on the second bottom plate 10, the second bottom plate 10 is movably connected with the movable bracket 9 through the sliding rail 25, and two ends of the electric push rod 26 are respectively connected with the second bottom plate 10 and the movable bracket 9, so that when the electric push rod 26 stretches, the movable bracket 9 arranged on the front/rear side of the second bottom plate 10 can move forwards/backwards relative to the second bottom plate 10. The fixed bracket 7 and the movable bracket 9 are arranged, so that the intelligent tableware recycling robot is suitable for various places, the fixed bracket 7 and the movable bracket 9 which are mutually independent are used for reasonably utilizing the space for storing tableware, and more tableware can be stored.
Further as a preferable embodiment, the robot body is further provided with a speaker 2, a microphone 4 and a switch 3 controlled by the multi-sensor integrated SLAM system, the speaker 2, the microphone 4, the switch 3 and the vision sensor 1 are all arranged on a fourth bottom plate 5, and the vision sensor 1 is arranged on the left side of the fourth bottom plate 5; the laser radar sensor 17 is arranged on the left side of the chassis 19, the inertial measurement sensor 18 is arranged on the right side of the chassis 19, the upper computer 24 is arranged in the chassis 19, and a battery 36 is also arranged in the chassis 19. The laser radar sensor 17 transmits the measured information to an SLAM system arranged on the upper computer 24, and the SLAM system makes decisions to control the robot to perform map construction, positioning, navigation and dynamic obstacle avoidance; the inertial measurement sensor 18 can measure acceleration and angular velocity information when the robot moves, the obtained data is input into the SLAM system, and the provided data can better serve the positioning of the robot; the battery 36 has an intelligent electric quantity detection function, when the robot detects that the electric quantity is insufficient, the robot keeps the current working state, and simultaneously automatically goes to a charging place to be charged, and after the robot is fully charged, the robot moves to the original place to restore the previous working state and is put into operation again; the vision sensor 1 transmits the captured image information into a SLAM system to construct a surrounding environment map; the multi-sensor fused SLAM system has two modes, namely a default mode and an intelligent mode, wherein the robot stops for one minute to recycle tableware after running along a fixed track for one meter in the default mode, and the robot can conduct intelligent operation according to information heard by a microphone 4 in the running process in the intelligent mode, can stay for a long time and conduct intelligent dialogue with a diner through a loudspeaker 2, such as speaking jokes, broadcasting weather and broadcasting news.
Further as a preferred embodiment, the fixed tray 7 is in a cuboid shape, and the fixed tray 7 comprises two tray boxes 34 and two dinner plate boxes 33 which are symmetrically arranged in the center of the horizontal plane projection; the horizontal plane projection centers of the two movable supporting boxes 9 are symmetrically arranged, and the movable supporting boxes 9 comprise a bowl box 32, a chopstick box 31 and a spoon box 30. The tableware can be placed separately, so that the storage quantity of the tableware can be increased, and the tableware can be conveniently recovered by a service staff; the cutlery box that central symmetry set up makes the person of having dinner be located tableware intelligent recovery robot's the place ahead or the rear, and the relative position of cutlery box is unanimous, can make things convenient for the person of having dinner to cultivate the habit, can not misplace the tableware because of the position difference.
Further as a preferred embodiment, the waste recycling mechanism is arranged between the first bottom plate 16 and the second bottom plate 10, and comprises a waste bin with a waste inlet 35 at the top, and a waste bin arranged above the waste bin:
The chute 12, the fixed block 11 and the fixed shaft 28 which are horizontally arranged, wherein the fixed block 11 is arranged on the connecting rod 6, the chute 12 is connected with the fixed block 11 through the fixed shaft 28, the inlet of the chute 12 is arranged on the outer side of the supporting structure, and the outlet of the chute 12 is close to the waste inlet 35;
The bottom of the waste bin is clamped with the first bottom plate 16. The diner pours the waste into the chute through the waste inlet 35 into the waste bin; the waste bin can be firmly placed on the first bottom plate 16 by means of snap connection, and cleaning waste can also be taken out of the first bottom plate 16.
Further as a preferred embodiment, the fixed shaft is provided with a bearing 29 and a torsion spring 27, the fixed shaft 28 fixedly connected with the chute 12 is movably connected with the fixed block 11 through the bearing 29, and two ends of the torsion spring 27 are respectively connected with the chute 12 and the fixed block 11, so that the outlet of the chute 12 is close to the waste inlet 35 under the action of the torsion spring 27; the two fixed shafts 28, the two fixed blocks 11 respectively arranged at the two ends of the fixed shafts 28 are collectively called as unloading mechanism components, and the two unloading mechanism components are respectively arranged at the left side and the right side of the supporting structure; at least four connecting rods 6 are arranged; the waste bin comprises a bin seat 15, a bin cover 13 arranged above the bin seat 15, and two handles 14 respectively arranged on the front side and the rear side of the bin seat 15, the waste inlet 35 is arranged on the bin cover 13, the bin cover 13 is clamped with the bin seat 15, and the bin seat 15 is fixedly connected with the two handles 14. When the waiter is to treat the waste, the waiter can pull the handle 14 with two hands to lift upwards, and meanwhile the chute 12 is turned upwards under the action of force, so that the waiter can conveniently take the waste box; the torsion spring 27 is arranged to prevent the chute 12 from rotating due to the weight of the waste material, so that the waste material can smoothly slide into the waste material box; the cover 13 of the waste bin can be opened, which is convenient for the attendant to clean the waste.
While the preferred embodiment of the present application has been described in detail, the application is not limited to the embodiments, and various equivalent modifications and substitutions can be made by those skilled in the art without departing from the spirit of the application, and these modifications and substitutions are intended to be included in the scope of the present application as defined in the appended claims.
Claims (4)
1. The utility model provides a tableware intelligence retrieval robot of multisensor fusion SLAM technique, includes robot body, multisensor fusion's SLAM system, its characterized in that: the robot body comprises a chassis (19), a supporting structure arranged above the chassis (19), a waste recycling mechanism arranged above the chassis (19) and a tableware recycling mechanism arranged above the chassis (19), wherein the waste recycling mechanism and the tableware recycling mechanism are connected with the chassis (19) through the supporting structure; the robot body is provided with a multi-sensor fused SLAM system with a laser radar sensor (17), an inertial measurement sensor (18), a vision sensor (1) and an upper computer (24), wherein the laser radar sensor (17), the inertial measurement sensor (18) and the upper computer (24) are all arranged on the chassis (19), the vision sensor (1) is arranged on the upper side of the supporting structure, and the chassis (19) is provided with a walking component controlled by the multi-sensor fused SLAM system;
The supporting structure comprises a first bottom plate (16), a second bottom plate (10), a third bottom plate (8) and a fourth bottom plate (5) which are arranged at intervals from bottom to top, and also comprises a connecting rod (6), wherein the first bottom plate (16), the second bottom plate (10), the third bottom plate (8) and the fourth bottom plate (5) are fixedly connected to the chassis (19) through the connecting rod (6);
The tableware recycling mechanism comprises a fixed bracket box (7) and a movable bracket box (9), wherein the fixed bracket box (7) is arranged between the third bottom plate (8) and the fourth bottom plate (5), and the fixed bracket box (7) is fixedly connected to the third bottom plate (8); the two movable brackets (9) are arranged between the second bottom plate (10) and the third bottom plate (8), the two movable brackets are respectively arranged on the front side and the rear side of the second bottom plate (10), a sliding rail (25) and an electric push rod (26) controlled by a multi-sensor integrated SLAM system are arranged on the second bottom plate (10), the second bottom plate (10) is movably connected with the movable brackets (9) through the sliding rail (25), and two ends of the electric push rod (26) are respectively connected with the second bottom plate (10) and the movable brackets (9), so that when the electric push rod (26) stretches, the movable brackets (9) arranged on the front side/the rear side of the second bottom plate (10) can move forwards/backwards relative to the second bottom plate (10);
The waste recycling mechanism is arranged between the first bottom plate (16) and the second bottom plate (10), and comprises a waste box with a waste inlet (35) at the top and a waste box arranged above the waste box:
the device comprises a sliding groove (12), a fixed block (11) and a fixed shaft (28) which is horizontally arranged, wherein the fixed block (11) is arranged on a connecting rod (6), the sliding groove (12) is connected with the fixed block (11) through the fixed shaft (28), an inlet of the sliding groove (12) is arranged on the outer side of the supporting structure, and an outlet of the sliding groove (12) is close to a waste inlet (35);
The bottom of the waste box is clamped with a first bottom plate (16);
The fixed shaft is provided with a bearing (29) and a torsion spring (27), the fixed shaft (28) fixedly connected with the chute (12) is movably connected with the fixed block (11) through the bearing (29), and two ends of the torsion spring (27) are respectively connected with the chute (12) and the fixed block (11), so that an outlet of the chute (12) is close to the waste inlet (35) under the action of the torsion spring (27); the two fixed blocks (11) are respectively arranged at the two ends of the fixed shaft (28), and are collectively called as unloading mechanism components, and the two unloading mechanism components are respectively arranged at the left side and the right side of the supporting structure; at least four connecting rods (6) are arranged; the waste bin comprises a bin seat (15), a bin cover (13) arranged above the bin seat (15), and two handles (14) respectively arranged on the front side and the rear side of the bin seat (15), wherein a waste inlet (35) is formed in the bin cover (13), the bin cover (13) is clamped with the bin seat (15), and the bin seat (15) is fixedly connected with the two handles (14).
2. The intelligent tableware recycling robot of the multi-sensor fusion SLAM technology according to claim 1, wherein: the chassis (19) is a box-shaped member, the walking assembly comprises a universal wheel (20) arranged below the chassis (19), two motors (23) arranged in the chassis, two driving wheels (21) arranged in the chassis, and the lower ends of the two coaxial driving wheels (21) penetrate through the chassis (19) and are coplanar with the lower ends of the universal wheel (20); a coupling (22) is arranged between the motor (23) and the driving wheel (21), and the rotating shaft of the motor (23) is linked with the transmission shaft of the driving wheel (21) through the coupling (22).
3. The intelligent tableware recycling robot of the multi-sensor fusion SLAM technology according to claim 1, wherein: the chassis (19) is a box-shaped member, the robot body is also provided with a loudspeaker (2), a microphone (4) and a switch (3) which are controlled by the multi-sensor fused SLAM system, the loudspeaker (2), the microphone (4), the switch (3) and the vision sensor (1) are all arranged on the fourth bottom plate (5), and the vision sensor (1) is arranged on the left side of the fourth bottom plate (5); the laser radar sensor (17) is arranged on the left side of the chassis (19), the inertial measurement sensor (18) is arranged on the right side of the chassis (19), the upper computer (24) is arranged in the chassis (19), and a battery (36) is further arranged in the chassis (19).
4. The intelligent tableware recycling robot of the multi-sensor fusion SLAM technology according to claim 1, wherein: the fixed bracket box (7) is in a cuboid shape, and the fixed bracket box (7) comprises two tray boxes (34) and two dinner plate boxes (33) which are symmetrically arranged in the center of the horizontal plane projection; the horizontal plane projection centers of the two movable supporting boxes (9) are symmetrically arranged, and the movable supporting boxes (9) comprise bowl boxes (32), chopstick boxes (31) and soup spoon boxes (30).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810800112.3A CN108858226B (en) | 2018-07-20 | 2018-07-20 | Intelligent tableware recycling robot with multi-sensor integrated SLAM technology |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810800112.3A CN108858226B (en) | 2018-07-20 | 2018-07-20 | Intelligent tableware recycling robot with multi-sensor integrated SLAM technology |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108858226A CN108858226A (en) | 2018-11-23 |
| CN108858226B true CN108858226B (en) | 2024-08-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810800112.3A Active CN108858226B (en) | 2018-07-20 | 2018-07-20 | Intelligent tableware recycling robot with multi-sensor integrated SLAM technology |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109465675B (en) * | 2018-12-07 | 2024-04-26 | 广东机电职业技术学院 | Mobile machine tool fault diagnosis robot oriented to intelligent manufacturing field |
| CN109605379A (en) * | 2019-01-21 | 2019-04-12 | 深圳微智天下科技有限公司 | Robot based on laser radar SLAM and vision VSLAM |
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