KR101974641B1 - Intergrated system for optimizing wast managemrnt by self guided AI robot - Google Patents

Abstract

The present invention relates to a centralized automatic garbage transfer collection system using an autonomous driving robot, wherein garbage collection, moving, and the integrated garbage collection process between a garbage discharge area and a garbage collecting area of an apartment complex, residential area, and the like can be automatically performed through an autonomous garbage collection equipped with an artificial intelligence software, robots of autonomous driving function, and a central control server for centrally controlling thereof. According to the present invention, the centralized automatic garbage transfer collection system using an autonomous driving robot comprises: an autonomous robot for collecting food garbage; the autonomous robot for collecting general garbage; and a collection area collection part installed in the central control server and the garbage collection area.

Description

Intergrated system for optimizing wast managemrnt by self guided AI robot}

The present invention is to collect, move, and integrate garbage between garbage dump areas such as apartment complexes, residential areas, and garbage dumps via robots with artificial intelligence software and robots with autonomous collection and autonomous driving functions and a central control server that centrally controls them. The present invention relates to a centralized base type automatic garbage transfer and collection system using an autonomous robot that enables the garbage collection process to proceed automatically.

Recently, the automatic garbage collection system has been introduced into residential complexes such as apartments, and the hygienic management and integrated management of garbage is being attempted.

The automatic garbage collection system is a facility that arranges a plurality of garbage inlets, transports the wastes through the transport pipeline embedded in the basement, and finally collects and disposes them in the garbage dump.

Figure 1 illustrates a conventional automatic waste collection system, referring to this, the operation sequence for the disposal of general waste in the conventional automatic waste collection system is DV / AV → SE → pipeline switching valve [PDV] → centrifuge [Container / Compressor] → Shutoff Valve → Main Valve → Blower Front Safety Valve → Blower → Heat Exchanger → Deodorizer

In addition, the operation sequence for the disposal of food waste in the existing automatic waste collection system is DV / AV → SE → Pipe changeover valve [PDV] → Centrifuge [Container / Foreign separator] → Shutoff valve → Main valve → Blower blower safety valve. → blower → heat exchanger → deodorizer.

However, the above existing automatic waste collection system includes SE, AV / DV, waste pipes, underground pipes, centrifuges [containers / compressors or foreign substance separators], shutoff valves, main valves, blower front safety valves, blowers, There is a need for construction (construction) that requires enormous construction costs and maintenance / management costs such as mechanical equipment including heat exchangers and deodorizers.

In addition, the existing automatic waste collection system requires a lot of equipment construction, it is possible to design and construct as an infrastructure for land construction of new cities and reconstruction sites, but it was difficult to apply to existing urban areas. Therefore, there is a need for the development of a technology that replaces conventional collection by conventional manpower and vehicles.

Korea Patent Registration No. 10-1625332 (Jul. 2016.06.), “Automatic garbage collection device using food waste reduction processing equipment” Korea Patent Registration No. 10-0942544 (August 12, 2010.), “Complex type garbage collection facility”

According to an embodiment of the present invention, garbage collected by robots having artificial intelligence software and autonomous driving functions and robots having a central control function and a central control server that centrally controls the garbage collection area of the apartment complex, residential area, etc. It provides a centralized, automated, automated garbage transfer and collection system using an autonomous robot that enables the mobile and integrated garbage collection process to proceed automatically.

In addition, an embodiment of the present invention is based on the initial food waste and the general garbage setting of the robot to store and separate the food and general waste by themselves without the intervention of maintenance staff themselves to move to the collection or storage place of the food and general garbage It provides a centralized base type automatic garbage transfer and collection system using an autonomous driving robot that puts in a container and grasps the current state of the battery to determine whether it is charged or not.

In addition, an embodiment of the present invention provides a centralized type of automated garbage transport and collection system using a self-driving robot that does not require complex facilities for the existing waste collection and its construction process according to the autonomous collection method using a robot. .

In the centralized base type automatic garbage transport and collection system using an autonomous driving robot according to an embodiment of the present invention, an inlet 111 for injecting food waste is formed on the upper surface of the food waste and is fed through the inlet 111. Garbage storage space 113 is formed, the body portion 110 is formed with an outlet 112 for the discharge of food waste in the storage space 113; Installed in the body 110, the rider sensor 121 and the radar sensor 122 and GPS 123 and the storage for autonomous driving for the purpose of separating food waste and general garbage and autonomous driving A weight measurement sensor 124 for measuring the weight of food waste in the space 113, wherein the rider sensor 121 includes a sensor unit 120 for separating food waste and general waste by 3D stereoscopic confirmation; At least one of the wheel 131 and the leg 132 is installed in the lower portion of the body 110 for running, the arm 133 for moving the food waste in the storage space 113 to the outlet 112 Is installed rotatably inside the storage space 113, stop the food waste introduced through the inlet 111 in a horizontal state stop plate and 134a to drop the stopped food waste through the downward rotation and the Garbage storage including a load cell 134b for measuring the weight of food waste stopped on the upper surface of the load plate 134a and a load plate drive means 134c for providing power to be restored to a downward rotation and horizontal state of the load plate 134a. An operating unit 130 including an apparatus 134; A display unit 140 installed in the body 110 to install information about the input state of the food waste in the storage space 113 and the state of the garbage collector and other information; And a control unit 150 installed in the body unit 110 and equipped with artificial intelligence software for controlling the operation of the operation unit 130 and the display unit 140 based on the signal of the sensor unit 120. A plurality of food waste collection autonomous driving robot 100 including: an inlet 211 for the input of general waste is formed on the side, the storage space 213 of the general waste introduced through the inlet 211 is formed A body portion 210 in which an outlet 212 is formed for discharging general waste in the storage space 213; It is installed on the body portion 210, and includes a rider sensor 221 and a radar sensor 222 and GPS 223 for autonomous driving and for the purpose of separating food waste and general garbage The rider sensor 221 includes a sensor unit 220 for separating food waste and general waste by 3D stereoscopic confirmation; At least one of the wheel 231 and the leg 232 installed in the lower portion of the body portion 210 for driving, the arm 233 for moving the general waste in the storage space 213 to the outlet 212 Is installed in the storage space 213 can be moved up and down, the compression plate 234 for compressing the general waste in the storage space 213 and the compression plate drive for providing the lifting power to the compression plate 234 Actuator 230 comprising means 235; A display unit 240 installed in the body unit 210 to display information about the input state of the general garbage in the storage space 213 and the state of the garbage collection station and other information; And a control unit 250 installed in the body unit 210 and equipped with artificial intelligence software for controlling the operation of the operation unit 230 and the display unit 240 based on the signal of the sensor unit 220. A plurality of general garbage collection autonomous driving robot 100: The food waste collection autonomous driving robot 100 and each of the food waste collection autonomous driving robot 200, the input state, location, Monitoring the moving state and the surrounding conditions, and determine the state of the garbage dump 400, the garbage collection autonomous driving robots 100 and the general garbage collection autonomous driving robots 200 of the garbage dump 400 Central control server 300 for sequential movement: the food is installed in the garbage dump 400, the food waste of the food waste collection autonomous driving robot 100 is collected The trash container 510 and the general waste container 520 in which the general waste of the general garbage collection autonomous robot 200 is collected, and the hopper of the food waste container 510 of the food waste collection autonomous robot 100 are collected. And a collection device 500 including a blower 530 which is operated at the time of connection to the trash of the general garbage container 520 of the general garbage collection autonomous running robot 200 so as to collect the garbage. Including, the food waste collection autonomous driving robot 100 and the general garbage collection autonomous driving robot 200 to the central control server 300 in real time information on the input state of food waste or general waste, respectively When the food waste or general waste is input to the preset maximum load while transmitting, the central control server ( After transmitting a signal for requesting permission to move to the garbage dump 400 to 300, when a signal of the movement permission is received from the central control server 300, the vehicle autonomously travels to the garbage dump 400, in the autonomous driving process. The information about the movement state and the surrounding state is acquired through the rider sensors 121 and 221 and the radar sensors 122 and 222 and obtained through real time communication with the traffic system and transmitted to the central control server 300 in real time. The food waste collection autonomous robot 100 monitors the presence or absence of a user who wants to inject waste through the rider sensor 121 and the radar sensor 122 in a state where the food waste is stopped at a position for the input of food waste. When monitored, the expression on the garbage bag indicates whether the user is an effective user and whether Judging based on information and 3D shaping using the rider sensor 121, the food waste is opened by receiving the food waste when the user is an effective user and food waste, and charging based on the weight using the load cell 134b A predetermined charging process is performed in a manner that is not based on the processing or weight, and the general garbage collection autonomous driving robot 200 stops at a position for inputting general waste, and the rider sensor 221 and the radar sensor 222 monitors the existence of the user to input waste through the user, and if the user is monitored, whether the user is an effective user and whether the waste to be injected is general waste, the identification information and the rider sensor 221 displayed on the garbage bag Based on the 3D shaping using General waste is input by opening the door, and when charging for the input waste, the charging system charges the charged waste and then compresses and stores it in the storage space, and if not charged, compresses and stores the food waste in the storage space and collects the food waste. The autonomous driving robot 100 and the general garbage collection autonomous driving robot 200 are batteries 160 and 260 and voltage detection units 170 and 270 for detecting voltages of the batteries 160 and 260, and currents for detecting currents of the batteries 160 and 260, respectively. Including the detection unit 180,280, the battery based on the electric power consumption of the electrical equipment in the robot and the voltage value and current value detected by the voltage detector 170,270 and the current detector 180,280 in the artificial intelligence software of the controller (150,250) After judging the charging time of (160,260), if it is determined that the charging time has been reached, it automatically moves to the charging place and charges the food. Collecting autonomous driving robot 100 is rotatably coupled to the top plate of the power generation and food waste drying function combined with a solar panel and a heat collecting plate, and has a charging function of the battery 160 through the solar panel At the same time, food waste is dried by heating the storage space 113 into which food waste is put through the heat collecting plate, and the functional plate is exposed to the outside in the time of sunlight, and the body portion (when there is no sunlight). It may be rotated to the inside of 110 to be protected from the outside.

According to an embodiment of the present invention, the garbage equipped with artificial intelligence software, the robots of the autonomous collection and autonomous driving functions, and the rubbish by region between the garbage discharge area of the apartment complex, residential area, etc. The collection, transfer and integrated waste collection process can be carried out automatically.

In addition, based on the robot's initial food waste and general waste setting, food and general waste are separated and stored by themselves without intervention by the maintenance staff, and then moved to the storage or storage area and put into food and general waste containers and The current state may be determined to determine whether there is charging or charging if necessary.

In addition, due to the autonomous collection method using robots, it is relatively easy to apply to existing apartment complexes and housing complexes as well as newly constructed apartment complexes and housing complexes because complex facilities and construction processes for collecting existing waste are not required. can do.

1 is a block diagram illustrating a conventional automatic garbage collection system
2 is a block diagram conceptually illustrating a centralized base type automatic garbage transport and collection system using an autonomous robot according to an embodiment of the present invention;
3 is a block diagram illustrating a centralized base type automatic garbage transport and collection system using an autonomous robot according to an embodiment of the present invention.
4 is a view illustrating a food waste collection autonomous driving robot in the centralized base type automatic garbage transport and collection system using an autonomous driving robot according to an embodiment of the present invention;
5 is a block diagram illustrating the electrical configuration of the food waste collection autonomous driving robot according to FIG.
6 is a diagram illustrating a general garbage collection autonomous driving robot in a centralized base type automatic garbage transport and collection system using an autonomous driving robot according to an embodiment of the present invention.
FIG. 7 is a block diagram illustrating an electrical configuration of a general garbage collection autonomous driving robot according to FIG. 6.
FIG. 8 is a block diagram illustrating an integrated configuration of an electrical configuration of a food waste collection autonomous driving robot and a general garbage collection autonomous driving robot in a centralized base type automatic garbage transport collecting system using an autonomous driving robot according to an embodiment of the present invention.
9 and 10 are flowcharts illustrating a process in which food waste is collected through a food waste collection autonomous robot and a process in which general waste is collected through a general garbage collection autonomous robot.
11 is a block diagram illustrating a power supply structure of a food waste collection autonomous driving robot and a general garbage collection autonomous driving robot in a centralized base type automatic garbage transport and collection system using an autonomous driving robot according to an embodiment of the present invention;

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The following detailed description of the present invention refers to embodiments in which the present invention may be practiced and to the accompanying drawings, which are shown by way of illustration of the embodiments. These embodiments are described in detail sufficient to enable those skilled in the art to practice the invention. It is to be understood that the various embodiments of the invention are different, but need not be mutually exclusive. For example, specific shapes, structures, and characteristics described herein may be implemented in other embodiments without departing from the spirit and scope of the invention with respect to one embodiment. In addition, it is to be understood that the location or arrangement of individual components within each described embodiment may be changed without departing from the spirit and scope of the invention.

The following detailed description, therefore, is not to be taken in a limiting sense, and the scope of the present invention is defined only by the appended claims, along with the full scope of equivalents to which such claims are entitled. Like reference numerals in the drawings refer to the same or similar functions throughout the several aspects.

The terms used in the present invention have been selected as widely used general terms as possible in consideration of the functions in the present invention, but this may vary according to the intention or precedent of the person skilled in the art, the emergence of new technologies and the like. In addition, in certain cases, there is also a term arbitrarily selected by the applicant, in which case the meaning will be described in detail in the description of the invention. Therefore, the terms used in the present invention should be defined based on the meanings of the terms and the contents throughout the present invention, rather than the names of the simple terms.

In the present invention, when a part of the whole "includes" a certain component, this means that unless otherwise stated, it may further include other components, not to exclude other components. In addition, the “…” described in the specification. Wealth ”, The term “module” refers to a unit that processes at least one function or operation, which may be implemented in hardware or software, or a combination of hardware and software.

With reference to Figures 2 to 11 will be described a centralized base type automatic garbage transfer collection system using an autonomous driving robot according to an embodiment of the present invention.

2 is a block diagram conceptually illustrating a centralized base type automatic garbage transport and collection system using an autonomous driving robot according to an embodiment of the present invention, and FIG. 3 is a diagram illustrating an autonomous driving robot according to an embodiment of the present invention. 4 is a block diagram illustrating a centralized base type automatic garbage transfer and collecting system, and FIG. 4 is a food waste collection autonomy in a centralized base type automatic garbage transfer and collecting system using an autonomous driving robot according to an embodiment of the present invention. 5 is a diagram illustrating a traveling robot, FIG. 5 is a block diagram illustrating an electrical configuration of a food waste collection autonomous driving robot according to FIG. 4, and FIG. 6 is a centralized type using an autonomous driving robot according to an embodiment of the present invention. FIG. 7 is a view illustrating a general garbage collection autonomous driving robot in a base type automatic garbage transport and collection system, and FIG. 7 is a general number of garbage according to FIG. 6. 8 is a block diagram illustrating an electrical configuration of an autonomous driving robot, FIG. 8 is a food waste collection autonomous driving robot and a general garbage collection system in a centralized base type automatic garbage transport and collection system using an autonomous driving robot according to an embodiment of the present invention. 9 is a block diagram illustrating an electrical configuration of an autonomous driving robot. FIG. 9 and FIG. 10 are a process in which food waste is collected through a food waste collection autonomous robot and a process in which general waste is collected through a general garbage collection autonomous driving robot. Figure 10 is a flow chart illustrating each, Figure 10 is a power source for food waste collection autonomous driving robot and general garbage collection autonomous driving robot in the centralized base type automatic garbage transport and collection system using an autonomous driving robot according to an embodiment of the present invention A block diagram illustrating a supply structure.

As shown, the centralized base type automatic garbage transport and collection system using an autonomous driving robot is a plurality of food waste collection autonomous driving robot 100, a plurality of general garbage collection autonomous driving robot 200, a central control server (3000) And it is configured to include a collecting device 500 is installed in the garbage dump 400.

The food waste collection autonomous driving robot 100 includes a body 110, a sensor 120, an operation unit 130, a display 140, and a controller 150.

Body portion 110 has an inlet 111 for the input of food waste is formed on the upper surface, the storage space 113 of the food waste is introduced through the inlet 111 is formed, the food waste in the storage space 113 The outlet 112 for the discharge of is formed.

The sensor unit 120 is installed in the body unit 110, the sensor unit 120 is used for the separation of food waste and general waste and the rider sensor 121 for the purpose of autonomous driving and radar for autonomous driving The sensor 122 and the GPS 123 and the weight measurement sensor 124 for measuring the weight of the food waste in the storage space 113 of the body portion 110. In addition, the rider sensor 121 classifies food waste and general waste by 3D stereoscopic confirmation.

The operation unit 130 is at least one of the wheels 131 and the legs 132 installed at the lower portion of the body 110 to drive the food waste collection autonomous robot, the storage space 113 of the body portion 110 The food waste is configured to include an arm 133 and a waste storage device 134 for moving to the outlet 112 of the body portion 110. In addition, the waste storage device 134 is rotatably installed in the storage space 113 of the body portion 110 to stop and stop the food waste injected through the inlet 111 of the body portion 110 in a horizontal state The load plate 134a for dropping the wasted food waste through the downward rotation and the load cell 134b for measuring the weight of the food waste stopped on the upper surface of the load plate 134a and the platen 134a are restored to the downward rotation and horizontal state. And a load plate drive means 134c for providing power.

The display unit 140 is installed in the body unit 110 to display information on the state of the food waste in the storage space 113 of the body unit 110 and the state of the garbage collection and other information.

The control unit 150 is installed in the body unit 110, the control unit 150 is an artificial intelligence software that controls the operation of the operation unit 130 and the display unit 140 based on the signal of the sensor unit 120 Mounted.

The general garbage collection autonomous driving robot 200 includes a body 210, a sensor 220, an operation 230, a display 240, and a controller 250.

That is, the general garbage collection autonomous driving robot 200 is the same in the overall configuration as the food waste collection autonomous driving robot 100 described above, there is a difference in only some components of the operation unit 230. Therefore, in the present exemplary embodiment, the general garbage collection autonomous driving robot 200 and the food garbage collection autonomous driving robot 100 are described as having separate configurations, but in some cases, a single robot having different configurations of the operation unit is provided. After forming the configuration, it may be possible to selectively apply the method by changing the settings according to the purpose of collecting food waste or general waste.

Hereinafter, the general garbage collection autonomous driving robot 100 will be described.

Body portion 210 has an inlet 211 for the input of general waste is formed on the side, the storage space 213 of the general waste is introduced through the inlet 211 is formed, the general waste in the storage space 213 An outlet 212 is formed for the discharge of.

The sensor unit 220 is installed in the body unit 210, the sensor unit 220 is used for the separation of food waste and general waste and the rider sensor 221 for the purpose of autonomous driving and radar for autonomous driving Sensor 222 and GPS 223. Here, the rider sensor 221 distinguishes between food waste and general waste by 3D stereoscopic confirmation.

The operation unit moves at least one of the wheels 231 and the legs 232 installed at the lower portion of the body portion 210 for driving, and general waste in the storage space 213 of the body portion 210 to the outlet 212. Arm 233, the compression plate 234 installed in the storage space 213 of the body portion 210 to compress the general waste in the storage space 213 and such a compression plate 234 It is configured to include a compression plate driving means 235 for providing the lifting power.

The display unit 240 is installed in the body unit 210 and is installed to display information about the state of the general garbage input and the state of the garbage collection place and other information in the storage space 213 of the body unit 210.

The control unit 250 is installed in the body portion 210, the control unit 250 is an artificial intelligence software that controls the operation of the operation unit 230 and the display unit 240 based on the signal of the sensor unit 220 Mounted.

The central control server 300 monitors the input state, location, movement state and surrounding state of food waste or general waste of the food waste collection autonomous driving robots 100 and the general garbage collection autonomous driving robots 200, By determining the state of the garbage dump 400, the food waste collection autonomous driving robots 100 and the general garbage collection autonomous driving robot 200 commands the sequential movement to the garbage dump 400.

The dump collection device 500 includes a food waste container 510, a general waste container 520, and a blower 530.

The food waste container 510 is installed in the garbage dump 400, and the food waste of the food waste collection autonomous driving robot 100 is collected in the food waste container 510.

The general garbage container 520 is installed in the garbage dump 400, and the general garbage of the general garbage collection autonomous driving robot 200 is collected in the general garbage container 520.

The blower 530 is operated at the time of connection to the hopper of the food waste container 510 of the food waste collection autonomous driving robot 100, and is connected to the hopper of the general waste container 520 of the general waste collection autonomous driving robot 200. It is operated at the time of the connection, so that food waste or general waste is collected.

By the above-described configuration, the food waste collection autonomous driving robot 100 and the general waste collection autonomous driving robot 200 respectively transmit information on the input state of food waste or general waste to the central control server 300 in real time. At the same time, when the input of food waste or general waste is made up to a preset maximum loading amount, a signal for requesting permission to move to the garbage storage compartment 400 is transmitted to the central control server 300, and the movement permission is received from the central control server 300. When the signal of the autonomous driving to the garbage dump 400. In addition, the autonomous driving process acquires information on the moving state and the surrounding state through the rider sensors 121 and 221 and the radar sensors 122 and 222 and simultaneously transmits the information to the central control server 300 through real time communication with the traffic system. do.

In addition, the food waste collection autonomous robot 100 monitors the presence or absence of a user who wants to inject waste through the rider sensor 121 and the radar sensor 122 in a state where it stops at the position for the input of food waste, and the user Is monitored, the user is determined to be an effective user and whether the garbage to be put in is determined as food waste based on the identification information displayed on the garbage bag and 3D shaping using the rider sensor 121. The food waste is input by opening the food waste, and the charged waste is processed based on the weight based on the load cell 134b or a predetermined charging process not performed based on the weight.

In addition, the general garbage collection autonomous driving robot 200 monitors the presence of the user to inject the waste through the rider sensor 221 and the radar sensor 222 in a state where it stops at the position for the input of general waste, the user Is monitored, whether the user is an effective user and whether or not the garbage to be put into the general garbage is judged based on the identification information displayed on the garbage bag and the 3D shaping using the rider sensor 221. General waste is input by opening the trash, and if charged for the trash is charged by the billing system and then compressed and stored in the storage space, if not billed and stored in the storage space.

In addition, the food waste collection autonomous driving robot 100 and the general garbage collection autonomous driving robot 200 may detect currents of the voltage detection units 170 and 270 and the batteries 160 and 260, respectively, for detecting voltages of the batteries 160 and 260 and the batteries 160 and 260. Including the current detectors 180 and 280 to be detected, the electrical power consumption and voltage detection unit 170 and 270 and the current detectors 180 and 280 of all electrical appliances such as compressors, mobile motors, and other electronic devices in the robot are detected by the AI software of the controllers 150 and 250. After determining the charging time of the batteries 160 and 260 based on the voltage value and the current value, if it is determined that the charging time is reached, the battery may move to a charging place and perform automatic charging.

In more detail, the food waste collection autonomous robot 100 uses a load cell 134b to indicate when the food waste of a certain weight is collected and collected in units of weight, and displays an end indication and informs the central control server 300 of the matter. After separating from the food waste inlet hopper of the designated seat (public house, apartment, building, etc.), and leaving the designated seat, the next-order food waste collection autonomous robot 100 is assigned to the designated seat (the number of food waste in the apartment complex). It is settled as a giant and connects to the food waste hopper to start collecting food waste, and this process is repeated.

In addition, the food waste collection autonomous driving robot 100 in which a certain amount of food waste is input or the general waste collection autonomous driving robot 200 in which a certain amount of general waste is input is recorded several paths to the garbage dump 400, respectively. It stores and travels while checking the surrounding environment on the path with the rider sensors 121 and 221 in three dimensions, and moves to the garbage storage 400 while determining the distance with objects around the front, rear, left and right with the radar sensors 122 and 222. At this time, if there is an obstacle on the path, the process of selecting another path among the input paths and moving to the destination is repeated. Then, after dropping the trash in the garbage dump 400 as a destination, the garbage is moved to a designated waiting place around a predetermined designated seat (a common house, an apartment, a building, etc.) and is controlled by the central control server 300.

In addition, the garbage dump 400 is provided with a food waste container 510 and a general waste container 520, respectively, by the vacuum device described as a fan or blower 530 to absorb the garbage from the robot to the vacuum, respectively, and collected The waste is then disposed of in a known manner.

On the other hand, although not shown in the drawing, the food waste autonomous driving robot 100 is a solar cell panel and a heat collecting plate combined with a power plate and food waste drying function plate is rotatably coupled to the upper, through the solar cell panel It has a charging function of the battery 160 and at the same time comprises a configuration for drying the food waste by heating the storage space 113 is put food waste through the heat collecting plate. In addition, the functional plate is in a state exposed to the outside in the time of sunlight, and rotates to the inside of the body portion 110 in the time of no sunlight is protected from the outside.

As described above, the present invention has been described in detail by specific embodiments such as specific components and the like, but the drawings are provided to help a more general understanding of the present invention, and the present invention is limited to the above embodiments. In other words, various modifications and variations are possible to those skilled in the art to which the present invention pertains.

Therefore, the spirit of the present invention should not be limited to the described embodiments, and should not be defined, and not only the claims to be described later but all the equivalents or equivalent modifications to the claims shall fall within the scope of the present invention.

100: Self-driving robot collecting food waste
110: body 111: inlet
112: outlet 113: storage space
120: sensor unit 121: rider sensor
122: radar sensor 123: GPS
124: Weighing sensor 130: Operating part
131: wheels 132: legs
133: arm 134: garbage storage device
134a: load plate 134b: load cell
134c: load plate drive means 140: display unit
150: control unit 160: battery
170: voltage detector 180: current detector
200: General garbage collection autonomous driving robot
210: body portion 211: inlet
212: outlet 213: storage space
220: sensor unit 221: rider sensor
222: radar sensor 223: GPS
230: operating unit 231: wheels
232: leg 233: arm
234: compression plate 235: compression plate driving means
240 display unit 250 control unit
260: battery 270: voltage detector
280: current detector
300: central control server
400: Garbage Collection
500: collection device
510: food waste container 520: general waste container
530: blower

Claims (1)

An inlet 111 for injecting food waste is formed on the upper surface, and a storage space 113 for food waste introduced through the inlet 111 is formed, and for discharging food waste in the storage space 113. Body portion 110 is formed with an outlet 112;
Installed in the body 110, the rider sensor 121 and the radar sensor 122 and GPS 123 and the storage for autonomous driving for the purpose of separating food waste and general garbage and autonomous driving A weight measurement sensor 124 for measuring the weight of food waste in the space 113, wherein the rider sensor 121 includes a sensor unit 120 for separating food waste and general waste by 3D stereoscopic confirmation;
At least one of the wheel 131 and the leg 132 is installed in the lower portion of the body 110 for running, the arm 133 for moving the food waste in the storage space 113 to the outlet 112 Is installed rotatably inside the storage space 113, stop the food waste introduced through the inlet 111 in a horizontal state stop plate and 134a to drop the stopped food waste through the downward rotation and the Garbage storage including a load cell 134b for measuring the weight of food waste stopped on the upper surface of the load plate 134a and a load plate drive means 134c for providing power to be restored to a downward rotation and horizontal state of the load plate 134a. An operating unit 130 including an apparatus 134;
A display unit 140 installed in the body 110 to install information about the input state of the food waste in the storage space 113 and the state of the garbage collector and other information; And
The control unit 150 is installed in the body portion 110, the artificial intelligence software for controlling the operation of the operation unit 130 and the display unit 140 based on the signal of the sensor unit 120 is included. A plurality of food waste autonomous driving robot (100):
An inlet 211 for injecting general waste is formed on the side, and a storage space 213 for general waste introduced through the inlet 211 is formed, and for discharging general waste in the storage space 213. Body portion 210 in which the outlet 212 is formed;
It is installed on the body portion 210, and includes a rider sensor 221 and a radar sensor 222 and GPS 223 for autonomous driving and for the purpose of separating food waste and general garbage The rider sensor 221 includes a sensor unit 220 for separating food waste and general waste by 3D stereoscopic confirmation;
At least one of the wheel 231 and the leg 232 installed in the lower portion of the body portion 210 for driving, the arm 233 for moving the general waste in the storage space 213 to the outlet 212 Is installed in the storage space 213 can be moved up and down, the compression plate 234 for compressing the general waste in the storage space 213 and the compression plate drive for providing the lifting power to the compression plate 234 Actuator 230 comprising means 235;
A display unit 240 installed in the body unit 210 to display information about the input state of the general garbage in the storage space 213 and the state of the garbage collection station and other information; And
It is installed on the body portion 210, and includes a control unit 250 is mounted on the artificial intelligence software for controlling the operation of the operation unit 230 and the display unit 240 based on the signal of the sensor unit 220 A plurality of general garbage collection autonomous robot (200):
The food waste collection or autonomous driving robots 100 and the general garbage collection autonomous driving robots 200, each of the food waste or general waste input state, location, movement state and the surrounding conditions of the garbage collection place 400 The central control server 300 to determine the state of the food waste collection autonomous driving robot 100 and the general garbage collection autonomous driving robot 200 to sequentially move to the garbage dump 400;
General wastes installed in the garbage dump 400 to collect food waste containers 510 of the food waste collection robot 100 and the general garbage of the general garbage collection autonomous driving robot 200 are collected. The trash container 520 of the general garbage collection autonomous robot 200 that is activated upon connection to the container 520 and to the hopper of the food waste container 510 of the food waste collection autonomous robot 100. Includes: the storage collecting device 500, including a blower 530 that is operated when connected to the hopper of the trash to collect garbage,
The food waste collection autonomous driving robot 100 and the general garbage collection autonomous driving robot 200 transmit information on the input state of food waste or general waste to the central control server 300 in real time, respectively and at the same time. When the input of food waste or general waste is made up to a loading amount, a signal for requesting a permission to move to the garbage dump 400 is transmitted to the central control server 300 and then a signal of a permission to move from the central control server 300 is received. When received, autonomous driving is carried out to the garbage dump 400, and during the autonomous driving process, information about the movement state and the surrounding state is acquired through the rider sensors 121 and 221 and the radar sensors 122 and 222, and at the same time, real-time communication with the traffic system. Acquired through the transmission to the central control server 300 in real time,
The food waste collection autonomous robot 100 monitors the presence of a user who wants to inject waste through the rider sensor 121 and the radar sensor 122 in a state where the food waste is stopped at a position for the input of food waste, and the user Is monitored, the user is determined to be an effective user and whether the garbage to be put in is determined as food waste based on the identification information displayed on the garbage bag and 3D shaping using the rider sensor 121. Open the food waste is input, proceed with the predetermined charging process of the charging method based on the weight based on the weight of the load cell 134b or not based on the input waste,
The general garbage collection autonomous driving robot 200 monitors the presence or absence of a user who wants to inject waste through the rider sensor 221 and the radar sensor 222 in a state where it stops at a position for the input of general waste, and the user Is monitored, whether the user is an effective user and whether or not the garbage to be put into the general garbage is judged based on the identification information displayed on the garbage bag and the 3D shaping using the rider sensor 221. Open and receive the general waste, if the charge for the waste is charged by the billing system after charging and storing in the storage space, if not charging and storing in the storage space,
The food waste collection autonomous driving robot 100 and the general garbage collection autonomous driving robot 200 may detect voltages of the batteries 160 and 260 and the batteries 160 and 260, respectively, and the currents of the batteries 160 and 260. Including the current detection unit (180,280) to detect the power consumption of the electrical equipment of the robot in the artificial intelligence software of the controller (150,250) and the voltage value and current value detected by the voltage detector (170,270) and current detector (180,280) After determining the charging time of the battery (160,260) based on when it is determined that the charging time is moved to the charging place to automatically charge,
The food waste collection autonomous robot 100 is a solar cell panel and a heat collecting plate combined with a power plate and a food waste drying function of the combined function plate is rotatably coupled to the upper, charging function of the battery 160 through the solar panel At the same time, the food waste is dried by heating the storage space 113 into which food waste is put through the heat collecting plate, and drying the food waste, and the functional plate is exposed to the outside in the time of sunlight, the body in the absence of sunlight Centralized base type automatic garbage transfer and collection system using an autonomous robot, characterized in that the inner portion 110 is rotated inward to protect from the outside.

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