基于自动驾驶平台的垃圾回收环卫车的设计与研究
Design and Research of Garbage Recycling Sanitation Vehicle Based on Automatic Driv-ing Platform

目前我国环卫工人进行垃圾收集工作时，工作环境恶劣，劳动强度大，工作时间不固定，对工作人员的身体健康存在一定的威胁，同时垃圾回收的时间存在偶然性，不利于人工定时收集。基于此本文研究了一款基于无人驾驶平台的精准垃圾回收环卫车，该车辆能够通过预约或定时自动运行到垃圾桶存放处，然后根据垃圾分类结果，自动夹取、提升、倾倒垃圾桶，待一个工作循环结束，车辆会自动行驶到指定地点，进行垃圾的整体倾卸。整个系统包括无人驾驶子系统、精准识别子系统、精准控制子系统；实现车辆的自动运行，垃圾桶的识别与定位，机械臂的控制与执行，进而完成整个垃圾收集的过程。
At present, it is unhealthy for sanitation workers to collect garbage bins, because of the poor working environment, working time and high labor intensity. Based on this, this paper studies garbage recycling sanitation vehicle based on the automatic driving platform. The vehicle can automatically run to the storage place of the garbage bin, and then automatically clamp, lift and dump the garbage bin according to the garbage classification results. After a working cycle is completed, the vehicle will automatically drive to the designated place for overall garbage dumping. The whole system includes unmanned subsystem, accurate identification subsystem and accurate control sub-system; to achieve the automatic operation of the vehicle, the identification and positioning of the garbage bin, the control and execution of the mechanical arm, and then complete the whole garbage collection process.