CN103290797B - A kind of road sweeper device people - Google Patents
A kind of road sweeper device people Download PDFInfo
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- CN103290797B CN103290797B CN201310269446.XA CN201310269446A CN103290797B CN 103290797 B CN103290797 B CN 103290797B CN 201310269446 A CN201310269446 A CN 201310269446A CN 103290797 B CN103290797 B CN 103290797B
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- frame
- intermediate lift
- drive motors
- lift body
- control panel
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Abstract
A kind of road sweeper device people, comprise frame, described frame is provided with control unit, described control unit comprises the control panel, power supply and the motor driver that are installed on frame rear, described frame is provided with water spray system, executive system, intermediate lift system, monitoring sensor-based system, be provided with roller under described frame, described roller and the craspedodrome drive motors be installed in frame are in transmission connection, and described craspedodrome drive motors is connected with motor driver; Described water spray system is sprayed water under control unit controls, and described control unit controls executive system two actuating motors and drives the cylinder being provided with steel brush and sponge separately to carry out twice cleaning successively respectively.Present invention achieves the automatic cleaning on road surface, there is good cleaning effect and higher sweeping efficiency, save human and material resources, avoid the damage to metope or road surface.
Description
Technical field
The invention belongs to robotics, particularly relate to the robot that a kind of road surface is clean.
Background technology
Clean robot, as the one of service robot, can make people free from heavy cleaning, be with a wide range of applications.Clean robot relates to the knowledge such as machinery, electronics and computer, is new high-tech product mobile robot technology and clean technologies combined together, has been subject to attention both domestic and external in recent years, become the research direction that service robot one is new.
Along with the quickening of Development of China's Urbanization, increasing Urban Environmental Problem highlights increasingly, and especially the various small advertisements puted up of road surface, are called as " city psoriasis ", as seen its degree that is stubborn and stupid and refractory reason.At present, the method of market being cleared up the small advertisement of putting up property mainly contains the mode of operation that two kinds: is employing " artificial+perching knife ", after first squirting immersion with clear water, wipe with perching knife and rag again, do like this can ensure not leave over and significantly put up vestige, do not damage other common implementings, clean rate is higher as far as possible; Two is adopt giant cleaning, and make high-pressure plunger pump produce water under high pressure by power set and rinse road surface, the impact force of water is greater than dirt and road adherence, and dirt will be peeled off, wash away by water under high pressure, and this mode is science, environmental protection comparatively.
But in said method, first kind of way not only efficiency is low, and wastes a large amount of human and material resources, and cleaning effect is also not satisfactory; The second not only water consumption is large, and high-pressure water jet is also easy damages ground or metope, causes other environmental problem.
Road sweeper device people in the present invention mainly for " psoriasis " on road surface in city, the small advertisement namely illegally puted up or scribble.
Summary of the invention
In view of this, the object of the present invention is to provide a kind of road sweeper device people, solve existing cleaning mode efficiency low, wasting manpower and material resources's resource, cleaning effect is poor, and the problem easily damaged bottom surface or metope.
For solving the problem, by the following technical solutions:
A kind of road sweeper device people, comprise frame, described frame is provided with control unit, described control unit comprises the control panel being installed on frame rear, power supply and motor driver, described frame is provided with water spray system, executive system, intermediate lift system, monitoring sensor-based system, under described frame, roller is installed, described roller and the craspedodrome drive motors be installed in frame are in transmission connection, described craspedodrome drive motors is connected with motor driver, described water spray system comprises the water tank being installed on frame back upper place, described water tank is circumscribed with the water pipe that end is provided with shower nozzle, in the middle part of described water pipe, water pump is installed, described water pump and control panel control connection, described shower nozzle is arranged on frame front lower place,
Described intermediate lift system comprises the intermediate lift body being installed on below in the middle of frame, is provided with the wiring mechanism driving the lifting of intermediate lift body, described wiring mechanism and control panel control connection above described intermediate lift body; Described intermediate lift body is provided with executive system, described executive system comprises two actuating motors be connected with control panel, wherein actuating motor A is in transmission connection with the cylinder A with steel brush, actuating motor B is in transmission connection with the cylinder B with sponge, and described cylinder A, B are installed on below intermediate lift body;
Described monitoring sensor-based system comprises monitoring system and sensor-based system, and described monitoring system comprises the camera for detecting state of ground, and described camera is arranged on frame front lower place, and is connected with control panel and power supply; Described sensor-based system comprises the photoelectric sensor at the edge, front lower place being installed on frame, and described photoelectric sensor is connected with power supply and communicates to connect with control panel.
As a preferred version, described frame inferoanterior is provided with a universal wheel, and both sides, the back lower place are respectively provided with left rear wheel and off hind wheel, and two, described rear roller and craspedodrome drive motors are in transmission connection.
As further preferred version, described craspedodrome drive motors has two, wherein be installed on left craspedodrome drive motors on the left of frame to be in transmission connection by left gear wheel and left pinion and left rear wheel, be installed on right craspedodrome drive motors on the right side of frame and be in transmission connection by right gear wheel and right pinion and off hind wheel.
As further preferred version, described wiring mechanism comprises the line drive motors being fixedly installed in frame middle upper part, coaxial transmission taken turns by described line drive motors and line, described line wheel is connected with intermediate lift body by flexible wire ropes, and the rotating of logical wire-crossing wheel controls rising and the decline of intermediate lift body.
As further preferred version, described actuating motor A and actuating motor B is installed on above intermediate lift body, its axle head is separately installed with large belt wheel A, large belt wheel B, described large belt wheel A, B are connected by Toothed Belts Gearing with small pulley A and small pulley B respectively, and described small pulley A, small pulley B are coaxial with cylinder A, cylinder B respectively.
As further preferred version, described frame rear is provided with platform, and described control panel, power supply and motor driver are all fixedly mounted on platform.
As further preferred version, described actuating motor A and cylinder A is installed on intermediate lift body front, actuating motor B and cylinder B is installed on intermediate lift body rear, described actuating motor A is installed with baffle plate, the described photoelectric sensor being installed on leading edge below frame is just to baffle plate, for determining the position that intermediate lift body is elevated, and by signal transmission to control panel.
The present invention adopts the design scheme automatically controlled, the forward-reverse of cleaning robot is controlled by control centre, monitored by photoelectric sensor and camera, control centre is according to the feedback signal of monitoring system and sensor-based system, control water spray system and executive system carry out spraying water, tentatively cleaning and secondary cleaning successively, achieve the automatic cleaning on road surface, have good cleaning effect and higher sweeping efficiency, save human and material resources, avoid the damage to metope or road surface.
Accompanying drawing explanation
In order to be illustrated more clearly in the technical scheme in the embodiment of the present invention, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Wherein:
Fig. 1 is overall structure front view of the present invention;
Fig. 2 is the top view of Fig. 1;
Fig. 3 is the upward view of Fig. 1;
Fig. 4 is perspective view of the present invention;
Fig. 5 is the partial sectional view of Fig. 1 top view;
Fig. 6 is three-dimensional cutaway view of the present invention;
The partial schematic diagram of Tu7Shi executing agency drive mechanism.
Fig. 1 to accompany and attend to the structural representation of system for a kind of portable intelligent that the embodiment of the present invention provides.
In figure:
1, frame; 2, universal wheel; 3, left rear wheel; 4, off hind wheel; 5, left drive motors; 6, right drive motors; 7, intermediate lift body; 8, actuating motor A; 9, actuating motor B; 10, large belt wheel A; 11, small pulley A; 12, cingulum A; 13, large belt wheel B; 14, small pulley B; 15, cingulum B; 16, cylinder A; 17, cylinder B; 18, baffle plate; 19, photoelectric sensor; 20, line drive motors; 21, line wheel; 22, flexible wire ropes; 23, water tank; 24, water pump; 25, water pipe; 26, shower nozzle; 27, camera; 28, control panel; 29, power supply; 30, motor driver; 31, left gear wheel; 32, left pinion; 33, right gear wheel; 34, right pinion.
Detailed description of the invention
The invention discloses a kind of road sweeper device people, improve the efficiency that road surface is clean, damage when effectively prevent clean road surface or metope, cleaned object caused.
As shown in Figures 1 to 7, give a specific embodiment of the present invention, below in conjunction with accompanying drawing, this embodiment is described.
As shown in Figures 1 to 6, the present invention includes frame 1 and control unit, frame 1 rear is provided with platform, as shown in Figure 4, control unit comprises the control panel 28 be installed on platform, power supply 29 and motor driver 30, and motor driver 30 is connected with control panel 28 and power supply 29;
Frame 1 is provided with water spray system, executive system, intermediate lift system and monitoring sensor-based system:
As shown in Figure 3, frame 1 forward lower part is provided with universal wheel 2, both sides, rear portion are separately installed with left rear wheel 3 and off hind wheel 4, above frame 1, craspedodrome drive motors is installed in both sides, craspedodrome drive motors comprises left drive motors 5 and right drive motors 6, left drive motors 5 is in transmission connection with left rear wheel 3 by left pinion 32 and left gear wheel 31 successively, and right drive motors 6 is in transmission connection with off hind wheel by right pinion 33 and right pinion 34 successively;
Left and right driving motor (5,6) is connected with motor driver 30, and with control panel 28 control connection.
As Fig. 2, Fig. 4 and shown in composition graphs 5, water spray system comprises the water tank 23 being installed on top, frame rear, water tank 23 outputs to shower nozzle 26 place being installed on frame 1 lower front by water pipe 25, be provided with water pump 24 in the middle part of water pipe, water pump 24 and control panel 28 control connection;
As shown in Figure 6, intermediate lift system comprises the intermediate lift body 7 being installed on below in the middle of frame 1, the wiring mechanism driving intermediate lift body 7 to be elevated is installed above intermediate lift body 7, wiring mechanism and control panel 28 control connection, wiring mechanism comprises the line drive motors 20 being fixedly installed in frame 1 middle upper part, 21 coaxial transmissions taken turns by line drive motors 20 and line, line wheel 21 is connected with intermediate lift body 7 by flexible wire ropes 22, and the rotating of logical wire-crossing wheel 21 controls rising and the decline of intermediate lift body 7;
As Fig. 2, shown in Fig. 3 composition graphs 7, intermediate lift body 7 is provided with executive system, executive system comprises two actuating motors be connected with control panel 28, wherein actuating motor A8 is in transmission connection with the cylinder A16 with steel brush, actuating motor B9 is in transmission connection with the cylinder B17 with sponge, cylinder A16, B17 is installed on the below of intermediate lift body 7, actuating motor A8 is connected with large belt wheel B11 with large belt wheel A10 respectively with the axle head of actuating motor B9, small pulley A11 and small pulley B14 is driven to rotate via cingulum A12 and cingulum B15 respectively, small pulley A11 is connected with cylinder A16 coaxial transmission, small pulley B14 is connected with cylinder B17 coaxial transmission,
Monitoring sensor-based system comprises monitoring system and sensor-based system, and as shown in Figure 1 and Figure 2, monitoring system comprises the camera 27 for detecting state of ground, and camera 27 is arranged on frame 1 front lower place, and is connected with control panel 28 and power supply 29; Sensor-based system comprises the photoelectric sensor 19 at the edge, front lower place being installed on frame 1, photoelectric sensor 19 is connected with power supply 29 and communicates to connect with control panel 28, actuating motor A8 and cylinder A16 is installed on intermediate lift body 7 front, actuating motor B9 and cylinder B17 is installed on intermediate lift body 7 rear, actuating motor A8 is installed with baffle plate 18, be installed on the photoelectric sensor 19 of leading edge below frame 1 just to baffle plate 18, for determining the position that intermediate lift body 7 is elevated, and by signal transmission to control panel 28.
The course of work of the present invention is: after system starts, intermediate lift body 7 is positioned at horizontal level, photoelectric sensor 19 correspond to the lower edge of baffle plate 18, when robot finds ground stain by camera 27, pass the signal along to control panel 28, control panel 28 control walks shower nozzle 26 just to the position of stain, control panel 28 sends signal, control water pump 24 to open, shower nozzle 26 pairs of stains carry out water spray operation, after water spray terminates, the line wheel 21 that control panel 28 controls wiring mechanism rotates forward, intermediate lift body 7 is declined, detect baffle plate 18 edge by photoelectric sensor 19 simultaneously, to determine that intermediate lift body drops to accurate location, after arriving operating position, control panel 28 controls wiring mechanism to be stopped, control panel 28 controls actuating motor A8 and rotates, large belt wheel A10 is driven to rotate, small pulley A11 is driven by cingulum A12, and then drive cylinder A16 to rotate, preliminary cleaning works is carried out by the steel wire brush on cylinder A16, after having cleaned, control panel 28 controls actuating motor A8 and stops operating, control is walked forward simultaneously, cylinder B17 is made to arrive cleaning position, control panel 28 controls actuating motor B9 and rotates, and then drive cylinder B17 to rotate, last cleaning work is carried out by the sponge on cylinder B17, after cleaning terminates, actuating motor B9 stops operating, control panel 28 controls line wheel 21 reversion of wiring mechanism, intermediate lift body 7 is made to increase, by being detected baffle plate 18 lower edge by photoelectric sensor 19 to determine that intermediate lift body 7 rises to accurate location, after rising to accurate location, the line wheel 21 of wiring mechanism stops operating, a course of work terminates.
The present invention adopts the design scheme automatically controlled, the forward-reverse of cleaning robot is controlled by control centre, monitored by photoelectric sensor and camera, control centre is according to the feedback signal of monitoring system and sensor-based system, control water spray system and executive system carry out spraying water, tentatively cleaning and secondary cleaning successively, achieve the automatic cleaning on road surface, have good cleaning effect and higher sweeping efficiency, save human and material resources, avoid the damage to metope or road surface.
Claims (5)
1. a road sweeper device people, comprise frame, described frame is provided with control unit, described control unit comprises the control panel, power supply and the motor driver that are installed on frame rear, described frame is provided with water spray system, executive system, intermediate lift system, monitoring sensor-based system, be provided with roller under described frame, described roller and the craspedodrome drive motors be installed in frame are in transmission connection, described craspedodrome drive motors is connected with motor driver, it is characterized in that:
Described water spray system comprises the water tank being installed on frame back upper place, and described water tank is circumscribed with the water pipe that end is provided with shower nozzle, is provided with water pump in the middle part of described water pipe, described water pump and control panel control connection, and described shower nozzle is arranged on frame front lower place;
Described intermediate lift system comprises the intermediate lift body being installed on below in the middle of frame, is provided with the wiring mechanism driving the lifting of intermediate lift body, described wiring mechanism and control panel control connection above described intermediate lift body; Described intermediate lift body is provided with executive system, described executive system comprises two actuating motors be connected with control panel, wherein actuating motor A is in transmission connection with the cylinder A with steel brush, actuating motor B is in transmission connection with the cylinder B with sponge, and described cylinder A, B are installed on below intermediate lift body; Described actuating motor A and actuating motor B is installed on above intermediate lift body, its axle head is separately installed with large belt wheel A, large belt wheel B, described large belt wheel A, B are connected by Toothed Belts Gearing with small pulley A and small pulley B respectively, and described small pulley A, small pulley B are coaxial with cylinder A, cylinder B respectively; Described actuating motor A and cylinder A is installed on intermediate lift body front, actuating motor B and cylinder B is installed on intermediate lift body rear, described actuating motor A is installed with baffle plate, the described photoelectric sensor being installed on leading edge below frame is just to baffle plate, for determining the position that intermediate lift body is elevated, and by signal transmission to control panel;
Described monitoring sensor-based system comprises monitoring system and sensor-based system, and described monitoring system comprises the camera for detecting state of ground, and described camera is arranged on frame front lower place, and is connected with control panel and power supply; Described sensor-based system comprises the photoelectric sensor at the edge, front lower place being installed on frame, and described photoelectric sensor is connected with power supply and communicates to connect with control panel.
2. a kind of road sweeper device people according to claim 1, it is characterized in that: described frame inferoanterior is provided with a universal wheel, and both sides, the back lower place are respectively provided with left rear wheel and off hind wheel, two, described rear roller and craspedodrome drive motors are in transmission connection.
3. a kind of road sweeper device people according to claim 2, it is characterized in that: described craspedodrome drive motors has two, wherein be installed on left craspedodrome drive motors on the left of frame to be in transmission connection by left gear wheel and left pinion and left rear wheel, be installed on right craspedodrome drive motors on the right side of frame and be in transmission connection by right gear wheel and right pinion and off hind wheel.
4. a kind of road sweeper device people according to claim 3, it is characterized in that: described wiring mechanism comprises the line drive motors being fixedly installed in frame middle upper part, coaxial transmission taken turns by described line drive motors and line, described line wheel is connected with intermediate lift body by flexible wire ropes, and the rotating of logical wire-crossing wheel controls rising and the decline of intermediate lift body.
5. a kind of road sweeper device people according to claim 1, is characterized in that: described frame rear is provided with platform, and described control panel, power supply and motor driver are all fixedly mounted on platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310269446.XA CN103290797B (en) | 2013-06-28 | 2013-06-28 | A kind of road sweeper device people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310269446.XA CN103290797B (en) | 2013-06-28 | 2013-06-28 | A kind of road sweeper device people |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103290797A CN103290797A (en) | 2013-09-11 |
| CN103290797B true CN103290797B (en) | 2015-10-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310269446.XA Expired - Fee Related CN103290797B (en) | 2013-06-28 | 2013-06-28 | A kind of road sweeper device people |
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| CN (1) | CN103290797B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104027044A (en) * | 2014-05-09 | 2014-09-10 | 李佛妹 | Intelligent passageway sprinkler |
| CN106216327A (en) * | 2016-08-24 | 2016-12-14 | 孟玲 | A kind of dust exhaust apparatus with shockproof function |
| CN114190845B (en) * | 2017-12-18 | 2023-03-28 | 创科地板护理技术有限公司 | Surface cleaning apparatus with triggerless fluid dispensing mechanism |
| CN108414021B (en) * | 2018-04-04 | 2020-11-03 | 暨南大学 | Working state monitoring system of track cleaning vehicle, track cleaning vehicle and working state monitoring method of track cleaning vehicle |
| CN112545403B (en) * | 2020-12-30 | 2021-10-26 | 德清县德创智能技术有限公司 | Automatic wall and ceiling sweeper |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2014039A (en) * | 1978-02-09 | 1979-08-22 | Kyle A H | Industrial sweeper |
| CN101301185A (en) * | 2008-06-02 | 2008-11-12 | 哈尔滨工业大学 | Intelligent robot for clearing advertisement |
| CN201691857U (en) * | 2010-06-17 | 2011-01-05 | 芜湖爱瑞特环保科技有限公司 | Wiping harrow lifting mechanism |
| CN202081402U (en) * | 2011-04-28 | 2011-12-21 | 浙江工业大学 | Cleaning vehicle for indoor and outdoor plastic racetracks |
| CN202202289U (en) * | 2011-05-04 | 2012-04-25 | 北京市宣武区环境卫生一队 | Cleaning device for road adhesives |
-
2013
- 2013-06-28 CN CN201310269446.XA patent/CN103290797B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2014039A (en) * | 1978-02-09 | 1979-08-22 | Kyle A H | Industrial sweeper |
| CN101301185A (en) * | 2008-06-02 | 2008-11-12 | 哈尔滨工业大学 | Intelligent robot for clearing advertisement |
| CN201691857U (en) * | 2010-06-17 | 2011-01-05 | 芜湖爱瑞特环保科技有限公司 | Wiping harrow lifting mechanism |
| CN202081402U (en) * | 2011-04-28 | 2011-12-21 | 浙江工业大学 | Cleaning vehicle for indoor and outdoor plastic racetracks |
| CN202202289U (en) * | 2011-05-04 | 2012-04-25 | 北京市宣武区环境卫生一队 | Cleaning device for road adhesives |
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| CN103290797A (en) | 2013-09-11 |
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