CN105705702A - Walking type intelligent robot cleaning device - Google Patents
Walking type intelligent robot cleaning device Download PDFInfo
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- CN105705702A CN105705702A CN201480061251.9A CN201480061251A CN105705702A CN 105705702 A CN105705702 A CN 105705702A CN 201480061251 A CN201480061251 A CN 201480061251A CN 105705702 A CN105705702 A CN 105705702A
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
- E01H1/00—Removing undesirable matter from roads or like surfaces, with or without moistening of the surface
- E01H1/08—Pneumatically dislodging or taking-up undesirable matter or small objects; Drying by heat only or by streams of gas; Cleaning by projecting abrasive particles
- E01H1/0827—Dislodging by suction; Mechanical dislodging-cleaning apparatus with independent or dependent exhaust, e.g. dislodging-sweeping machines with independent suction nozzles ; Mechanical loosening devices working under vacuum
- E01H1/0836—Apparatus dislodging all of the dirt by suction ; Suction nozzles
- E01H1/0845—Apparatus dislodging all of the dirt by suction ; Suction nozzles with mechanical loosening or feeding instruments for the dirt to be sucked- up, e.g. brushes, scrapers
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
- E01H1/00—Removing undesirable matter from roads or like surfaces, with or without moistening of the surface
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B5/00—Cleaning by methods involving the use of air flow or gas flow
- B08B5/04—Cleaning by suction, with or without auxiliary action
- B08B5/043—Cleaning travelling work
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Cleaning Of Streets, Tracks, Or Beaches (AREA)
- Electric Vacuum Cleaner (AREA)
Abstract
The present invention relates to a walking type intelligent robot cleaning device and, more particularly, to an environment-friendly walking type intelligent robot cleaning device being capable of: collecting, very conveniently and intelligently, various objects to be cleaned which are scattered on a road, using an automatic or manual mode while driving at a low speed while a worker walks; enabling the worker to carefully clean cracks or cornered parts manually while walking, so that cleaning tasks for an area where a conventional cleaning vehicle cannot easily enter, in particular an area such as a sidewalk, a park, or an alley, can be accomplished efficiently; and enabling a vehicle body to be driven electrically, thereby conserving consumed fuel and also reducing noise, carbon, etc.
Description
Technical field
The present invention relates to a kind of walking intelligent robot clearing apparatus, more specifically to such a walking intelligent robot clearing apparatus, this walking intelligent robot clearing apparatus can very simply and intelligently remove the multiple refuse on road by either automatically or manually pattern while coordinating to advance with worker, this walking intelligent robot clearing apparatus allows worker manually to clear up little space or corner while walking, especially worker is allowed effectively to clear up the such as pavement that road sweeper is difficult to arrive, the space in parking lot and by-pass etc, and with regard to by by electrically operated and for saving fuel and reducing noise and carbon, this walking intelligent robot clearing apparatus is eco-friendly。
Background technology
In general, the refuse (hereinafter referred to as " road refuse ") of such as fallen leaves and sand etc on ordinary road, highway, parking lot, large-scale synthesis road, the runway on airport and sports ground is generally cleaned by the road sweeper with cleaning equipment。
Although road sweeper cleans up road refuse, but the wear-out part of dust or vehicle tyre is retained on road。Whenever vehicle is through principal element that out-of-date these dusts flown in air and chip are atmosphere pollutions。
The road sweeper cleaned Streets is divided into high pressure spray watering type and such type, and the sweeper of the type utilizes the rotating brush horizontally rotated being arranged on vehicle both sides to clean the road refuse of the such as dirt, earth and fallen leaves etc that are collected in street。
But, road refuse all can not be loaded on vehicle with rotating brush-type road cleaner by spray-type road cleaner, is only capable of shifting road refuse onto the side in street, thus specific manpower must be utilized to remove chip, i.e. need two steps。
Recently, it is proposed that such as take away the street cleaning device of dumper of refuse of collection etc in special container。Such as, application number be 10-2009-0063642 korean patent application publication in have one " Cleaningdeviceofsurfacecleaningvehicles the clearing apparatus of vehicle (surface clean) "。As shown in fig. 1, this clearing apparatus includes the roller brush 110, dustpan 120, sub-dust-collector 130, main dust-collector the 140, first sucktion fan 150 and the pump orifice 160 that are arranged on vehicle body framework 100, its central roll brush 110 by drive motor rotate with by road waste collection to above, these road refuses are collected on dustpan 120, and therefore this structure is considerably complicated。
Namely, owing to the structure of this clearing apparatus is complicated, this device is except the narrow street for being difficult to use in the by-pass around the public place of multiple such as school etc and the ball track in such as golf course etc except common street, and can not clean corner and little space。And, require over and existing common vehicle is transformed into the multiple cleaning facility of installation and manufactures special car, such manufacturing cost is very high, handles and use this device very inconvenient, and repair cost when damaging with regard to device makes maintenance cost increase because of complicated electronic equipment。And, generally transform powerful truck, thus these a large amount of fuel of truck consumption and produce to pollute and noise。
Summary of the invention
Technical problem
In order to solve the problems of the prior art, it is an object of the present invention to provide such a walking intelligent robot clearing apparatus, this walking intelligent robot clearing apparatus can very simply and intelligently take away the multiple refuse on road by either automatically or manually pattern while coordinating to advance with worker, this walking intelligent robot clearing apparatus allows worker manually to clear up little space or corner while walking, especially worker is allowed effectively to clear up the such as pavement that road sweeper is difficult to arrive, the space in parking lot and by-pass etc, and with regard to by by electrically operated and for saving fuel and reducing noise and carbon, this walking intelligent robot clearing apparatus is eco-friendly。
Technical scheme
In order to realize the purpose of the present invention, the walking intelligent robot clearing apparatus of a kind of refuse collected on road, this device includes: vehicle body framework, and this vehicle body framework has the wheel being positioned on bottom and for handling the control crank of described wheel；Driver element, this driver element is used for operating described wheel；Accomodating unit, this accomodating unit has predetermined inner space and is arranged on described vehicle body framework；Pump unit, this pump unit includes: suction body, and this suction body is had the suction inlet for aspirating the refuse on road and leaves mouth for what discharge the refuse that aspirated by described suction inlet；Body shell, this body shell has the admission space being located therein and has the entrance and outlet that connect with described admission space, and described entrance is connected to described in described suction body to leave mouth, and this body shell is supported on described vehicle body framework；Delivery pipe, the first end that this delivery pipe has the described outlet being connected to described body shell and the second end extended from described accomodating unit；Rotating blower fan, this rotation blower fan is arranged in the described admission space of described body shell will be guided to described accomodating unit by the air-flow within the described suction inlet inflow of described suction body；And driving motor, this driving motor is connected to described rotation blower fan by rotating shaft and supplies power so that described rotation blower fan rotates；And control unit, this control unit is in automatic mode or manual mode controls described driver element and described pump unit operates, wherein, described suction body includes: suction road, this suction road be flexible duct and there is the described entrance that is releasably attached to described body shell leave mouth；Castor, this castor is supported in the side in described suction road with road Structure deformation ground so that the suction inlet in described suction road and road interval preset distance；And working handle, this working handle extends in the side in described suction road。
Described walking intelligent robot clearing apparatus may also include sensor unit, this sensor unit includes the crash sensor of the distance for sensing the barrier around from described vehicle body framework, wherein, under described automatic mode, when the distance detected by described crash sensor is below preset distance, described control unit can send to outside and show and with the alarm of barrier collision, and described driver element will can be made when described distance is below preset distance to stop。
Described sensor unit may also include the limit sensors of the load for measuring the refuse in described accomodating unit, and described control unit can make described driving motor stop when the described refuse in described accomodating unit is beyond predetermined load。
Described vehicle body framework may also include the bracket for depositing described suction road；What described sensor unit may also include the distance between described suction inlet and ground for sensing described suction road approaches sensor and for sensing the suction road sensor whether described suction road is placed on described bracket；And under described automatic mode, when by described approach distance that sensor senses be below predetermined value time, the operable described driver element of described control unit and described driving motor, when being approached described control unit when distance that sensor records is more than predetermined value described driver element can be made to stop and making described driving motor be decelerated to predetermined speed by described, and described control unit can make described driving motor stop when described suction road sensor senses and deposits signal。
Described sensor unit may also include that the range sensor that the described suction inlet in contiguous described suction road is arranged；And enter sensing unit, this entrance sensing unit is arranged in the side of described accomodating unit, to send signal when described range sensor enters preset range to described range sensor, and under described automatic mode, when the described preset range entering and setting in the sensing unit described range sensor of arrival, described control unit can make described driver element stop, and when described entrance when sensing unit leaves the preset range set in described range sensor can start described driver element。
Beneficial effect
According to this intelligent walking sweeping robot, the various refuses on road can be particularly simple removed intelligently by either automatically or manually pattern while coordinating to advance with worker, the worker that can allow for manually clears up little space or corner while walking, especially worker is allowed effectively to clear up the space of such as pavement, parking lot and by-pass etc that road sweeper is difficult to arrive, and can by by electrically operated and save fuel and reduce noise and carbon。
Accompanying drawing explanation
Fig. 1 is the side view of the road sweeper illustrating prior art。
Fig. 2 is the side view illustrating walking intelligent robot clearing apparatus according to the embodiment of the present invention。
Fig. 3 is the front view illustrating walking intelligent robot clearing apparatus according to the embodiment of the present invention。
Fig. 4 is the plane graph illustrating walking intelligent robot clearing apparatus according to the embodiment of the present invention。
Fig. 5 is the side view illustrating the walking intelligent robot clearing apparatus according to another embodiment of the present invention。
The explanation of the accompanying drawing labelling in accompanying drawing
1: intelligent robot clearing apparatus
10: vehicle body framework
11: wheel
12: control crank
13: bracket
20: driver element
21: travel motor
30: accomodating unit
40: pump unit
41: suction body
411: suction tube
412: rotating brush
413: suction road
414: castor
415: working handle
42: body shell
43: delivery pipe
44: rotate blower fan
45: drive motor
50: sensor unit
51: crash sensor
52: limit sensors
53: approach sensor
54: suction road sensor
55: range sensor
55a: enter sensing unit
60: control unit
Detailed description of the invention
Walking intelligent robot clearing apparatus (hereinafter referred to as " intelligent robot clearing apparatus ") according to the present invention is described in detail referring below to the illustrative embodiments shown in accompanying drawing。
Fig. 2 is the side view illustrating walking intelligent robot clearing apparatus according to the embodiment of the present invention, Fig. 3 is the front view illustrating walking intelligent robot clearing apparatus according to the embodiment of the present invention, Fig. 4 is the plane graph illustrating walking intelligent robot clearing apparatus according to the embodiment of the present invention, and Fig. 5 is the side view illustrating the walking intelligent robot clearing apparatus according to another embodiment of the present invention。
With reference to accompanying drawing, intelligent robot clearing apparatus according to the embodiment of the present invention is the intelligent street cleaning device for taking away the refuse on road, and this intelligent robot clearing apparatus includes vehicle body framework 10, driver element 20, accomodating unit 30, pump unit 40, sensor unit 50 and control unit 60。
Vehicle body framework 10 is the framework of intelligent robot clearing apparatus, and this framework is in order to support driver element 20, accomodating unit 30, pump unit 40, sensor unit 50 and the control unit 60 being described below。
The intelligent robot clearing apparatus 1 of the present invention is characterised by, owing to the size of the part of this device reduces compared with existing road sweeper, worker can walk cleaning road together with intelligent robot clearing apparatus。
The wheel 11 driven is attached to the bottom of vehicle body framework 10, and the control crank 12 that can handle wheel 11 is arranged in rear portion, thus worker can driven machine people's device。
Driver element 20 operates wheel 11 so that vehicle body framework 10 can move。
Driver element 20 can include being connected to wheel 11 and to the power-producing travel motor 21 of wheel。Motor 21 can be operated by battery 22, and battery 22 operates the time that travel motor is 21 1 predetermined by charging simply, thus the intelligent robot clearing apparatus 1 of the present invention does not produce pollutant and noise。
Accomodating unit 30 has predetermined inner space and is arranged on vehicle body framework 10, this accomodating unit provides wide coffin, allow to the pump unit 40 by being described below and collect road refuse, this accomodating unit will be described in detail together with pump unit 40。
Pump unit 40 can include suction body 41, body shell 42, delivery pipe 43, rotates blower fan 44 and drive motor 45。
And, suction body 41 according to the embodiment of the present invention can include suction tube 411 and rotating brush 412。
With reference to Fig. 2 and Fig. 3, suction tube 411 has the suction inlet 411a with bottom surface space out predetermined elevation and leaves a mouthful 411b for discharging by the suction inlet 411a refuse aspirated。
Rotating brush 412 is arranged in parallel in the anterior front lower place of vehicle body framework 10 at a predetermined interval in pairs, and with by the road waste collection of multiple such as fallen leaves and sand etc to the suction inlet 411a of suction tube 411, and rotating brush can vertically move and rotate。
With reference to Fig. 2 to Fig. 4, the refuse that rotating brush 412 is collected on road by rotating in mutually opposite directions towards suction inlet 411a so that forward or can easily aspirate road refuse while being moved rearwards by by suction tube 411 at vehicle body framework 10。
In an embodiment of the invention, suction tube 411 is along the direction across road arrangement suction inlet 411a (namely, width along relative to the forward direction of vehicle body framework 10) it is elongated, and the inside of this suction tube is left a mouthful 411b with cylindrical shape from suction inlet 411a court and is become narrow gradually。
This is similar to that the structure of vacuum cleaner, and be designed to obtain such an effect that when by the suction force produced by the rotation blower fan 44 (being described below) of positive rotation suction inlet 411a and leave produce pressure differential between mouthful 411b time, air flow low-pressure section and road refuse can be sucked together with air。
Body shell 42 holds rotation blower fan 44, to be internally formed vacuum when rotating blower fan 44 and rotating at suction tube 411。
Body shell 42 can be fixed to vehicle body framework 10 by support, and this body shell covers and rotates blower fan 44 to protect rotation blower fan and to have admission space, and the inwall 42a contiguous with rotating blower fan 44 is arranged in this admission space。
Body shell 42 has the entrance 42b connected with admission space and outlet 42c, and wherein, entrance 42 is connected to leaving mouthful 411b and exporting 42c towards rotating the opening of blower fan 44 side of suction tube 411。
Delivery pipe 43 for aspirating and pass through the outlet 42c of body shell 42 waste collection discharged in accomodating unit 30 by suction tube 411, the side of this delivery pipe is connected to the outlet 42c of body shell 42, and opposite side extends in accomodating unit 30 as extendible corrugated tube。
It is arranged in the admission space within body shell 42 owing to rotating blower fan 44 and rotates wherein, producing pressure differential between suction tube 411 and delivery pipe 43 so that road refuse is sucked in suction tube 411 and air-flow can be drawn towards accomodating unit 30。
Rotating blower fan 44 to be arranged vertically, its central authorities face away from the front of mouthful 411b, horizontally disposed along the longitudinal direction in this centre with leaving central shaft 44a concentric for mouthful 411b, and arrange around central shaft 44a around leaving mouthful 411b multiple blade 44b rotated。
Rotate the blade 44b high speed rotating of blower fan 44 to draw air in body shell 42 so that suction tube 411 internal one-tenth vacuum, and the air being sucked in body shell 42 by the rotation of blade 44b is guided and be discharged into outlet 42c by the inwall 42c of body shell 42。That is, blade produces air-flow around the admission space of body shell 42。
Drive motor 45 to be connected to rotate blower fan 44 by rotating shaft 45a, and supply power so that rotating blower fan 44 and rotating。
Drive motor 45 to be fixed to the top of vehicle body framework 10, and the rotating shaft 45a that can pass through to be attached to along the longitudinal direction the central shaft 44a rotating blower fan 44 makes rotation blower fan 44 rotate。
And, drive motor 45 to can be electrically connected to battery 22 to be operated, thus this driving motor is electrically operated and does not produce pollutant and noise together with travel motor 21。
In intelligent robot clearing apparatus 1 according to the embodiment of the present invention, can be formed on the blade 44b rotating blower fan 44 towards the cut portion 44c leaving such as sawtooth etc prominent for mouthful 411b。
Cut portion 44c can highlight from the end of blade 44b towards front portion, making when the big road refuse of such as fallen leaves etc is sucked in the admission space of body shell 42 by suction tube 411, refuse can be cut by the cut portion 44c of the rotating vane 44b of high speed rotating。
Namely, the fallen leaves etc. being sucked in body shell 42 are guided by the inwall 42a of the admission space of body shell 42 by the air-flow produced by the rotating vane 44b of high speed rotating, and in the process, fallen leaves clash into cut portion 44c and are cut, thus the road refuse collected in accomodating unit 30 can be easily processed。
And, the intelligent robot clearing apparatus 1 of the present invention also includes sensor unit 50, and this sensor unit includes the crash sensor 51 of the distance for detecting the barrier around from vehicle body framework 10。
The operation of control unit 60 either automatically or manually driver element 20 and pump unit 40。
First, control unit 60 can include the master controller 61 and the mode switch 62 that are positioned at the rear portion of vehicle body framework 10, and automatic mode and manual mode are arranged and allowed hand over to the contiguous control crank 12 of this mode switch。
Sensor unit 50 including crash sensor 51 can also include limit sensors 52, approaches sensor 53, aspirate road sensor 54 and range sensor 55, and these sensor is discussed in detail below。
Crash sensor 51 can be arranged in front portion and the rear portion of vehicle body framework 10, and this crash sensor perception is also measured the distance of barrier in front from vehicle body framework 10 and will be sent to control unit 60 the fact that there is barrier and with the signal of the distance dependent measured。
When the mode switch 62 of control unit 60 is set in automatic mode, when the distance detected by crash sensor 51 is below preset distance, control unit 60 can send and show the alarm will collided with barrier to outside, and when distance is for stopping driver element 20 time below preset distance。
Namely, can by utilizing siren or display (not shown) send sound or show that alarm warns worker to there is the barrier of approaching device, and can being likely to make vehicle body framework 10 be automatically stopped with the distance of barrier collision at device, described siren or display can individually be arranged on the master controller 61 of vehicle body framework 10 side or control unit 60。
Crash sensor 51 can be able to sonac or the infrared sensor of the distance of sense ranged obstacle, and this structure of the intelligent robot clearing apparatus 1 according to the present invention, automatic cleaning road can be carried out cleaning while road, without vehicle body framework 10 is motor-driven to be left barrier and operate especially in order to make by simple manipulation vehicle body framework 10。
In order to perform the function that can be controlled by master controller 61, control unit 60 may also include remote controllers 63, remote signal can be sent the processor to control unit 60 by utilizing Zigbee communication module (not shown) to carry out Zigbee wireless telecommunications by these remote controllers, and Zigbee communication module can be individually attached on the intelligent robot clearing apparatus 1 of the present invention。
Sensor unit 50 includes the limit sensors 52 for sensing the refuse load in accomodating unit 30。
The upper end of the side that limit sensors 52 can be arranged in accomodating unit 30, and when accomodating unit 30 is filled up completely with full road refuse, limit sensors 52 this situation of perception also will indicate that the signal of overload is sent to control unit 60。
Therefore, when in accomodating unit 30, the load of refuse exceedes predeterminated level, control unit 60 makes driving motor 45 stop automatically, stops and road refuse is no longer sucked in suction tube 411 thus rotating blower fan 44。
And, control unit 60 receives and preserves the perception of the sensor from sensor unit 50 and the data of measurement by the Zigbee communication utilizing Zigbee communication module (not shown) and carry out, manage the flow data from the data preserved, and performing the program for processing data, this includes computing about the data avoiding collision, automatically traveling and signal processing。
Therefore, when mode switch 62 is set in automatic mode, control unit 60 can automatically perform the traveling automatically of the intelligent robot clearing apparatus 1 of the present invention, identify also avoiding obstacles, auto-pumping and automatic measuring speed and sweep-out pattern。
In the intelligent robot clearing apparatus 1 according to another embodiment of the present invention, suction body 41 includes suction road 413, castor 414 and working handle 415。
With reference to Fig. 5, suction road 413 can substitute for the suction tube 411 in the described embodiment of the present invention, and namely suction road 413 is different from the flexible duct of suction tube 411 and extends into so that outlet 413b is detachably connectable to the entrance 42b of body shell 42。
Existing road sweeper passes through the cleaning part by the power simple operations individually provided or suction elements is collected refuse and cleans Streets, but in the case, it is difficult to clean the corner on road or ladder, thus cleaning can not effectively be performed。
Therefore, in this embodiment of the present invention, the suction inlet 413a in suction road 413 can move freely, thus under automatic mode or manual mode, worker W can directly with the refuse on examination of visual acuity road and collect these refuses forward or when travelling rearwardly at vehicle body framework 10。
And, the outlet 413b in suction road 413 is detachably connectable to the entrance 42b of body shell 42, thus as set forth above, it is possible to not replacing this by complex work simply with suction tube 411 in street to leave mouth。
Therefore, naturally, mouthful 411b that leaves of the suction tube 411 of an embodiment of the invention is detachably connectable to the entrance 42b of body shell 42。
With reference to Fig. 5, castor 414 and working handle 415 are arranged to help suction road 413 to move, worker W can easily be cleaned by suction road 413, wherein castor 414 is supported on the side in suction road with road Structure deformation ground so that the suction inlet 413a in suction road 413 and the predetermined height of road interval。
Working handle 415 is such part, and worker W grips this part to be easily moved suction road 413, thus the side elongation that working handle 415 is in suction road 413 is with the height of suitably corresponding worker W so that worker can easily grip this working handle。
Therefore, it can very advantageously make suction road 413 move on road and change direction by castor 414 and working handle 415。
Therefore, in another embodiment of the present invention, organic connections by above-mentioned parts, can very be conveniently removed the multiple refuse on road while vehicle body framework 10 low speed is advanced under the automatic mode of control unit 60 or manual mode, and worker W manually can conscientiously clean little space or corner while walking。Therefore, compared with existing road sweeper, it is possible to realize effectively cleaning。
When worker W utilization suction road 413 manually cleans road without collecting the refuse on road, therefore control unit 60 can be configured to make rotating brush 412 stop and rising this rotating brush。
Intelligent robot clearing apparatus 1 according to another embodiment of the present invention also includes the bracket 13 for being stored on vehicle body framework 10 by suction road 413, and sensor unit 50 also includes: approach sensor 53, this approaches sensor for sensing the distance between suction inlet 413a and the ground of aspirating road 413；And suction road sensor 54, this suction road sensor is used for sensing whether suction road 413 is placed in bracket 13。
As shown in Figure 5, the suction inlet 413a approaching sensor 53 contiguous suction road 413 fixes, and senses the distance from ground and send sensing signal to control unit 60。
In automatic mode, when the suction inlet 413a in suction road 413 is put on the ground to clean road and by when approaching distance (such as below 100mm) below predeterminated level that sensor 53 senses by worker W, control unit 60 operates driver element 20 and drives motor 45, but when by when approaching distance (such as more than 100mm) more than predeterminated level that sensor 53 senses, control unit 60 makes driver element 20 stop and making driving motor 45 be decelerated to predetermined speed。
That is, making suction road 413 approximately perpendicularly erect so that when cleaning at worker W, rotating blower fan 44 can automatic rotation and vehicle body framework 10 can drive automatically。And, when worker W removes his/her hands to be engaged in other work from suction road 413, the suction nearly horizontal placement in road 413, thus suction inlet 413a rises, in the case control unit 60 determine be not carried out clean, make vehicle body framework 10 stop thereby through making wheel 11 stop and making rotation blower fan 44 slow down, thus maintaining resting state。
Bracket 13 is preferably placed in the front of vehicle body framework 10, make worker W easily can receive and keep suction road 413 after completing work, and aspirating road sensor 54 and be arranged in bracket 13, the keeper 413b that the suction inlet 413a in sensing contiguous suction road 413 is formed is placed on bracket 13 and sends sensing signal to control unit 60。
When receiving the sensing signal from suction road sensor 54, control unit 60 has determined cleaning operation, so that driving motor 45 to stop。
Therefore, intelligent robot clearing apparatus 1 according to the present invention, when worker W manually completes road-cleaning, it is possible to only bracket 13 makes rotation blower fan 44 stop simply by being put in suction road 413 when without specific operation such that it is able to terminate easily to clean。
Sensor unit 50 can also include: the range sensor 55 that the suction inlet 413a in contiguous suction road 413 arranges；And entering sensing unit 55a, this entrance sensing unit is arranged in the side of accomodating unit, transmits signal to range sensor 55 during with the preset range of setting in entry range sensor 55。
Therefore, in automatic mode, when entering sensing unit 55a and approaching the preset range set in range sensor 55, control unit 60 makes driver element 20 stop, and when entering sensing unit 55a and leaving this scope set in range sensor 55, control unit starts driver element 20。
Namely, by using range sensor 55, when vehicle body framework 10 towards clean road suction road 413 advance and vehicle body framework 10 and suction road 413 suction inlet 413a between distance be reduced to preset range time, vehicle body framework 10 stops not disturbing the worker utilizing suction road 413 to work to clean road, thus can avoid security incident。
Above description intelligent robot clearing apparatus illustrated in the accompanying drawings are only for realizing embodiments of the invention, are not construed as the essence of the restriction present invention。Protection scope of the present invention is only determined by claim; and without departing from the scope of the invention; change and the embodiment of modification includes in protection scope of the present invention, as long as these embodiments are apparent for those skilled in the art。
Industrial applicibility
As mentioned above, intelligent robot clearing apparatus according to the present invention can pass through either automatically or manually pattern and remove the multiple refuse on road easily, can effectively clear up the space of such as pavement, parking lot and by-pass etc that especially road sweeper is difficult to arrive, and by by electrically operated and save fuel and reduce noise and the pollutant of such as carbon etc, thus this intelligent robot clearing apparatus has industrial applicibility。
Claims (5)
1. collecting a walking intelligent robot clearing apparatus for refuse on road, this device includes:
Vehicle body framework, this vehicle body framework has the wheel being positioned on bottom and for handling the control crank of described wheel；
Driver element, this driver element is used for operating described wheel；
Accomodating unit, this accomodating unit has predetermined inner space and is arranged on described vehicle body framework；
Pump unit, this pump unit includes: suction body, and this suction body is had the suction inlet for aspirating the refuse on road and leaves mouth for what discharge the refuse that aspirated by described suction inlet；Body shell, this body shell has the admission space being located therein and has the entrance and outlet that connect with described admission space, and described entrance is connected to described in described suction body to leave mouth, and this body shell is supported on described vehicle body framework；Delivery pipe, the first end that this delivery pipe has the described outlet being connected to described body shell and the second end extended from described accomodating unit；Rotating blower fan, this rotation blower fan is arranged in the described admission space of described body shell will be guided to described accomodating unit by the air-flow within the described suction inlet inflow of described suction body；And driving motor, this driving motor is connected to described rotation blower fan by rotating shaft and supplies power so that described rotation blower fan rotates；And
Control unit, this control unit in automatic mode or manual mode control the operation of described driver element and described pump unit,
Wherein, described suction body includes: suction road, this suction road be flexible duct and there is the described entrance that is releasably attached to described body shell leave mouth；Castor, this castor is supported in the side in described suction road with road Structure deformation ground so that the suction inlet in described suction road and road interval preset distance；And working handle, this working handle extends in the side in described suction road。
2. device according to claim 1, this device also includes sensor unit, and this sensor unit includes the crash sensor of the distance for sensing the barrier around from described vehicle body framework,
Wherein, under described automatic mode, when the distance recorded by described crash sensor is below preset distance, described control unit sends to outside and shows and with the alarm of barrier collision, and described driver element will be made when described distance is below preset distance to stop。
3. device according to claim 2, wherein, described sensor unit also includes the limit sensors of the load for measuring the refuse in described accomodating unit, and described control unit makes described driving motor stop when the described refuse in described accomodating unit is beyond predetermined load。
4. device according to claim 2, wherein said vehicle body framework also includes the bracket for depositing described suction road；
What described sensor unit also included the distance between described suction inlet and ground for sensing described suction road approaches sensor and for sensing the suction road sensor whether described suction road is placed on described bracket；
And under described automatic mode, when by described approach distance that sensor senses be below predetermined value time, described control unit operates described driver element and described driving motor, when being approached described control unit when distance that sensor records is more than predetermined value made described driver element stop and making described driving motor be decelerated to predetermined speed by described, and described control unit makes described driving motor stop when described suction road sensor senses and deposits signal。
5. device according to claim 2, wherein said sensor unit also includes: the range sensor that the described suction inlet in contiguous described suction road is arranged；And enter sensing unit, this entrance sensing unit is arranged in the side of described accomodating unit, to send signal when described range sensor enters preset range to described range sensor, and under described automatic mode, when the described preset range entering and setting in the sensing unit described range sensor of arrival, described control unit makes described driver element stop, and when described entrance when sensing unit leaves the preset range set in described range sensor starts described driver element。
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR10-2013-0109324 | 2013-09-11 | ||
| KR20130109324A KR101391963B1 (en) | 2013-09-11 | 2013-09-11 | Walking-type intelligent robot road sweeping apparatus |
| PCT/KR2014/008026 WO2015037843A1 (en) | 2013-09-11 | 2014-08-28 | Walking type intelligent robot cleaning device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105705702A true CN105705702A (en) | 2016-06-22 |
Family
ID=50893207
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201480061251.9A Pending CN105705702A (en) | 2013-09-11 | 2014-08-28 | Walking type intelligent robot cleaning device |
Country Status (4)
| Country | Link |
|---|---|
| KR (1) | KR101391963B1 (en) |
| CN (1) | CN105705702A (en) |
| SG (1) | SG11201509745YA (en) |
| WO (1) | WO2015037843A1 (en) |
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| CN106544972A (en) * | 2016-11-08 | 2017-03-29 | 界首市绍恩精机机械有限公司 | A kind of electricity sweeper of the photovoltaic extended-range lithium containing obstacle identification system and its using method |
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| CN108755536A (en) * | 2018-07-24 | 2018-11-06 | 安徽工程大学 | Direct wheel drives intelligent remote control type fallen leaves sweeper |
| CN110989591A (en) * | 2019-12-02 | 2020-04-10 | 长沙中联重科环境产业有限公司 | Sanitation robot for performing auxiliary operation control based on road edge identification |
| CN111364400A (en) * | 2020-04-08 | 2020-07-03 | 衡水通途工程制品有限公司 | Bridge expansion joint cavity cleaning device |
| CN114237089A (en) * | 2021-11-15 | 2022-03-25 | 成都壹为新能源汽车有限公司 | Intelligent loading control system for washing and sweeping operation vehicle |
| CN113957835A (en) * | 2021-11-16 | 2022-01-21 | 吉林大学 | Absorption formula pavement cleaning device of mountable in traction vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| KR101391963B1 (en) | 2014-05-07 |
| SG11201509745YA (en) | 2015-12-30 |
| WO2015037843A1 (en) | 2015-03-19 |
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Application publication date: 20160622 |