CN110184978A - A kind of the environmental cleanup machinery equipment and business model of automatic running - Google Patents
A kind of the environmental cleanup machinery equipment and business model of automatic running Download PDFInfo
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- CN110184978A CN110184978A CN201910503443.5A CN201910503443A CN110184978A CN 110184978 A CN110184978 A CN 110184978A CN 201910503443 A CN201910503443 A CN 201910503443A CN 110184978 A CN110184978 A CN 110184978A
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- 238000004140 cleaning Methods 0.000 claims description 96
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 93
- 239000010813 municipal solid waste Substances 0.000 claims description 84
- 238000007726 management method Methods 0.000 claims description 39
- 230000006870 function Effects 0.000 claims description 38
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- 238000012544 monitoring process Methods 0.000 claims description 30
- 239000000428 dust Substances 0.000 claims description 29
- 230000005611 electricity Effects 0.000 claims description 28
- 230000004888 barrier function Effects 0.000 claims description 27
- 238000005516 engineering process Methods 0.000 claims description 24
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- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 6
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Classifications
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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
- E01H1/0854—Apparatus in which the mechanically dislodged dirt is partially sucked-off, e.g. dislodging- sweeping apparatus with dirt collector in brush housing or dirt container
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q30/00—Commerce
- G06Q30/06—Buying, selling or leasing transactions
- G06Q30/0645—Rental transactions; Leasing transactions
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- Business, Economics & Management (AREA)
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- Engineering & Computer Science (AREA)
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- General Physics & Mathematics (AREA)
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Abstract
The invention discloses a kind of environmental cleanup machinery equipment of energy automatic running and the business models being derived based on this machinery equipment, belong to sanitation equipment technical field.A kind of environmental cleanup machinery equipment, including rack components and sweeper, rack components side are provided with several telescopic rods, and the lower end of telescopic rod is provided with sweeper and hinged with sweeper upper end；Push rod is hinged in the middle part of telescopic rod to store for realizing by sweeper to rack components.Preferably, the upper end of telescopic rod is provided with hinged protrusion, and the upper end of rack components is provided with mounting plate, and the lower end of mounting plate is provided with hinged tooth fork, is hinged with hinged protrusion in hinged tooth fork.The technical program passes through the cooperation of telescopic rod and push rod, realizes the storage of sweeper.Solving existing environmental cleanup device in turn, often structure is complicated, it has not been convenient to the shortcomings that storing.As long as the expansion and storage of realizing sweeper are released or retracted to such design push rod, very convenient.
Description
Technical field
The invention belongs to sanitation equipment technical fields, refer in particular to the environmental cleanup machinery equipment and base of a kind of energy automatic running
In the business model that this machinery equipment is derived.
Background technique
Currently, the fine and maintenance in city is required by a large amount of environmental cleanup in today of urbanization high speed development
Worker completes and keeps, and many environmental cleanup worker is to begin to clean road in morning, and early morning when completes to clean,
Ensuring that the common people go out is can have clean and clean and tidy road and a public domain environment.
The speed of present Urban Expansion is getting faster, increasing to environmental cleanup work Man's Demands, but is answered in society
Engage the personnel of environmental cleanup worker fewer and fewer, relation between supply and demand contradiction increases, in order to ensure the health and city appearance in city,
Have become inexorable trend by the development that technological means accelerate environmental cleanup cause, but current sweeping machine equipment is past
Toward structure is complicated, it has not been convenient to store.
Summary of the invention
The object of the present invention is to provide a kind of environmental cleanup machinery equipments convenient for collecting.
The object of the present invention is achieved like this: a kind of environmental cleanup machinery equipment, including rack components and sweeper, institute
It states rack components side and is provided with several telescopic rods, the lower end of telescopic rod is provided with sweeper and cuts with scissors with the sweeper upper end
It connects；Push rod is hinged in the middle part of the telescopic rod to store for realizing by sweeper to rack components.
Preferably, the upper end of the telescopic rod is provided with hinged protrusion, and the upper end of the rack components is provided with mounting plate,
The lower end of mounting plate is provided with hinged tooth fork, is hinged with the hinged protrusion in hinged tooth fork.
Preferably, described push rod one end is provided with hinged fixture block, and hinged fixture block one end forms mounting hole, wears in mounting hole
Equipped with the telescopic rod；The hinged fixture block other end forms clamping fork plate, is clamped fork plate and the push rod is hinged.
Preferably, the clamping fork plate forms strip card slot, and described push rod one end forms hinge hole, strip card slot and
It is hinged by connecting shaft between the hinge hole.
Preferably, the rack components lower end is provided with mounting portion, forms mounting groove in mounting portion；Described push rod one end
Card adapter plate is formed, the mounting groove is interior at least provided with two card adapter plates；Two card adapter plates are oppositely arranged.
Preferably, described sweeper one end is provided with several dish-type cleaning heads and cleaner head round brush, cleaner head round brush
Upper end is communicated with one end of waste pipe, and the other end of waste pipe is communicated with dust suction pump；The sweeper inner wall is provided with magnetic
Iron, magnet are used for adsorbing metal substance.
Preferably, the upper end of the dust suction pump is communicated with garbage storing storage, the upper end setting of garbage storing storage by pipeline
There is mounting plate, the upper end of mounting plate is provided with camera；The lower end of the dust suction pump is provided with water tank, and the lower end of water tank is provided with
Battery.
Preferably, the rack components lower end is provided with chassis system, and chassis system includes power wheel and auxiliary wheel；It is auxiliary
It helps on wheel and is provided with elevating mechanism；Automatic cleaning module, Self-watering module, automatic obstacle-avoiding are also equipped on the chassis system
Module, locating module and automatic running module；The automatic cleaning module is also connected with garbage storing storage；The Self-watering mould
Block is also connected with water storehouse, and water storehouse is located at the top of the chassis system；
The chassis system further includes having battery power cabin, and the battery is provided in battery power cabin and then is realized to electricity
The protection in pond, installation and the battery to entire cleaning equipment unified management；The locating module moves Internet of Things module in using
M5331 module；The sweeper installs card slot using dish-type sweeper, and the installation card slot passes through gear module and buckle mould
Block installs one group of round turntable being made of PVC material on buckle module；Multiple installations are distributed in the surrounding of the round turntable
Through-hole, installation through-hole are connected with the cleaning accessory that one group of material is PVC, and cleaning accessory is more Practical plastic item compositions；Installation
Through-hole and it is described clean accessory and clean accessory on plastic strip can by combine different size product carry out with
Meaning transformation；There is the sleeve in a loop bar and shaft to carry out plug-in type installation, and loop bar and barrel contacts mouth in the middle part of dish-type sweeper
Design has one group of thread mechanism, after loop bar and sleeve installation, thread bush on loop bar can on slide on the outside of sleeve；The rubbish
Rubbish reservoir is that round or square container is mounted on inside machinery equipment, and container is made of a lower cover and a upper cover, lower cover
Be inserted in the refuse bag of a same size, upper cover and lower cover form a confined space after covering after closing up, it is described on be stamped two
A mounting hole, the grinder for having on one of installing port a metal blade material to be formed, grinder is for existing these things
It is crushed and is rolled when into installing port；Installation through-hole one connect with the suction inlet of dust catcher, other end and dust catcher
Air inlet connection, and have one layer of separation net with air inlet junction, it can be ensured that rubbish will not cross separation net and enter dust suction
Blocking or damage motor in the motor of device；
There is gravity sensing sensor for detecting the built-in garbage weight of reservoir below the garbage reservoir, in addition to list
Outside only perception weight, amount of capacity is also to judge whether the garbage reservoir can continue to load the important indicator of rubbish,
The inside of the rubbish storage upper cover is equipped with infrared detector, and infrared detector can issue infrared-ray, and detection is current
The distance between upper cover and lower cover bottom, judge whether the garbage reservoir can continue to load rubbish, pass through any one
The data that detector issues represent that capacity has been expired or when load-carrying has been expired, the machinery equipment can search the rubbish in current region automatically
Rubbish treating stations or the unified storage point of rubbish simultaneously go to the waste deposit point automatically；
A water tank module is also added in the robot, water tank module is a metal or the storage that PC material manufactures
Sump；There is a water inlet on the water storehouse top, is connected to a water inlet line, the other end daily state of the water inlet line
It is not connected to any device for the free time down, when the water shortage in the water storehouse, the water inlet line is connected to tap
On, water-refilling operation can be carried out to water storehouse by opening tap；The water storehouse lower end is connected with one group of outlet pipe, the water outlet
Pipe is connected with a sprinkler head, and a turbocharging drive motor is equipped in the sprinkler head, and turbocharging drive motor is logical
Can control turbocharging drive motor progress high speed rotation water by control main control chip module when electric will form water
Mist is ejected realization in turn to the cleaning on ground and washes away；The water storehouse, which issues, is additionally provided with a weight sensor, weight
Quantity sensor is connect with the main control chip module, when the variation of the weight coefficient of strain of weight sensor, passes through the weight
The data of the index variation of sensor are obtained the weight of water in current water storehouse by the main control chip module, and then are realized when storage
Water fastly completely when stop plus water on the contrary can then remind administrative staff to carry out plus water, while main control chip module will lead to when water is lower
Cross with control main control chip module connect control weight sensor stop working；
The machinery equipment further includes having fence module, and fence module can be transferred directly using map interface
After map image, longitude and latitude range is written directly on map as virtual fence or utilizes RFID cognition technology reality
Existing fence is perceived and then is realized regardless of still underground can realize navigation again on the ground；；And pass through positioning longitude and latitude degree
According to mode, the longitude and latitude having been moved past is labeled according to the time, then pass through and the fence that has determined in
Longitude and latitude is compared, and swept is put into the database cleaned, and what is do not cleaned is placed on the database not cleaned
In, the region that when cleaning has been cleaned, data are gradually carried out to the area data cleaned from the data of non-purging zone
Excessively, it and then realizes the management of working region and working trajectory, realizes the classification of purging zone and non-purging zone, similarly
Determine whether the machinery equipment also needs to work on by these data；
Main control chip module further includes having brushless hub electric motor or drive motor to realize the machinery equipment walking
The suspended structure tire of structure is as driving wheel；The power wheel is using the hub motor of model D40 type as driving wheel model
Block uses the automobile driving motor of model KRK as power source；The drive module include a ESP32 processing and
The circuit board of multiple groups capacitance resistance composition controls the speed of the D40, speed difference；The ESP32 connects institute by circuit board
After stating main control chip module and sending information to ESP32, the D40 is controlled by ESP32 and is rotated, and passes through the speed of two D40
Difference control the robot rotated, kept straight on, being accelerated, being slowed down, back operation or real by the KR160K drive motor
It now rotates, keep straight on, accelerate, slow down, back operation；
The lighting system that the robot vehicle is also connected with main control module of the drive module, lighting system include one
Group headlamp and warning lamp, the headlamp are the white dipped headlight that illumination distances are no more than 10m, make taking the photograph in the robot
As head can obtain more bright shooting environmental in basement or night-light operation, the warning lamp is flashing red light, when
Red warning lamp can be lighted to prompt pedestrian and administrative staff when robot breaks down；
The robot vehicle lighting system further includes having front lamp, preceding warning lamp, front or so turning warning light, rear warning
Lamp and rear or so turning warning light, the front lamp are white dipped headlight, and forward and backward warning lamp is red warning lamp, are used for
Break down or carry out avoidance etc. operation when, by issuing red flash for prompting lamp, in order to prompt front truck and rear car and non-
Motor vehicle and pedestrian；The warning lamp prompts to know at administrative staff for the corresponding backstage that will be dealt into alert status；
The main control chip module connects ESP32 and controls the rotation of D40 by ESP32；The main control chip module is also
It is connected with one group of obstacle avoidance module, video identification module；The video identification module is one group of Hi5380 intelligence of rotatable setting
Camera module, the Hi5380 be at least one and more than one, be separately mounted in the middle part of the machinery equipment or head
Four or with upper position, the video image information in each orientation is obtained, the video information that the Hi5380 will acquire can be straight
Switch through in the local image memory of Hi5380, the Hi5380 is connected with main control chip module main control chip module, passes through
After main control chip module is forwarded to the M5310 wireless network module, it is sent on the operational management platform and is calculated；
The video calculates and judges in current video image with the presence or absence of fixed barrier, mobile vehicles or pedestrians, road
The information such as the hollow or barrier in face can be calculated accurately after being decoded and calculating compilation to image by software program
Whether there are obstacles in current video region out；The obstacle avoidance module includes one group of HY-SRF05 type ultrasonic probe, described
HY-SRF05 is mounted on the surrounding on the machinery equipment chassis, and quantity, which is 4 or more, may insure to detect around chassis
360 ° of complaint message, the HY-SRF05 issue ultrasonic wave by ultrasonic technology forwards, if ultrasonic wave it is certain away from
Occur obstructing from interior, represents front there are barrier, the obstacle information will be by the compilation main control chip of HY-SRF05
Module is converted into obstacle information code and is sent in the main control chip module main control chip module；The obstacle avoidance module is also
It include the multi-thread coherent infrared radar of one group of VLP-16 type, 100 meters of distances, the VLP-16 is mounted on the machinery equipment top
The surrounding in portion, installation number are 2 or more the barrier letters that can guarantee 360 ° of ranges at the top of scanning to the machinery equipment
Breath, the VLP-16 can launch multiple groups laser signal, and there are obstacle informations for representative if laser signal is blocked, by VLP-
Obstacle information is changed into barrier code protocol and is sent to the main control chip module by the compilation main control chip module on 16
In main control chip module；Image information is uploaded on the operational management platform in real time and is calculated by the Hi5380 video camera
The information of barrier will be sent to the main control chip module by wireless network and connected by corresponding complaint message out, the platform
It connects on M5310 wireless network module, into main control chip module main control chip module；
The main control chip module is connected with drive module for the number such as the path of destination and electronic map, positioning
After carrying out COMPREHENSIVE CALCULATING, the main control chip module will issue adjustment direction and specifically adjust the angle, regulate the speed
And the information such as specific speed are sent on the ESP32 processor, and adjustment information is sent directly to described one by ESP32
On a or multiple power motors or hub motor, realizes that control power motor or wheel hub are turned to, adjust the speed；The background system
It is outer in addition to instructing to be handed down to described 3399 information, more new function and incidentally corresponding software update data packet can also be issued,
Realize that the machinery equipment remote auto updates；The machinery equipment further includes having battery monitoring module, battery monitoring module packet
Battery is included, battery realizes all kinds of operational module work and operation for being powered；The battery monitoring module includes electricity
Tankage monitoring module and battery are taken precautions against natural calamities module；The battery capacity monitoring module is used to ensure that the battery can to maintain institute
State the electricity of electricity when machinery equipment work and return and when not enough power supply or remaining capacity does not support the machinery equipment
When back to nearest automatic charging point, the machinery equipment can be automatically stopped work and record the geography that current work is completed
Position reaches nearest automatic charging point and carries out charging operations, after charging complete again automatic running to the ground to stop working before this
It manages at position, cleaning works is started to the region of unfinished work；The battery takes precautions against natural calamities module for monitoring the machine of battery
In the device equipment course of work using safe, realize anti-flaming and explosion-proof；Positioning and network module, clean module, electronic map and
Fence module, drive module, obstacle avoidance module, video identification module, waste transportation module by the mode of integrated circuit with
Main control chip module stitch connection on main control module, after connection through hardware technology in the case where ensuring that circuit board is powered,
The working condition of the module of each passes through the interface protocol voluntarily formulated by main control module and is obtained in real time；
One group of weight detector, the weight can be installed additional on bearing touch point in the tire or hub motor and chassis
Detector will recognize the chassis to the pressure condition of tire and hub motor, and tire and hub motor are in normal use
When, the weight of the trash repository and water storehouse that carry on chassis will increase or reduce, and cause the weight detector described in the monitoring
Weight can only fluctuate in fixed section when machinery equipment works normally, and the weight of any one group of tire and hub motor increases
Add, and the duration is longer, the weight saving and duration on other tires or hub motor are longer, so that entire machine
On the chassis of equipment four-wheel or more than force balance be broken, then can determine whether to there is the increased tire of weight or hub motor
Appearance has a flat tire or the failures such as hub motor falls off, and the machinery equipment stops working, no longer moves, while opening itself
The Reflectors such as emergency indicator light, the emergency light cooperate other emergency lights using realizing using car emergency indicator light therefore
The function of emergency prompt when barrier；The machinery equipment, which records to have on backstage, represents current vehicle/people fixed number, fixed to compile
It number is bound with unique ID code in above-mentioned main control chip module, forms coded data list, be based on coded data list, often
All information of itself all can be all recorded under the data list by one machinery equipment, realized and stored, adjust on the server
It takes, inquire and the functions such as video is checked, the data informations such as data and failure including normal operation；
It is additionally provided with graph-text identification area with equipment, graph-text identification area can illustrate institute by way of text and/or pattern
The purposes of machinery equipment is stated, warning mark and reflection plaster etc. are pasted in the multiple positions of the body of the machinery equipment, play prompt peace
Global function；It is additionally provided with combined aural and visual alarm on the robot vehicle, can star combined aural and visual alarm at work and carry out warning note, institute
Machinery equipment is stated after the completion of production, what the battery compartment, water storehouse, garbage storing storage etc. will use that shell unified covers
It covers and then the interference for realizing that waterproof avoids the machinery equipment from not will receive rainwater the rainy day situations such as when operation leads to failure；?
There are also an Electro-static Driven Comb iron chains on the chassis of the machinery equipment, are easy to produce electrostatic in thunderstorm or weather more drying etc.
Under environment when operation, Electro-static Driven Comb iron chains, which is put down, to be grounded, and discharges the electrostatic of the machinery equipment, if under thunderstorm weather by
Thunder and lightning is hit, and avoids damage of the thunder and lightning to the machinery equipment.
A kind of business model, including environmental cleanup machinery equipment described in any of the above embodiments, the machinery equipment can be
All kinds of scenes carry out using, and have following operation way:
(1) business model leased in short-term: it is provided with a two dimensional code on the machinery equipment vehicle body, this two dimensional code can
It is supplied to the user's barcode scanning starting vehicle for needing to clean service to use, user is swept using specified APP or wechat and Alipay
After code, into the operation interface of the APP, user selects the region for needing to clean or the above-mentioned operation area of input on APP
The title of the interior cell and road for needing to clean, and the beginning and end of cleaning delimited, the APP can be cleaned according to current
The distance in region, and the speed per hour corresponding time for calculating cleaning and completing that current vehicle cleans, by cleaning the time completed
The expense for calculating user's payment required for this is cleaned, after user confirms Fee Amount, user passes through wechat, Alipay etc. the
After payment platform completes payment on tripartite's line, the expense of the payment can enter the machine in a manner of directly paying to by electronics
In the destiny account of the operational management platform of device equipment, after the destiny account receives the amount of money of this order, it will send
Successfully in instruction to the machinery equipment, machinery equipment can be automatically turned on, and voluntarily be guided by user to before this for one payment
After specified cleaning starting point, the machinery equipment starts automatic cleaning；After the completion of cleaning, the machinery equipment will send one
Item cleans the information completed into the operational management backstage, sends one by operational management backstage and cleans completion
On personnel's mobile phone that information leases the machinery equipment to barcode scanning before.Preferably, it is clear to can replace environment for the machinery equipment
Sweep work and carry out the operation that road and public domain clean, in above-mentioned operation area can by with municipal sector or road upkeep
Department's cooperation obtains road upkeep and the expenses such as cleans, keeps a public place clean, and the business obtained in first module is taken in；It can also pass through
The time of machinery equipment automatic running representated by the amount of money of the contract and payment signed with partner, when the expense of partner arrives
It does not continue to pay dues after phase, then the robot is with regard to out of service, new again by operator if partner continues to pay dues before expiring
Increase the automatic running time of a cycle, operator can also set above-mentioned machinery equipment at this acording to the requirement of user
It is daily in region to start to clean the time, terminate to clean time, the information such as cleaning period；
The machinery equipment can also replace cleaning worker to carry out dust alleviation work in above-mentioned working region, obtain these
The income of keeping a public place clean in region；
The machinery equipment can also be distributed directly to client carry out using, including property enterprise in above-mentioned operation area,
Enterprise and municipal sector or road upkeep department are run, is responsible for the dimension after sale of machinery equipment by the owned enterprise of system operation platform
The work such as shield, maintenance, are taken in after sale；
The machinery equipment can also open shared model, and all kinds of clients can be run by cell phone application and PC in system
It places an order on platform and leases the machinery equipment in short-term, and needed for cell phone application and the input of the end PC correspond in above-mentioned working region
Working region, the time of start-up operation, the mode of cleaning are to clean road surface still to clean ground etc., and the system operation platform will
Determine the expense of short lease according to the lower single purging zone size delimited, the information such as time of cleaning, and directly at the end APP or
PC generates reimbursement of expense two dimensional code, and user only needs to pay or directly initiate by mobile phone barcode scanning the payment of Third-party payment software branch
With；During realization, the characteristic of complexity and network transmission for road considers the above commercial operation, in order to prevent
Unsafe accident occurs, the incipient stage realizes barcode scanning lease before user directly arrives the machinery equipment first, and the later period is global
Remotely place an order lease and the starting machinery equipment can be realized in the means such as perfect of network technology upgrading and wisdom traffic；
Can also in a shared mode, the machinery equipment can be carried out in each city by agency or other enterprises
After managing or directly buying, operation is responsible for by the management enterprise of system operation platform, income is obtained by above-mentioned business model
Afterwards, agency or business are directly settled accounts and are assigned directly on background system by electronic accounting and remitted mode
In the account that mechanism and the management enterprise of system operation platform specify；
Direct marketing income can be obtained so that machinery equipment described in direct marketing can be passed through, and after-sales service and maintenance are provided
The work acquisition later period is persistently taken in；
Can also be left concentratedly by rubbish associated with this business model can also a little pass through with the work of trans-shipment point
The management enterprise of the system operation platform is responsible for operation, realizes a full set of environmental cleanup outsourcing, obtains the business income of the part；
While in order to increase the expansion of range of business and later period business model, later in following all kinds of town roads, cell road, cell
Unit building, passageway, school, park, market, recreation ground, residential quarter, all kinds of public institutions, all kinds of public places, basement,
Lower parking lot, underground storehouse, personal family, office building, factory and allow in the operator of highway and level-one road
In the case of, into super expressway or level-one road on execute cleaning works；
The business model further includes environmental cleanup machinery equipment at least the robot form and robot vehicle shape
State, robot form are mainly used in such as family, residential quarters, community street, market and school；Robot vehicle shape is mainly used for
In pavement, car lane, square scene；The robot form and robot vehicle form can also be by according to usage scenarios
Change the specification size of planing machine equipment.
The present invention is prominent and beneficial compared with prior art to be had the technical effect that
1, the technical program passes through the cooperation of telescopic rod and push rod, realizes the storage of sweeper.And then solves existing ring
Often structure is complicated for border sweeper, it has not been convenient to the shortcomings that storing.As long as such design push rod is released or is retracted real
The expansion and storage of existing sweeper, it is very convenient.
Detailed description of the invention
Fig. 1 is one of structure diagram of the invention；
Fig. 2 is partial enlarged view at A in Fig. 1；
Fig. 3 is partial enlarged view at B in Fig. 1；
Fig. 4 is the two of structure diagram of the invention；
Fig. 5 is partial enlarged view at C in Fig. 4；
Fig. 6 is one of logical schematic of present device；
Fig. 7 is the two of the logical schematic of present device；
Fig. 8 is the three of the logical schematic of present device；
Fig. 9 is the four of the logical schematic of present device；
Figure 10 is structural schematic diagram of the present device under robot vehicle form；
Figure 11 is the structural schematic diagram after Figure 10 hidden parts rack components.
In figure: 1- rack components；2- sweeper；3- telescopic rod；4- push rod；5- dish-type cleaning head；6- cleaner head round brush；7-
Waste pipe；8- dust suction pump；9- garbage storing storage；10- camera；11- mounting plate；The hinged tooth fork of 12-；13- mounting portion；14-
Mounting groove；15- water tank；16- battery；17- power wheel；18- auxiliary wheel；31- is hingedly raised；The hinged fixture block of 41-；42- installation
Hole；43- is clamped fork plate；44- card adapter plate.
Specific embodiment
The present invention is described further with specific embodiment below.
Embodiment one: as shown in figs 1-9, a kind of environmental cleanup machinery equipment, including rack components 1 and sweeper 2, it is described
1 side of rack components is provided with several telescopic rods 3, the lower end of telescopic rod 3 be provided with sweeper 2 and with 2 upper end of sweeper
Hingedly；The middle part of the telescopic rod 3 is hinged with push rod 4 and stores for realizing by sweeper 2 to rack components 1.
Environmental cleanup machinery equipment described in the technical program can need to become robot according to actual use scene
Or robot vehicle.Therefore equipment described in this patent should include the applicable cases of robot and robot vehicle.
The technical program specifically discloses a kind of environment robot device of sweeper convenient for collecting 2.Its working principle
Be when telescopic rod 3 stretches out, sweeper 2 can be sent to specified position, then by push rod 4 by sweeper 2 be sent to
The angle of setting, such design can realize the effect of quickly storage sweeper 2.Such design is simple and convenient fast
Victory solves the problems, such as that sweeper 2 stores inconvenience in existing equipment.
Telescopic rod 3 and push rod 4 described in the technical program are preferably cylinder.Air cylinder structure simple technique is mature, is excellent
The structure of choosing designs.Preferably, the upper end of the telescopic rod 3 is provided with hinged protrusion 31, the upper end setting of the rack components 1
There is mounting plate 11, the lower end of mounting plate 11 is provided with hinged tooth fork 12, is hinged with described hinged raised 31 in hinged tooth fork 12.This
Technical solution specifically discloses a kind of telescopic rod 3 and the hinged mode of rack components 1.In this way when later period push rod 4
When wanting telescopic rod 3 toward 1 one layback of rack components, so that it may easily be stored.
Preferably, described 4 one end of push rod is provided with hinged fixture block 41, and hinged 41 one end of fixture block forms mounting hole 42, peace
Dress is equipped with the telescopic rod 3 in hole 42；41 other end of hinged fixture block forms clamping fork plate 43, is clamped fork plate 43 and institute
It is hinged to state push rod 4.The technical program specifically discloses the connection type mounting hole 42 between push rod 4 and telescopic rod 3 and stretches
Bar 3 to be arranged the connection that can be allowed between push rod 4 and telescopic rod 3 even closer and such also facilitate installation.It is clamped simultaneously
The shape of preferably similar tooth fork in fork plate 43, this makes it possible to realize hinged effect.Therefore such design is
It realizes the close of connection and can guarantee the flexible of rotation.
Preferably, the clamping fork plate 43 forms strip card slot 44, and described 4 one end of push rod forms hinge hole, strip
It is hinged by connecting shaft between card slot 44 and the hinge hole.The technical program specifically discloses a kind of clamping fork plate 43 and pushes away
The articulated manner of bar 4.This mode is installed simply, and rotation is flexibly preferably scheme.
Preferably, 1 lower end of rack components is provided with mounting portion 13, and the middle part of mounting portion 13 forms downwards mounting groove
14；Described 4 one end of push rod forms card adapter plate 44, and the mounting groove 14 is interior at least provided with two card adapter plates 44；Described in two
Card adapter plate 44 is oppositely arranged.The technical program specifically discloses the mounting means of a kind of push rod 4 and rack components 1.It is general
The quantity of telescopic rod 3 is two and is located at two sides, and the quantity of push rod 4 is also matched two at this time.Therefore mounting portion 13
Middle part forms downwards mounting groove 14, that two push rods 4 can all extend from centre to two sides and connect with the telescopic rod 3
It connects.Such design can reduce the length of push rod 4 and make good use of space as far as possible, be preferred structure design.
Preferably, described 2 one end of sweeper is provided with several dish-type cleaning heads 5 and cleaner head round brush 6, cleaner head round brush
6 upper end is communicated with one end of waste pipe 7, and the other end of waste pipe 7 is communicated with dust suction pump 8；2 inner wall of sweeper
It is provided with magnet, magnet is used for adsorbing metal substance.The technical program specifically discloses a kind of structure type of sweeper 2.
The effect of magnet can adsorbing metal substance, place iron sheet or other sharp keen metal products and hurt pipeline and subsequent rubbish
Rubbish processing equipment.
Preferably, the upper end of the dust suction pump 8 is communicated with garbage storing storage 9, the upper end of garbage storing storage 9 by pipeline
It is provided with mounting plate 11, the upper end of mounting plate 11 is provided with camera 10；The lower end of the dust suction pump 8 is provided with water tank 15, water
The lower end of case 15 is provided with battery 16.The technical program specifically discloses a kind of other function knot of environmental cleanup machinery equipment
Structure.The more topology layouts of environmental cleanup machinery equipment function in this way are rationally small and exquisite.
Preferably, 1 lower end of rack components is provided with chassis system, and chassis system includes power wheel 17 and auxiliary
Wheel 18；Elevating mechanism is provided on auxiliary wheel 18；Automatic cleaning module, Self-watering mould are also equipped on the chassis system
Block, automatic obstacle-avoiding module, locating module and automatic running module；The automatic cleaning module is also connected with garbage storing storage 9；Institute
It states Self-watering module and is also connected with water storehouse, water storehouse is located at the top of the chassis system；The chassis system further includes
There is battery power cabin；The locating module moves Internet of Things module M5331 module in using；The sweeper 2 uses dish-type sweeper
Card slot is installed, the installation card slot passes through gear module and buckle module, and one group is installed on buckle module and is made of PVC material
Round turntable；Multiple installation through-holes are distributed in the surrounding of the round turntable, and it is the clear of PVC that installation through-hole, which is connected with one group of material,
Accessory is swept, cleaning accessory is more Practical plastic item compositions；On installation through-hole and the cleaning accessory and cleaning accessory
Plastic strip can arbitrarily be converted by combining the product of different size；Have in a loop bar and shaft in the middle part of dish-type sweeper
Sleeve carry out plug-in type installation, and loop bar and the design of barrel contacts mouth have one group of thread mechanism, after loop bar and sleeve installation, position
In the thread bush on loop bar can on slide on the outside of sleeve；The garbage reservoir is that round or square container is mounted on machinery equipment
Inside, container are made of a lower cover and a upper cover, and lower cover is inserted in the refuse bag of a same size, and upper cover and lower cover are closed up
After cover after form a confined space, the upper cover has a steel edge sheet material on one of installing port there are two mounting hole
The grinder that matter is formed, grinder are used to that these things to be crushed and be rolled when entering installing port；Installation through-hole
One connect with the suction inlet of dust catcher, the air inlet connection of other end and dust catcher, and has one layer to be isolated with air inlet junction
Net, it can be ensured that rubbish will not cross separation net and enter blocking or damage motor in the motor of dust catcher；
There is gravity sensing sensor for detecting the built-in garbage weight of reservoir below the garbage reservoir, in addition to list
Outside only perception weight, amount of capacity is also to judge whether the garbage reservoir can continue to load the important indicator of rubbish,
The inside of the rubbish storage upper cover is equipped with infrared detector, and infrared detector can issue infrared-ray, and detection is current
The distance between upper cover and lower cover bottom, judge whether the garbage reservoir can continue to load rubbish, pass through any one
The data that detector issues represent that capacity has been expired or when load-carrying has been expired, the machinery equipment can search the rubbish in current region automatically
Rubbish treating stations or the unified storage point of rubbish simultaneously go to the waste deposit point automatically；The water storehouse lower end is connected with one group of water outlet
Pipe, the outlet pipe are connected with a sprinkler head, and a turbocharging drive motor is equipped in the sprinkler head, and turbocharging is driven
It can control turbocharging drive motor progress high speed rotation by controlling main control chip module when dynamic motor is powered
Water, which will form, mist-like to be ejected and then realizes to the cleaning on ground and wash away；The water storehouse, which issues, is additionally provided with a weight
Sensor, weight sensor are connect with the main control chip module, when the variation of the weight coefficient of strain of weight sensor, are passed through
The data of the index variation of the weight sensor are obtained the weight of water in current water storehouse by the main control chip module, in turn
Realize when moisture storage capacity fastly completely when stop plus water on the contrary can then remind administrative staff to carry out plus water, while main control chip when water is lower
Module will be stopped working by connecting control weight sensor with control main control chip module；The machinery equipment further includes having electricity
Longitude and latitude is directly written after fence module directly can transfer map image using map interface in sub- rail module on map
It spends range and realizes that fence perceives as virtual fence or using RFID cognition technology；
Main control chip module further includes having brushless hub electric motor or drive motor to realize the machinery equipment walking
The suspended structure tire of structure is as driving wheel；The power wheel 17 is using the hub motor of model D40 type as driving wheel
Module uses the automobile driving motor of model KRK as power source；The drive module includes a ESP32 processing
The speed of the D40, speed difference are controlled with the circuit board of multiple groups capacitance resistance composition；The ESP32 is connected by circuit board
After the main control chip module will send information to ESP32, the D40 is controlled by ESP32 and is rotated, and passes through the speed of two D40
Degree difference control the robot rotated, kept straight on, being accelerated, being slowed down, back operation or by the KR160K drive motor
It realizes rotation, straight trip, accelerates, slows down, back operation；The drive module is also connected with the robot vehicle with main control module
Lighting system, lighting system include one group of headlamp and warning lamp, and the headlamp is the white that illumination distances are no more than 10m
Dipped headlight allows the camera 10 in the robot to obtain more bright shooting ring in basement or night-light operation
Border, the warning lamp are flashing red light, and when robot breaks down, red warning lamp can be lighted to prompt pedestrian and management
Personnel；The robot vehicle lighting system further includes having front lamp, preceding warning lamp, front or so turning warning light, rear warning lamp
With rear or so turning warning light, the front lamp is white dipped headlight, and forward and backward warning lamp is red warning lamp, for sending out
When the operation such as raw failure or progress avoidance, by issuing red flash for prompting lamp, in order to prompt front truck and rear car and non-machine
Motor-car and pedestrian；The warning lamp prompts to know at administrative staff for the corresponding backstage that will be dealt into alert status；
The main control chip module connects ESP32 and controls the rotation of D40 by ESP32；The main control chip module is also
It is connected with one group of obstacle avoidance module, video identification module；The video identification module is one group of Hi5380 intelligent camera head module,
The Hi5380 be at least one and more than one, be separately mounted to four of in the middle part of the machinery equipment or head or with top
Position, obtains the video image information in each orientation, the video information that the Hi5380 will acquire can directly be transferred to Hi5380
Local image memory in, the Hi5380 is connected with main control chip module main control chip module, passes through main control chip module
After being forwarded to the M5310 wireless network module, it is sent on the operational management platform and is calculated；The video calculate and
Judge in current video image with the presence or absence of fixed barrier, mobile vehicles or pedestrians, road surface hollow or obstacle
Current video region can be accurately calculated after being decoded and calculating compilation to image by software program in the information such as object
It is interior that whether there are obstacles；The obstacle avoidance module includes one group of HY-SRF05 type ultrasonic probe, and the HY-SRF05 is mounted on
The surrounding on the machinery equipment chassis, the complaint message that may insure to detect 360 ° around chassis that quantity is 4 or more,
The HY-SRF05 issues ultrasonic wave by ultrasonic technology forwards, the generation if ultrasonic wave occurs obstructing in a certain distance
There are barrier in front of table, the obstacle information will be converted into barrier by the compilation main control chip module of HY-SRF05
Message code is sent in the main control chip module main control chip module；The obstacle avoidance module further comprises one group of VLP-16
The multi-thread coherent infrared radar of 100 meters of distances of type, the VLP-16 are mounted on the surrounding at the top of the machinery equipment, installation number
It can guarantee that the obstacle information of 360 ° of ranges at the top of scanning to the machinery equipment, the VLP-16 can be sent out for 2 or more
Multiple groups laser signal is projected, there are obstacle informations for representative if laser signal is blocked, by the compilation master control core on VLP-16
Obstacle information is changed into barrier code protocol and is sent in the main control chip module main control chip module by piece module；Institute
It states Hi5380 video camera and uploads to image information in real time on the operational management platform and calculate corresponding complaint message,
The information of barrier will be sent to the main control chip module by wireless network and connects M5310 wireless network mould by the platform
On block, into main control chip module main control chip module；
The main control chip module is connected with drive module for the number such as the path of destination and electronic map, positioning
After carrying out COMPREHENSIVE CALCULATING, the main control chip module will issue adjustment direction and specifically adjust the angle, regulate the speed
And the information such as specific speed are sent on the ESP32 processor, and adjustment information is sent directly to described one by ESP32
On a or multiple power motors or hub motor, realizes that control power motor or wheel hub are turned to, adjust the speed；The background system
It is outer in addition to instructing to be handed down to described 3399 information, more new function and incidentally corresponding software update data packet can also be issued,
Realize that the machinery equipment remote auto updates；The machinery equipment further includes having battery monitoring module, battery monitoring module packet
Battery 16 is included, battery 16 realizes all kinds of operational module work and operation for being powered；The battery monitoring module includes
There are battery capacity monitoring module and battery to take precautions against natural calamities module；The battery capacity monitoring module is used to ensure that the battery 16 can
The electricity of electricity and return when maintaining the machinery equipment to work and when not enough power supply or remaining capacity do not support it is described
When machinery equipment returns to nearest automatic charging point, the machinery equipment can be automatically stopped work and to record current work complete
At geographical location, reach nearest automatic charging point and carry out charging operations, after charging complete again automatic running to stopping before this
The geographical location of work starts cleaning works to the region of unfinished work；The battery takes precautions against natural calamities module for monitoring battery
In the 16 machinery equipment course of work using safe, realize anti-flaming and explosion-proof；
Positioning and network module clean module, electronic map and fence module, drive module, obstacle avoidance module, video
Main control chip module stitch connection in the mode and main control module that identification module, waste transportation module pass through integrated circuit, even
After connecing through hardware technology in the case where ensuring that circuit board is powered, the working condition of the module of each is passed through by main control module
The interface protocol voluntarily formulated is obtained in real time；
One group of weight detector, the weight can be installed additional on bearing touch point in the tire or hub motor and chassis
Detector will recognize the chassis to the pressure condition of tire and hub motor, and tire and hub motor are in normal use
When, the weight of the trash repository and water storehouse that carry on chassis will increase or reduce, and cause the weight detector described in the monitoring
Weight can only fluctuate in fixed section when machinery equipment works normally, and the weight of any one group of tire and hub motor increases
Add, and the duration is longer, the weight saving and duration on other tires or hub motor are longer, so that entire machine
On the chassis of equipment four-wheel or more than force balance be broken, then can determine whether to there is the increased tire of weight or hub motor
Appearance has a flat tire or the failures such as hub motor falls off, and the machinery equipment stops working, no longer moves, while opening itself
The Reflectors such as emergency indicator light, the emergency light cooperate other emergency lights using realizing using car emergency indicator light therefore
The function of emergency prompt when barrier；The machinery equipment, which records to have on backstage, represents current vehicle/people fixed number, fixed to compile
It number is bound with unique ID code in above-mentioned main control chip module, forms coded data list, be based on coded data list, often
All information of itself all can be all recorded under the data list by one machinery equipment, realized and stored, adjust on the server
It takes, inquire and the functions such as video is checked, the data informations such as data and failure including normal operation；Figure is additionally provided with equipment
Literary tag slot, graph-text identification area can illustrate the purposes of the machinery equipment by way of text and/or pattern, and the machine is set
Warning mark and reflection plaster etc. are pasted in the multiple positions of standby body, play prompt security function；Sound is additionally provided on the robot vehicle
Light crossing-signal can star combined aural and visual alarm at work and carry out warning note, and the machinery equipment is described after the completion of production
Battery compartment, water storehouse, garbage storing storage 9 etc. will use shell and carry out unified covering and then realize that waterproof avoids the machine
Equipment not will receive rainwater the rainy day situations such as interference when operation leads to failure；There are also one on the chassis of the machinery equipment
Root Electro-static Driven Comb iron chains, in the environment of thunderstorm or weather more drying etc. are easy to produce electrostatic when operation, Electro-static Driven Comb iron chains
It puts down and is grounded, discharge the electrostatic of the machinery equipment, if being hit under thunderstorm weather by thunder and lightning, avoid thunder and lightning to the machine
The damage of device equipment.
A kind of business model, including environmental cleanup machinery equipment described in any of the above item, the machinery equipment can be
All kinds of scenes carry out using, and have following operation way:
1 business model leased in short-term: it is provided with a two dimensional code on the machinery equipment vehicle body, this two dimensional code can mention
User's barcode scanning starting vehicle that supply needs to clean service uses, and user uses specified APP or wechat and Alipay barcode scanning
Afterwards, into the operation interface of the APP, user is selected on APP in the region for needing to clean or the above-mentioned operation area of input
The title of the cell and road that need to clean, and the beginning and end of cleaning delimited, the APP can be according to current sweeping area
The distance in domain, and the speed per hour corresponding time for calculating cleaning and completing that current vehicle cleans, are counted by cleaning the time completed
The expense for calculating user's payment required for this is cleaned, after user confirms Fee Amount, user passes through the thirds such as wechat, Alipay
After payment platform completes payment on square line, the expense of the payment can enter the machine in a manner of directly paying to by electronics
In the destiny account of the operational management platform of equipment, after the destiny account receives the amount of money of this order, one will be sent
Successfully in the machinery equipment, machinery equipment can be automatically turned on for instruction for item payment, voluntarily be guided by user to referring to before this
After fixed cleaning starting point, the machinery equipment starts automatic cleaning；After the completion of cleaning, the machinery equipment will send one
The information completed is cleaned into the operational management backstage, one is sent by operational management backstage and cleans the letter completed
It ceases on the personnel's mobile phone for leasing the machinery equipment to barcode scanning before.
Preferably, the machinery equipment can replace the operation that environmental cleanup work carries out road and public domain cleans,
It can be by cooperating with municipal sector or road upkeep department, obtaining road upkeep and cleaning, keep a public place clean in above-mentioned operation area
Expense obtains the business income in first module；The contract signed with partner and the amount of money of payment institute's generation can also be passed through
It the time of the machinery equipment automatic running of table, does not continue to pay dues after the expense of partner expires, then the robot just stops transporting
Row is increased newly the automatic running time of a cycle, operation by operator if partner continues to pay dues before expiring again
Personnel can also set that above-mentioned machinery equipment is daily in the area to be started to clean the time acording to the requirement of user, terminate to clean
Time, the information such as cleaning period；
The machinery equipment can also replace cleaning worker to carry out dust alleviation work in above-mentioned working region, obtain these
The income of keeping a public place clean in region；The machinery equipment can also be distributed directly to client and carry out using including object in above-mentioned operation area
Industry enterprise, operation enterprise and municipal sector or road upkeep department, are responsible for machinery equipment by the owned enterprise of system operation platform
The work such as after-sales service, maintenance, taken in after sale；
The machinery equipment can also open shared model, and all kinds of clients can be run by cell phone application and PC in system
It places an order on platform and leases the machinery equipment in short-term, and needed for cell phone application and the input of the end PC correspond in above-mentioned working region
Working region, the time of start-up operation, the mode of cleaning are to clean road surface still to clean ground etc., and the system operation platform will
Determine the expense of short lease according to the lower single purging zone size delimited, the information such as time of cleaning, and directly at the end APP or
PC generates reimbursement of expense two dimensional code, and user only needs to pay or directly initiate by mobile phone barcode scanning the payment of Third-party payment software branch
With；During realization, the characteristic of complexity and network transmission for road considers the above commercial operation, in order to prevent
Unsafe accident occurs, the incipient stage realizes barcode scanning lease before user directly arrives the machinery equipment first, and the later period is global
Remotely place an order lease and the starting machinery equipment can be realized in the means such as perfect of network technology upgrading and wisdom traffic；
Can also in a shared mode, the machinery equipment can be carried out in each city by agency or other enterprises
After managing or directly buying, operation is responsible for by the management enterprise of system operation platform, income is obtained by above-mentioned business model
Afterwards, agency or business are directly settled accounts and are assigned directly on background system by electronic accounting and remitted mode
In the account that mechanism and the management enterprise of system operation platform specify；
Direct marketing income can be obtained so that machinery equipment described in direct marketing can be passed through, and after-sales service and maintenance are provided
The work acquisition later period is persistently taken in；It can also be left concentratedly by rubbish associated with this business model a little and the work of trans-shipment point
Work can also be responsible for operation by the management enterprise of the system operation platform, realize a full set of environmental cleanup outsourcing, obtain the portion
The business income divided；
While in order to increase the expansion of range of business and later period business model, later in following all kinds of town roads, cell
Road, cell unit building, passageway, school, park, market, recreation ground, residential quarter, all kinds of public institutions, all kinds of public places,
Basement, underground parking, underground storehouse, personal family, office building, factory and the operation in highway and level-one road
Side allow in the case where, into super expressway or level-one road on execute cleaning works；
The business model further includes environmental cleanup machinery equipment at least the robot form and robot vehicle shape
State, robot form are mainly used in such as family, residential quarters, community street, market and school；Robot vehicle shape is mainly used for
In pavement, car lane, square scene；The robot form and robot vehicle form can also be by according to usage scenarios
Change the specification size of planing machine equipment.
The technical program is kept a public place clean and cleaning works under similar technology principle in some indoor or buildings
Exist in the form of robot, if being cleaned on road, the shape that volume is increased to vehicle is carried out by same technical principle
State can be realized.
Working principle is described in detail: the machinery equipment have locating module, clean module, electronic map and fence module,
Main control module, drive module, obstacle avoidance module, video identification module, waste transportation module etc..Realize automatically walk, automatic identification,
Automatic obstacle-avoiding, wireless and wire communication function, have included low-tension supply or outside with low-tension supply, can automatic charging, managing electric quantity,
With dynamic and driving function, executing mechanism is foot or wheel, and automatic cleaning road surface is simultaneously adsorbed by under-voltage by roadside refuse sweeping
It is absorbed into garbage reservoir, the machinery equipment of energy mass motion.The robot ambulation speed per hour is no more than 10km/h, when matching
When being set to robot vehicle, F-Zero is no more than 40km/h, configured with also with single or multiple cameras 10 and multi-thread laser
Radar, ultrasonic sensor and infrared sensor, identification identify fixed obstacle, pedestrian, road in the purging zone of delimitation
Equal environment identify ambient enviroment and moving obstacle or fixed obstacle, and the automatic avoiding obstacles of energy, camera 10 can carry out
It takes pictures and recorded video.Further running background system, hardware controlled techniques and the data analysis technique for passing through machinery equipment
So that the machinery equipment has security provisions function, self-checking function and warning function；The background system includes relevant number
According to library module, cloud computing module etc., the machinery equipment module is transported by built-in embedded reservoir module and embedded code
The realizations such as the relevant component such as row module and circuit board such as move automatically, clean at the functions；Used region includes all kinds of cities
It is political affairs road, cell road, cell unit building, passageway, school, park, market, recreation ground, residential quarter, all kinds of public institutions, each
Class public place, basement, underground parking, underground storehouse, personal family, office building, factory, if highway and level-one road
In the case that the operator on road allows, it can also pass through super expressway or the enterprising enforcement of level-one road used.In above-mentioned zone operation,
Technical principle described in lower section it is consistent, only biggish place run such as highway region when, will be according to standard
The manufacture of container vehicle size, volume and the quantity of refuse that can be carried and water carrying capacity get a promotion, and corresponding power consumption etc. also increases.
Explanation is constituted according to above, the present invention is implemented as follows:
A kind of business model of the environmental cleanup machinery equipment of automatic running includes positioning and network module, cleans mould
Block, electronic map and fence module, main control module, drive module, obstacle avoidance module, video identification module, waste transportation mould
Block etc.；The chassis of the machinery equipment is the weight of support equipment power wheel 17 and the installation support liftoff suspension of vehicle of auxiliary wheel 18
Want device and cleaning agency to install, the toter of operation and carrying loading cabin and drive system, the chassis be metal or
The panel of other materials.When small volume is robot architecture, the smaller chassis lower end peace of robot chassis area
Equipped with a group or more of driving wheels and auxiliary wheel 18, the robot chassis is using sole more than three-wheel or three-wheel
Structure determines the plate thickness of chassis framework according to the quantity of wheel and load-bearing to fix wheel, and chassis can be according to driving wheel
Moulding and requirement be designed, such as automatic cleaning, machine people is mainly used in building, indoor and outdoor public place,
Outdoor square or park and underground storehouse, Intra-cell road, underground parking and basement, house, quotient live one and
The environment such as office space execute cleaning works, and driving wheel uses hub motor to use as power wheel 17 when using, the wheel hub
Motor can realize self-actuating brake by control electric current, and the hub motor of four-wheel and the above even number amount further also can be used
Two sides of the distributed number on chassis.The requirement of further carrying 50-150KG controls the wheel hub electricity by Embedded algorithm
The revolving speed of machine, when if desired being turned to, direction is can be realized in the speed difference by adjusting two power wheels 17 in the left and right sides
Adjustment and variation, the interior principle for magnetic pole control rotation of the further hub motor, by the power supply for switching two groups of magnetic poles
Positive and negative anodes can be realized the hub motor and the robot driven to move ahead, then original can be realized in the mode for cooperating speed difference to control
It turns around on ground.Or wheel is driven by the way of electric transmission, drive motor has differential gear and brake gear, turns to and uses
Motor adjusts the angle of wheel with the mode that carry-over bar turns to turn to, and can advance and retreat；
When the larger formation machinery equipment of volume, effect and principle are consistent with automobile chassis, and automobile chassis can be used
Technology carries out the installation of driving wheel and auxiliary wheel 18, and automobile is very universal at present, specific chassis configurations and principle art
It repeats no more, the further driving wheel and auxiliary wheel 18 are when the type of application is machinery equipment, in order to ensure balance, machine
The power wheel 17 and auxiliary wheel 18 of device equipment at least form four wheel constructions and the above even number wheel construction.The driving wheel is as power
Course changing control can be realized in use, being also connected with one group of steering controller in wheel 17, the further steering controller and power
The course changing control technology of wheel 17 can be consistent with motor turning control technology, has disclosed in the current world wide of this kind of technology,
It repeats no more；Further, above-mentioned chassis is mounted with that multiple groups realize the machinery equipment automatic cleaning, Self-watering, automatic
The functional module of avoidance and automatic running further passes through an independent battery power cabin realization pair on chassis with upper module
The effect charged after the power supply of battery 16 and external power supply access of all modules can inhale rubbish after further automatic cleaning
It enters in the garbage storing storage 9 on chassis, if the further robot carries out watering operation, on the chassis
There are also a water storehouses at end.
Battery compartment described above is used mainly as the energy supply equipment of all module normal power supplies of vehicle, the electricity
Chi Cang uses 16 driving motor of battery of 36V voltage, when the machinery equipment use environment is town road or high speed road
Lu Shi, in order to ensure the battery 16 of speed per hour, load-carrying and above-mentioned cleaning equipment is powered, the driving motor will increase as 220V
Or the battery 16 of 380V voltage is powered, corresponding used battery 16 different according to above-mentioned machinery equipment model
Voltage is also different.Further, the driving motor rotation and the battery 16 for driving the cleaning and sprinkler to run use
Reservoir of the lead-acid battery 16 as power supply, the further lead-acid battery 16 fill it using the alternating current of 220V
Electricity.It is 40Ah that the lead-acid battery 16, which is 48V capacity using voltage, further if desired increases the traveling of the machinery equipment
Mileage and working time can be increased lead-acid battery 16 by way of in parallel, be needed when using parallel way to each
16 remaining capacity of battery of 16 groups of a lead-acid battery is monitored, it is ensured that the remaining capacity of the battery 16 can support the machine
Device equipment reaches nearest charge point and carries out automatic charging.Further, if when the lead-acid battery 16 is used in large-scale type
Number product on when, in order to increase voltage, the lead-acid battery 16, which carries out concatenated mode using the model of 72V80Ah, to be increased
Making alive, it is ensured that the driving motor of large-scale automatic running environmental cleanup machinery equipment can operate normally.
The machinery equipment is in the fixed range of setting, the area that delimited of electronic map that is formed according to fence
Domain carries out free walking according to the requirements of one's work of environmental cleanup.The fence be according to all kinds of electronic maps such as
Baidu, Gao Dedeng electronic map provider system are divided, by the biggish regional assignment such as a whole street or society at more
A pocket, and these pockets are numbered, whole numbers in the region will be had after number on system operation platform
According to, including latitude and longitude information, altitude information and location information etc..Corresponding, the region of each number is according to actual use
Demand delimit one and the environmental cleanup machinery equipment of more than one automatic running carries out cleaning works, further at this
Multiple coordinate points can be distributed in region as waste deposit coordinate points, the rubbish that machinery equipment is stored after can sweeping itself carries
After transporting to specified waste deposit point, the processing of subsequent step is carried out by municipal vehicle and environmental sanitation personnel.Further delimit
The machinery equipment of numbering area can send the current location information of the machine to system operation platform, if determining when machinery equipment is run
Position data have been more than location information of the above system operation platform to the region, and the machinery equipment passes through with regard to out of service
The latitude and longitude information of current location quickly determines longitude and latitude crosspoint nearest in the region of delimitation, to nearest delimitation area
Domain walking, it is ensured that machinery equipment walks and works in the region of restriction；Further, when the location data of the machinery equipment
Real time contrast is carried out with the data of system operation platform, once the data weight of the location data of discovery machinery equipment and fence
When conjunction, machinery equipment is just no longer walked forward, it is ensured that does not exceed the range of fence；And pass through positioning longitude and latitude data
Mode is labeled the longitude and latitude having been moved past according to the time, then pass through and the fence that has determined in longitude and latitude
Degree is compared, and swept is put into the database cleaned, and what is do not cleaned is placed in the database not cleaned, clearly
The region cleaned when sweeping, data are gradually carried out excessively to the area data cleaned from the data of non-purging zone,
And then realize the management of working region and working trajectory, realize the classification of purging zone and non-purging zone, leading to similarly
It crosses these data and determines whether the machinery equipment also needs to work on.Realizing the technological means of this function is: 1. electronics
Map can store in advance the fence range data set in system operation backstage, such as 128.58 ° of east longitude, north latitude
48.95 °, delimiting fence will include all latitude and longitude coordinates data, such as 120 ° of east longitude --- and 129 ° of east longitude, north
42.5 ° of latitude --- 44.5 ° of north latitude etc.；
2. machinery equipment can also issue current location data when walking, but unlike fence, electronics
There can be many coordinate points to constitute a region in fence according to range size, machinery equipment then only has one group of longitude and latitude shop
Constitute an anchor point；
3. if the region longitude and latitude point westernmost that electronic map delimited is 122.39 ° of east longitude, 44.39 ° of north latitude, in this way
Machinery equipment, which is expert at when going to 44.39 ° of 122.39 ° of east longitude, north latitude this location points, will stop walking forward, further
Toward latitude and longitude coordinates point walking existing for inside fence database；4. data comparison in this way, it is ensured that described
Environmental cleanup machinery equipment can only walk in the region of delimitation, further to expand or shrink environmental cleanup machinery equipment
Work region, it is only necessary to system operation backstage on increase or decrease local geographic information.
5. the decimal point on the pair warp and weft degree left side may be implemented using location technologies such as GPS, Beidou positioning in machinery equipment positioning
8 precise positionings afterwards can reduce electricity such as the precise positioning data of 122.39568964 ° of east longitude, 44.39527139 ° of north latitude
Error of scale in sub- map controls actual error within 20cm-30cm.The positioning skills such as further GPS, Beidou positioning
Art has been carried out transient response at present, and the response time is within 0.1s, so machinery equipment control is in electronic map area
Work may be implemented completely in domain.6. the origin system that the positioning system of machinery equipment is generated by inertial navigation, again
Cooperation GPS or Beidou positioning, camera 10 acquires environment object of reference etc. can carry out the anticipation of coordinate points, close to fence
It can stop when coordinate points are close to 0.00001, further packaging machine equipment will not cross the work of fence range.
The machinery equipment has automatic running function, and the automatic running uses the wheel being driven by electricity rotation as driveability
Source, and cooperate the condition of 1 and the formation traveling of the above auxiliary wheel 18, the driving wheel includes one or more driving wheel conducts
Power resources, further driving wheel and auxiliary wheel 18 can be realized crawler-type traveling, be passed through with one group of caterpillar belt structure on the coat
Differential either steering controller, which is realized, to be turned to；Driving wheel upper end is connected with one piece of drive control module, and the drive module is logical
Oversampling circuit plate can control the size of driving wheel access electric current, power, revolving speed, moreover it is possible to the steering and angle of tacho are controlled,
Be also equipped with acceleration of gravity flowmeter sensor, electronic gyroscope, etc. acquisition machinery equipment the data such as travel speed, direction, into
The drive module of one step is subjected to the driving direction of the diverter of main control chip module commander's machinery equipment of machinery equipment to adjust
Full line sails angle, and the main control chip module by machinery equipment similarly controls and adjust the driving wheel speed of machinery equipment to control
Speed processed；
The machinery equipment has automatic obstacle avoidance functions, and the barrier avoiding function uses multi-line laser radar, supersonic sensing
The detection to periphery barrier is realized in device and the cooperation of camera 10；The multi-line laser radar is mounted at the top of machinery equipment, is swashed
Front-rear direction of the optical radar at least at the top of machinery equipment respectively installs a multi-line laser radar and carries 360 ° of rotating device realization
Rotated detection, multi-line laser radar use infrared laser active probe, the spoke independent of extraneous illumination condition or target itself
Characteristic is penetrated, multi-line laser radar emits the laser beam of oneself, obtains mobile mesh by the echo-signal of detection transmitting laser beam
Mark information and static target information.Further at the top of machinery equipment or bottom is also equipped with one or more infrared pick-ups
First 10, camera 10 can cooperate the more acurrate judgement of multi-line laser radar mobile or static target, can according to the consecutive variations of data
Movement velocity and the direction for extrapolating target, install multiple ultrasonic distance-measuring sensors in the middle part of machinery equipment.The above ultrasonic wave
Sensor, multi-line laser radar detection barrier principle be that electromagnetic wave and infrared ray are sent to surrounding by optical principle, when
Electromagnetic wave or infrared ray are received and can be reflected when blocking, and then ultrasonic sensor and multi-line laser radar just will recognize that transmitting
There are obstacles in direction, and time by receiving reflected electromagnetic wave and infrared ray, cooperation ultrasonic wave is in air
The speed of transmission can calculate direction and the distance of barrier；No matter in the daytime or the shooting at night camera 10 may insure
Effect is all than more visible, further, can shoot video by camera 10, and by video comparison technology, determine video model
Exist in enclosing either with or without human body and other movable or fixed objects exist, and then determines the position of barrier, then follow up
The focal length of camera 10 and article size taken at this time, can obtain according to the rate and speed of light refraction and reflection
Distance out.According to the above avoidance technological means it is detectable go out barrier many data informations, it is position including barrier, big
Small, direction and speed etc., according to data such as the position of target, size, speed, the directions of motion, obstacle avoidance module passes through circuit board
Linearly connected send these data on machinery equipment main control module, further main control module can be set according to machine at this time
The direction of standby traveling, speed, the distance apart from barrier cooperate the data such as target position, size, speed, the direction of motion to be counted
It calculates, main control module can send control instruction into drive module after calculating, and further drive module controls power wheel 17 and turns
Deceleration avoidance is carried out to device, turns to the movement such as detour, stop and retreat；Further power wheel 17 further includes having drive module control
The electric brake function of system, the reverse magnetic pole that can be realized in power wheel 17 of positive and negative anodes by being switched to the power supply of power wheel 17 are mutual
It changes, directly controls power wheel 17 using magnetic force and brake；
The lighting system that the robot vehicle is also connected with main control module of the further drive module, according to using
The difference of type, is applied when in robot, includes one group of headlamp and warning lamp in robot, and the headlamp is illumination
Distance is no more than the white dipped headlight of 10m, obtains the camera 10 in the robot in basement or night-light operation
More bright shooting environmental is obtained, the warning lamp of the robot is flashing red light, and red is alert when robot breaks down
Show that lamp can be lighted to prompt pedestrian and administrative staff；When that should have on robot vehicle, before the robot vehicle lighting system includes
Headlamp, preceding warning lamp, front or so turning warning light, rear warning lamp and rear or so turning warning light, it is further described
Front lamp is white dipped headlight, and illumination distances are no more than 20m, and forward and backward warning lamp is red warning lamp, when the robot vehicle is sent out
When the operation such as raw failure or progress avoidance, red flash for prompting lamp is issued, in order to prompt front truck and rear car and non-motor vehicle
And pedestrian.The left and right cornering lamp of front and back is blinking yellow illumination lamp, and when needing the operation such as turning, the front and back of the left and right directions turns
Curved lamp can light, and prompt front and back vehicle, non-motor vehicle and pedestrian.Further, if the robot vehicle is by the main control chip module
When the further drive module such as is turned to, stopped, being rotated in place at the operation, the operation corresponding can send one kind and mention
Show in state to above-mentioned lighting system and the corresponding starting cornering lamp.If the further robot vehicle breaks down
When, the front and back warning lamp prompts corresponding light.If the further robot vehicle is when being operated at night
Assistance 10 module of camera obtains light enough video informations, and the front lamp can light, and sets the machine
Standby front position can obtain the more bright video avoidance information of light, it is ensured that traffic safety.Further, the above machine
If equipment issues warning lamp model, the corresponding backstage that can will be dealt into alert status prompts to know at administrative staff.It is described
Machinery equipment further include communication system, communication system is carried out data transmission using wireless mode, including current comparative maturity
The wireless information transfers technology such as GPSR, WiFi, bluetooth and NB-Iot is communicated.Further, the master of the machinery equipment
Forgiving in control module has a at least auspicious micro- 3399 grades of the main control chip module of core, and the multiple groups stitch of main control chip module will
It is connected in the modules of machinery equipment, power supply state and revolving speed, obstacle information including power wheel 17 and corresponding more
Line laser radar, the state of ultrasonic sensor and infrared camera 10 and obstacle information of detection etc..Main control chip
Module can be sent these information in the system operation platform by wireless network module, and system operation platform passes through wireless
Network connection has mobile phone and computer, these information of further main control chip module can be sent to user or administrative staff
Mobile phone on；For example machinery equipment camera 10 when working and being standby can all work, and the image information of surrounding be acquired, with judgement
Whether artificial destruction, rollover, stop traveling and network module whether normal operation, and image information etc. is passed through into wireless network
Modular system is transferred on system operation platform；Further main control chip module group can also count power data, location information,
Component status data realization in attack time and end time, all circuit boards is exactly to finish writing in main control chip module
The operating state data of each circuit board, such as voltage data current data, if the data fit main control chip module detected
The data inside finished writing, then normally.It is on the contrary then there are failure, main control chip module will lead to the letter of failure by wireless network module
Breath is issued toward platform, and platform re-sends to prompt processing and maintenance etc. on user or administrator's mobile phone or computer and is transferred to cloud storage
It deposits；Further machinery equipment has cleaning and absorbs rubbish function, is each provided in the middle part of machinery equipment chassis surrounding and chassis more
Group rotary sweeper 2, if the place lesser robot of intelligence receiving volume further used is cleaned, the machine
The cleaning agency of device people is each side one group of band, if can receiving volume biggish robot vehicle when being cleaned, the machine
The cleaning agency of vehicle is front 2-4 group, the left and right sides mountable multiple groups according to the actual situation.Further carry out the sweeper
2 it is daily can control the drum metal strip that sweeper 2 is installed by controlling the lifting of hydraulic drive bar when not working, further
Control clean disk is lifted off ground or falls contact ground.Further, there is an annular magnet in suction inlet module mouth, work as absorption
Rubbish in when having metal, annular magnet will be metal adsorption on magnet, it is ensured that the sharppointed articles such as metal such as blade iron nail
It will not enter in machinery equipment and machinery equipment is caused to damage, further also ensure that waste transportation and treatment people will not be because
It comes to harm for such situation.
Further, the rubbish after being sucked away is brought into special garbage reservoir by a pipeline；The garbage storing
Storage is that prototype or square container are mounted on inside machinery equipment, and container is made of a lower cover and a upper cover, and lower cover is inserted in
The refuse bag of one same size, upper cover and lower cover form a confined space after covering after closing up, there are two peaces for the upper cover
Hole is filled, the destroyer for having a metal blade material to be formed on one of installing port, the grinder principle and life are common
Razor principle is consistent；Mounting hole 42 1 connect with the suction inlet of dust catcher, the air inlet connection of other end and dust catcher, and with
There is one layer of separation net in air inlet junction, it can be ensured that rubbish will not cross the electric machinery blocking or damage that separation net enters dust catcher
Bad motor.There is the weight of a gravity sensor monitoring rubbish below the further garbage reservoir, and corresponding in upper cover
Upper installation one can detecte distance from bottom in tops to lower cover, remaining inside this further higher representative of distance
Storage space is bigger, and distance is lower, and to represent remaining storage space smaller.When the weight or volume of garbage reservoir are close to completely
When load, the machinery equipment can search Biohazard Waste Disposal in current region automatically or rubbish is uniformly stored a little, go to institute automatically
State waste deposit point；Further, it after machinery equipment reaches waste deposit point, is carried out manually taking out garbage storing by administrative staff
The refuse bag for being filled with rubbish in reservoir is taken out after storage, is inserted in after refuse bag again and garbage reservoir is put back into machine is set
It is standby interior.
The further machinery equipment is additionally provided with a water storehouse by garbage reservoir, and the water storehouse is closed
There are the water inlet outside water inlet connection machinery equipment in water storehouse, upper end, and there is a water outlet in lower end；Described water outlet one end is connected with
Two groups and the above turbine water atomization equipment have applied for patent of invention, and a kind of Novel wind of application number CN201810191910.0 goes out
Lighter, the water atomization equipment are mounted at left and right sides of the machinery equipment, and jet port extends at left and right sides of machinery equipment,
The further water atomization equipment can spray water mist in two sides to the left and right, may insure while promoting with the humid air described
The road dust that machinery equipment cleaning agency cleans can fall into ground by particle water rapid precipitation, avoid dust harzard,
The effect of air quality optimization can also be started especially for some more dry and biggish regions of dust；Further pass through
Adjust the power of the water atomization equipment, moreover it is possible to realize thread shape and pressurization water spray.Also pacify further 15 lower section of the water tank
Equipped with a weight sensor, water tank 15 can be then prompted when weight sensor detects 15 water carrying capacity of water tank more than maximum load
Water inlet is completely closed, water tank 15 can be prompted anhydrous when water carrying capacity is lower than 5%, be needed to carry out moisturizing.
Agree to apply the volume when highway and town road clean cleaning when the machinery equipment obtains relevant department
It is increased to robot vehicle, suitable with existing 130 equal lorries volumes, the volume of the water tank 15 and garbage reservoir can basis
Vehicle size and load-carrying size are increased, and the clean disk volume of corresponding suction power and cleaning agency can increase,
Can obtain biggish supply come waste volumes needed for ensuring these big road cleanings and water consumption, especially in high speed and
When being cleaned on the roads such as municipal administration, the machine automobile can observe traffic rules and regulations such as identification traffic lights, pavement evacuation pedestrian, machine
Motor-car road and non-motorized lane and all kinds of traffic marks etc..It is retouched to changing identification technology and did in CN201810830052.X
It states, and belongs to the patent that our company declares, not will do it the operation such as retrograde, reversing, violation lane change, when carrying out on a highway
When cleaning, the machine automobile obtains the specific route of highway by electronic map, and by system operation platform by managing
Personnel input corresponding beginning and end, calculate remaining mileage amount according to the electricity that parent sweeps vehicle, when setting beginning and end compared with
When remote, can also prompt the cleaning course of setting is more than automobile maximum range, please be reset, if in the mileage travelled of setting
There is the machine automobile is corresponding to fill an electricity or electric power auxiliary point, then the machine automobile will automatically calculate supplement the energy path and when
Between, path planning is further carried out, and not reresenting relevant is more than the information such as mileage, it further can be in beginning and end
On the rubbish Distribution Center of each rest area and service area is identified automatically, if in cleaning process find rubbish storage think highly of
Measure already close to limit weight when, it will in local data while location information at this time is sent toward system operation platform
Library records, and after moving on the garbage disposal point for reaching nearest, plans most reasonable upper super expressway automatically, again above at a high speed,
And cleaning agency is restarted in the preceding primary anchor point cleaned that stops, continuation cleans forward.
The machinery equipment is also equipped with self-powered and two kinds of power configurations and power management system of external power supply, institute
The machinery equipment battery 16 stated should be in safe voltage DC36V and used below.The power management system includes electric quantity monitoring,
Low battery alarm modifies 16 parameter of battery after determining battery 16 and engine power above.The further battery 16
Module when being used in machinery equipment by one piece of vast capacity can charging/discharging type lithium battery 16 or lead-acid battery 16 supplied
Electricity, there is one piece of voltage detection main control chip module in the battery 16, and the voltage detection main control chip module can monitoring cell
Positive and negative pole tension in 16, and then can determine whether current battery capacity is saturated and situations such as 16 not enough power supply of battery；
Another group of stitch of the further voltage detection main control chip module is linked on main control module, when voltage detection master control core
Piece module finds to be notified that main control module when electricity abundance, will be using in the region of authorization in the case where condition is granted
Automatic charging stake is installed, automatic charging uses magnetic stripe guidance mode: needing to be laid with magnetic stripe on the ground, machinery equipment is along magnetic stripe
Alignment is realized in walking, and cooperates the mode of 10 visual identity of camera guidance to be directed at charging connector, charging connector patch up and down
The mode of piece realizes that charging pile and machinery equipment charging interface are powered, and upper and lower patch has the material of transmission electricity function, when
After upper and lower patch connection, machinery equipment is sent instructions on charging pile, and charging pile starting charging is output to charging connector, works as charging
Machinery equipment is at full charge when leaving charging pile, and charging pile can realize the function of automatically cutting off and be output to upper and lower patch power supply.Institute
The charging pile stated has wireless network module function, is able to achieve the data interaction with machinery equipment, reaches machinery equipment control and fills
Electric stake opens output electricity to charging connector.The charging pile reaches waterproof, anticreep, fire protection requirement.Charging pile is by 220V
It is converted into the voltage of the power supply of battery 16.The charging general time at night, one day time can be used after being full of in one's respective area, or
There are two in region or the above machinery equipment, replacement charging do not influence to work normally.
The system operation platform of the further machinery equipment is by server zone and cloud computing center, it is ensured that all machines
The present position of equipment can be received and stored in server in real time, also can be from third party such as GPS and Beidou etc.
The area of delimitation and the specific latitude and longitude coordinates point of travel and real time down are got in navigation system to machinery equipment
On, it is ensured that machinery equipment travels on the road and starting point and emphasis of set fence and planning；The further institute
There are all kinds of status informations of machinery equipment, such as circuit operating condition, voltage condition, fault message, garbage reservoir weight and water
The information such as video, the barrier that 15 weight of case, camera 10 are shot can be sent in real time on system operation platform, further
It, can be corresponding by fault message and fault message when finding that exception, especially failure information occur in these information
Machinery equipment number, region notify to notify in the administrative staff of corresponding region and the cell phone application of maintenance personnel, make
Administrative staff and maintenance personnel can quickly be handled；The further system operation platform is equipped with the end PC and the end APP and operates
The working region of machinery equipment can be arranged on mobile phone and computer, cut-in time, consolidate by port, environmental cleanup responsible person
The collecting and distributing process points of fixed rubbish, modification and adjust the fence of working region, remote supervisory and management machinery equipment whether by
Artificial damage transfers out the operations such as the video of corresponding period.Described one be further made up of technical solution as above
The environmental cleanup machinery equipment of kind automatic running, in order to ensure the operation in the process of running to the machinery equipment and the shape that works
State is effectively monitored, it is ensured that the machinery equipment can be used normally, and failure can carry out on-call maintenance, into one
All kinds of operational module work and operation etc. are realized in being powered using battery 16 for step, to each operation mould of machinery equipment
Block is effectively monitored.The function and preventive means that the monitoring is realized are as described below.
1. being monitored to 16 safety of battery: in order to ensure the machinery equipment can be travelled normally and it is true to supplement electricity
Guarantor works on, and mostlys come from 2 aspects to the monitoring of 16 safety of battery, is the capacity for battery 16 first, it is ensured that institute
The electricity of electricity and return when the battery 16 stated can maintain the machinery equipment to work, when not enough power supply or remaining capacity
When the machinery equipment not being supported to return to nearest automatic charging point, the machinery equipment, which can be automatically stopped work and record, to be worked as
The geographical location that preceding work is completed reaches nearest automatic charging point and carries out charging operations, automatic running again after charging complete
To the geographical location to stop working before this, cleaning works is started to the region of unfinished work.Second point is monitoring battery 16
The machinery equipment course of work in using safe, be applied to the peace of the battery 16 on Vehicular system about lead-acid battery 16 etc.
Full monitoring problem is mainly anti-flaming and explosion-proof etc., so the monitoring for 16 safety of battery has had more skill at present
Art and scheme.Further in order to prevent under special circumstances because of the reason of 16 failure of battery caused by battery 16 and circuit rise
Fire causes the machinery equipment that the processing mode after fire occurs, can refer to a kind of wisdom formula high speed of CN201810830052.X
The mode on fire that automatically processes in highway crusing robot, shared system and business model carries out self-extinguishing.
2. self detection of work and failure and remote failure notice maintenance to modules: the machinery equipment packet
Contain positioning and network module, clean module, electronic map and fence module, drive module, obstacle avoidance module, video identification
Module, waste transportation module etc., can be with the master control in the mode and main control module of integrated circuit in each corresponding module
The connection of chip module stitch, after connection through hardware technology in the case where ensuring that circuit board is powered, the work of the module of each
Make state and obtained in real time by main control module by the interface protocol voluntarily formulated, if 16 information about power of battery is to pass through electricity
The information of voltage of 16 main control chip module real-time detection battery 16 of battery in 16 module of pond, when the electric discharge of battery 16 reaches certain
When degree, the voltage of battery 16 will be reduced, then the electricity for representing battery 16 will exhaust, further by voluntarily formulating
Communication protocol, the main control module can directly each compositions module communicated, further method of communication use circuit
Plate connection after embedded code represents status information transmission be method of communication, further will also pair the wireless network
Module and backstage carry out communication check.
Further, if occur the transmission codes of category informations such as " failures " in above-mentioned module, the main control module can
Being judged as the module, there are failures, further by the fault message of the module by wireless network module be sent to it is described after
On platform.Based on the above, considering for practical application, the machinery equipment can exist because of the feelings such as have a flat tire in the process of running
Situations such as cannot working on caused by condition, further on the bearing touch point on the tire or hub motor and chassis
One group of weight detector can be installed additional, the weight detector will recognize the chassis to the pressure feelings of tire and hub motor
Condition, further in actual application, the tire and hub motor are in normal use, the rubbish that carries on chassis
The weight of storehouse and water storehouse will increase or reduce, and further cause the weight detector normal in the monitoring machinery equipment
Weight can only fluctuate in fixed section when work, and the weight of further any one group of tire and hub motor increases, and
Duration is longer, and the weight saving and duration on other tires or hub motor are longer, so that entire machinery equipment
Chassis on four-wheel or more than force balance be broken, then can determine whether the increased tire of weight or hub motor occur and occurring
It has a flat tire or the failures such as hub motor falls off, the machinery equipment is to stop working, no longer move, while opening answering for itself
The Reflectors such as anxious indicator light, when the emergency light cooperates other emergency lights using failure is realized using car emergency indicator light
The function of emergency prompt.
Based on the above, the machinery equipment can also be periodically by the working condition of all modules of itself, fault condition, electricity
16 information about power of pond, current location information, tire operating condition are sent to storage and the record that data are carried out on backstage, especially
Be in the also synchronous prompt to administrative staff or maintenance personal's mobile phone of fault message, convenient for the later period inquiry and transfer, further
If failure notifies maintenance personal to repair, one can be also generated to the vehicle is again online from maintenance notice is issued
Data are recorded on backstage and are inquired.Particularly, in addition to above, when the camera 10 of the machinery equipment is also to obtain in real time
Surrounding image, the image is also to be sent on backstage to be stored in real time, when occurring being destroyed by people, moreover it is possible to adjust
It takes video image at that time to determine the information such as head portrait and the physical trait of destruction personnel, carries out alert process convenient for operator
Deng.Similarly, the machinery equipment, which records to have on backstage, represents current vehicle/people fixed number, further fixed volume
It number is bound with unique ID code in above-mentioned main control chip module, forms coded data list, be based on coded data list, often
All information of itself all can be all recorded under the data list by one machinery equipment, realized and stored, adjust on the server
It takes, inquire and the functions such as video is checked, the data informations such as data and failure including normal operation.What is illustrated is the machine
Device equipment is to delimit fence to run, so the daily course of work of the machinery equipment can record current position in real time
Information, the location information recorded by multiple periods, arrived earliest according to the time power cut-off rule arranged after,
It is attached after marking out location point one by one using map using lines, the movement of each machinery equipment can be drawn out
Or working trajectory.It further self detected by above-mentioned module protocol code progress internal work and failure, pass through video
The video capture of camera, by positioning function bring working trajectory, by breakdown maintenance and again it is online use etc. it is many
Data carry out coincidence calculating, and the software platform for calculating these data can form a software management platform, corresponding to pass through
It transfers the data in the software management platform and interacts and the function of remotely controlling can be realized, further will remotely control
Port when being written on machine APP in one's hands, can be realized and administrative staff etc. are notified to above-mentioned information by cell phone application completion
Function.
3. the actual use region for the machinery equipment includes all kinds of town roads, cell road, cell list
First building, passageway, school, park, market, recreation ground, residential quarter, all kinds of public institutions, all kinds of public places, basement, underground
Parking lot, underground storehouse, personal family, office building, factory, if the case where operator of highway and level-one road allows
Under, can also pass through on super expressway or level-one road etc. can carry out using.It is more special for some roads under these environment
Above-mentioned cartographic information provider just do not have as it is beneath navigation and indoor navigation function, further in order to ensure upper
Stating machinery equipment when working under environment can normally identify that road carries out the functions such as traveling and avoidance and then ensures automatic
The completion of work such as clean, also by the efficient navigation by new technology realization to the machinery equipment in above-mentioned zone, specifically
Navigation method with reference to my company fraternal enterprise submit a kind of underground parking navigation system of CN201810293325.1 and its
It calculates and one patent of bootstrap technique is realized.Further it can pass through text or text at work, with equipment in the machinery equipment
Word+pattern mode illustrates the purposes of the machinery equipment, such as road environment sweeper, garbage truck, sprinkling truck, dedusting car,
Warning mark and reflection plaster etc. also are pasted at the multiple positions of the body of the machinery equipment when furthermore running, plays the safe function of prompt
Energy.It is additionally provided with combined aural and visual alarm on the further robot vehicle, combined aural and visual alarm is can star at work and carries out alarm and mention
Show specific as present environmental sanitation vehicles can play music in operation.Further above-mentioned machinery equipment is after the completion of production, institute
Battery compartment, water storehouse, garbage storing storage 9 for stating etc. will use shell and carry out unified covering, including all circuit boards and confession
Electric line can all do water-proofing treatment, further realize that the machinery equipment not will receive rainwater when operation the rainy day situations such as
Interference leads to failure, and further there are also an Electro-static Driven Comb iron chains on the chassis of the machinery equipment, in thunderstorm or weather
More dry etc. when being easy to produce operation in the environment of electrostatic, Electro-static Driven Comb iron chains, which is put down, to be grounded, and is discharged the machine and is set
Standby electrostatic discharges electricity also by this mode, avoids thunder and lightning pair if further being hit under thunderstorm weather by thunder and lightning
The damage of the machinery equipment.The business model of the environmental cleanup machinery equipment of the further automatic running is realized in
: the machinery equipment can be in all kinds of town roads, cell road, cell unit building, passageway, school, park, market, trip
Happy field, all kinds of public institutions, all kinds of public places, basement, underground parking, underground storehouse, personal family, is write residential quarter
Word building, factory, if can also pass through super expressway or level-one road in the case that the operator of highway and level-one road allows
Enterprising enforcement is used.1, the business model leased in short-term: it is provided with a two dimensional code on the machinery equipment vehicle body, this two dimensional code
The user's barcode scanning starting vehicle for needing to clean service is provided to use, further user using specified APP or wechat with
And after Alipay barcode scanning, into the operation interface of the APP, user is selected on APP in the region for needing to clean or input
The title of the cell and road that need to clean in operation area is stated, and delimit the beginning and end of cleaning, the APP can root
According to the distance of current purging zone, and the speed per hour corresponding time for calculating cleaning and completing that current vehicle cleans, further
The expense that user's payment required for this is cleaned is calculated by cleaning the time completed, after user confirms Fee Amount, user
After completing payment by payment platform on third parties' line such as wechat, Alipay, the expense of the payment can directly pass through electronics
The mode paid to enters in the destiny account of the operational management platform of the machinery equipment, further when the destiny account connects
After the amount of money for receiving this order, a payment will be sent and successfully instructed onto the machinery equipment, further machine
Equipment can automatically turn on, and voluntarily be guided to cleaning starting point specified before this by user, the machinery equipment starts automatic cleaning.
After the completion of cleaning, the machinery equipment will send one and clean the information completed to the operational management backstage
In, further information to the barcode scanning before for sending a cleaning completion by operational management backstage leases the machinery equipment
On personnel's mobile phone.
2, the machinery equipment can replace the operation that environmental cleanup work carries out road and public domain cleans completely, upper
Stating in operation area the expenses such as can obtain road upkeep and clean, keep a public place clean by cooperating with municipal sector or road upkeep department
With the business obtained in first module is taken in.This kind of enterprises and operation enterprise between extensive cooperation when, can be both
Determine to realize in region and delimit one piece of region to the parking area of the machinery equipment, by the operator on the operational management backstage
Member, inputs the number of the machinery equipment in the region in advance, these further machinery equipments will be with above-mentioned operation area
Bound, machinery equipment automatic running representated by the further amount of money that the contract that partner signs and payment are set when
Between, it does not continue to pay dues after the expense of partner expires, then the robot is with regard to out of service, if partner is continued before expiring
Take, then increase the automatic running time of a cycle newly again by operator, the further operator can be with
It sets that above-mentioned machinery equipment is daily in the area to be started to clean the time acording to the requirement of user, terminates to clean the time, clean
The information such as period.3, the machinery equipment can carry out dust alleviation work for cleaning worker in above-mentioned working region, obtain this
The income of keeping a public place clean in a little regions.4, the further machinery equipment can be distributed directly to client and carry out using including above-mentioned fortune
Property enterprise, operation enterprise and municipal sector or road upkeep department, are born by the owned enterprise of system operation platform in row region
The work such as after-sales service, the maintenance of machinery equipment are blamed, are taken in after sale.5, the further machinery equipment can also open
Shared model, all kinds of clients can be placed an order by cell phone application and PC on system operation platform to lease the machine in short-term and sets
It is standby, and the required working region in cell phone application and the corresponding above-mentioned working region of the end PC input, the time of start-up operation clean
Mode be to clean road surface still to clean ground etc., it is further to select corresponding machinery equipment of corresponding size etc., the system
Operation platform will determine the expense of short lease according to information such as the times of the lower single purging zone size delimited, cleaning, and straight
It connects and generates reimbursement of expense two dimensional code at the end APP or PC, user only needs to pay or directly initiate third party's branch by mobile phone barcode scanning
Pay software payment expense.The above commercial operation is during realization, the characteristic of complexity and network transmission for road
Consider, unsafe accident occurs in order to prevent, and the incipient stage realizes barcode scanning rent before user directly arrives the machinery equipment first
It rents, remotely place an order lease and starting can be realized in the means such as perfect of the upgrading of the network technology in the later period whole world and wisdom traffic
The machinery equipment.5, under shared model, the machinery equipment can be carried out in each city by agency or other enterprises
After managing or directly buying, operation is responsible for by the management enterprise of system operation platform, income is obtained by above-mentioned business model
Afterwards, agency or business are directly settled accounts and are assigned directly on background system by electronic accounting and remitted mode
In the account that mechanism and the management enterprise of system operation platform specify.This class business income distribution as charge and payment and
Automatically the technological means distributed had had this module in the patent CN201810829324.4 that my company has declared
Description, repeats no more.
6, can by machinery equipment described in direct marketing obtain direct marketing income, and further provide after-sales service and
The maintenance work acquisition later period is persistently taken in.Above-described embodiment is only presently preferred embodiments of the present invention, and not limitation is of the invention according to this
Protection scope, therefore: the equivalence changes that all structures under this invention, shape, principle are done should all be covered by protection of the invention
Within the scope of.
Claims (10)
1. a kind of environmental cleanup machinery equipment, including rack components (1) and sweeper (2), it is characterised in that: the rack components
(1) side is provided with several telescopic rods (3), the lower end of telescopic rod (3) be provided with sweeper (2) and on the sweeper (2)
End is hinged；Push rod (4) is hinged in the middle part of the telescopic rod (3) to store for realizing by sweeper (2) to rack components (1)
It is interior.
2. environmental cleanup machinery equipment according to claim 1, it is characterised in that: the upper end of the telescopic rod (3) is arranged
There are hinged raised (31), the upper end of the rack components (1) is provided with mounting plate (11), and the lower end setting of mounting plate (11) is hinged
Tooth fork (12) is connect, hinged raised (31) are hinged in hinged tooth fork (12)；Described push rod (4) one end is provided with hinged fixture block
(41), hinged fixture block (41) one end forms mounting hole (42), is equipped with the telescopic rod (3) in mounting hole (42)；The hinge
It connects fixture block (41) other end and forms clamping fork plate (43), clamping fork plate (43) and the push rod (4) are hinged.
3. environmental cleanup machinery equipment according to claim 2, it is characterised in that: the clamping fork plate (43) forms item
Shape card slot (44), described push rod (4) one end form hinge hole, pass through connecting shaft between strip card slot (44) and the hinge hole
Hingedly.
4. environmental cleanup machinery equipment according to claim 1, it is characterised in that: rack components (1) the lower end setting
Have mounting portion (13), the middle part of mounting portion (13) forms downwards mounting groove (14)；Described push rod (4) one end forms card adapter plate
(44), at least provided with two card adapter plates (44) in the mounting groove (14)；Two card adapter plates (44) are oppositely arranged.
5. environmental cleanup machinery equipment according to claim 1, it is characterised in that: described sweeper (2) one end is provided with
Several dish-type cleaning heads (5) and cleaner head round brush (6), the upper end of cleaner head round brush (6) are communicated with the one of waste pipe (7)
End, the other end of waste pipe (7) are communicated with dust suction pump (8)；Sweeper (2) inner wall is provided with magnet, and magnet is for inhaling
Attached metallics.
6. environmental cleanup machinery equipment according to claim 5, it is characterised in that: the upper end of the dust suction pump (8) passes through
Pipeline is communicated with garbage storing storage (9), and the upper end of garbage storing storage (9) is provided with mounting plate (11), the upper end of mounting plate (11)
It is provided with camera (10)；The lower end of the dust suction pump (8) is provided with water tank (15), and the lower end of water tank (15) is provided with battery
(16)。
7. environmental cleanup machinery equipment according to claim 1, it is characterised in that: rack components (1) the lower end setting
There is chassis system, chassis system includes power wheel (17) and auxiliary wheel (18)；Auxiliary wheel is provided with elevating mechanism on (18)；Institute
It states and is also equipped with automatic cleaning module, Self-watering module, automatic obstacle-avoiding module, locating module and automatic running on chassis system
Module；The automatic cleaning module is also connected with garbage storing storage (9)；The Self-watering module is also connected with water storehouse, storage
Sump is located at the top of the chassis system.
8. environmental cleanup machinery equipment according to claim 7, it is characterised in that: the chassis system further includes having battery
Energy cabin is provided with the battery (16) in battery power cabin and then realizes protection to battery (16), installation and to entire clear
Sweep the unified management of the battery of equipment；The locating module moves Internet of Things module M5331 module in using；The sweeper (2) makes
Card slot is installed with dish-type sweeper, the installation card slot passes through gear module and buckle module, install on buckle module one group by
The round turntable of PVC material composition；Multiple installation through-holes are distributed in the surrounding of the round turntable, and installation through-hole is connected with one group
Material is the cleaning accessory of PVC, and cleaning accessory is more Practical plastic item compositions；Installation through-hole and the cleaning accessory and
Cleaning the plastic strip on accessory can arbitrarily be converted by combining the product of different size；Have one in the middle part of dish-type sweeper
Sleeve in loop bar and shaft carries out plug-in type installation, and loop bar and the design of barrel contacts mouth have one group of thread mechanism, loop bar and
After sleeve installation, thread bush on loop bar can on slide on the outside of sleeve；The garbage reservoir is round or square container
It being mounted on inside machinery equipment, container is made of a lower cover and a upper cover, and lower cover is inserted in the refuse bag of a same size,
Upper cover and lower cover form a confined space after covering after closing up, and the upper cover is there are two mounting hole, on one of installing port
The grinder for thering is a metal blade material to be formed, grinder be used to carry out these things when entering installing port it is broken and
It rolls；Installation through-hole one connect with the suction inlet of dust catcher, the air inlet connection of other end and dust catcher, and connect with air inlet
There is one layer of separation net at place, it can be ensured that rubbish will not cross separation net and enter blocking or damage motor in the motor of dust catcher；
There is gravity sensing sensor for detecting the built-in garbage weight of reservoir below the garbage reservoir, in addition to individual
It perceives outside weight, amount of capacity is also to judge whether the garbage reservoir can continue to load the important indicator of rubbish, described
The inside of rubbish storage upper cover infrared detector is installed, infrared detector can issue infrared-ray, detect current upper cover
The distance between lower cover bottom, judges whether the garbage reservoir can continue to load rubbish, is detected by any one
The data that device issues represent that capacity has been expired or when load-carrying has been expired, the machinery equipment can be searched automatically at the rubbish in current region
Reason station or the unified storage point of rubbish simultaneously go to the waste deposit point automatically；
A water tank module is also added in the robot, water tank module is a metal or the water storage that PC material manufactures
Storehouse；There is a water inlet on the water storehouse top, is connected to a water inlet line, under the other end daily state of the water inlet line
It is not connected to any device for the free time, when the water shortage in the water storehouse, the water inlet line is connected on tap,
Water-refilling operation can be carried out to water storehouse by opening tap；The water storehouse lower end is connected with one group of outlet pipe, the outlet pipe
It is connected with a sprinkler head, a turbocharging drive motor is installed in the sprinkler head, turbocharging drive motor is powered
When by control main control chip module can control turbocharging drive motor carry out high speed rotation water will form water mist
Shape is ejected realization in turn to the cleaning on ground and washes away；The water storehouse, which issues, is additionally provided with a weight sensor, weight
Sensor is connect with the main control chip module, when the variation of the weight coefficient of strain of weight sensor, is passed by the weight
The data of the index variation of sensor are obtained the weight of water in current water storehouse by the main control chip module, and then are realized and worked as water storage
Amount it is fast completely when stop plus water on the contrary can then remind administrative staff to carry out plus water, while main control chip module will pass through when water is lower
Control weight sensor is connect with control main control chip module to stop working；
The machinery equipment further includes having fence module, and fence module directly can transfer map using map interface
After image, longitude and latitude range is written directly on map as virtual fence or using RFID cognition technology and realizes electronics
Fence is perceived and then is realized regardless of still whether underground can realize navigation and as positioned at working region again on the ground
Judgment criteria；And by way of positioning longitude and latitude data, the longitude and latitude having been moved past is labeled according to the time, then leads to
The longitude and latitude in fence crossed and had determined is compared, and swept is put into the database cleaned,
What is do not cleaned is placed in the database not cleaned, the region that when cleaning has been cleaned, data by non-purging zone data by
It walks and is carried out excessively to the area data cleaned, and then realize the management of working region and working trajectory, realization has cleaned
The classification in region and non-purging zone, similarly determine whether the machinery equipment also needs to work on by these data；
Main control chip module further includes having brushless hub electric motor or drive motor structure to realize the machinery equipment walking
Suspended structure tire as driving wheel；The power wheel (17) is using the hub motor of model D40 type as driving wheel model
Block uses the automobile driving motor of model KRK as power source；The drive module include a ESP32 processing and
The circuit board of multiple groups capacitance resistance composition controls the speed of the D40, speed difference；The ESP32 connects institute by circuit board
After stating main control chip module and sending information to ESP32, the D40 is controlled by ESP32 and is rotated, and passes through the speed of two D40
Difference control the robot rotated, kept straight on, being accelerated, being slowed down, back operation or real by the KR160K drive motor
It now rotates, keep straight on, accelerate, slow down, back operation；
The lighting system that the robot vehicle is also connected with main control module of the drive module, lighting system include one group of photograph
Bright lamp and warning lamp, the headlamp are the white dipped headlight that illumination distances are no more than 10m, make the camera in the robot
(10) more bright shooting environmental can be obtained in basement or night-light operation, the warning lamp is flashing red light, when
Red warning lamp can be lighted to prompt pedestrian and administrative staff when robot breaks down；
The robot vehicle lighting system further include have front lamp, preceding warning lamp, front or so turning warning light, rear warning lamp and
Rear or so turning warning light, the front lamp are white dipped headlight, and forward and backward warning lamp is red warning lamp, for occurring
Failure or when carrying out the operation such as avoidance, by issuing red flash for prompting lamp, in order to prompt front truck and rear car and non-maneuver
Vehicle and pedestrian；The warning lamp prompts to know at administrative staff for the corresponding backstage that will be dealt into alert status；
The main control chip module connects ESP32 and controls the rotation of D40 by ESP32；The main control chip module is also connected with
There are one group of obstacle avoidance module, video identification module；The video identification module is one group of Hi5380 intelligent camera of rotatable setting
Head module, the Hi5380 be at least one and more than one, be separately mounted to four of in the middle part of the machinery equipment or head
Or with upper position, the video image information in each orientation is obtained, the video information that the Hi5380 will acquire can directly turn
Enter in the local image memory of Hi5380, the Hi5380 is connected with main control chip module main control chip module, passes through master control
After chip module is forwarded to the M5310 wireless network module, it is sent on the operational management platform and is calculated；The view
Frequency meter calculate and judge in current video image with the presence or absence of fixed barrier, mobile vehicles or pedestrians, road surface hole
The information such as hollow or barrier after being decoded and calculating compilation to image by software program, can be accurately calculated current
Whether there are obstacles in video area；The obstacle avoidance module includes one group of HY-SRF05 type ultrasonic probe, the HY-
SRF05 is mounted on the surrounding on the machinery equipment chassis, and quantity, which is 4 or more, may insure to detect around chassis 360 °
Complaint message, the HY-SRF05 issues ultrasonic wave by ultrasonic technology forwards, if ultrasonic wave is in a certain distance
Appearance obstructs, and represents front there are barrier, the obstacle information will be by the compilation main control chip module of HY-SRF05
Obstacle information code is converted into be sent in the main control chip module main control chip module；The obstacle avoidance module further includes
The multi-thread coherent infrared radar of one group of VLP-16 type, 100 meters of distances, the VLP-16 are mounted at the top of the machinery equipment
Surrounding, installation number are 2 or more the obstacle informations that can guarantee 360 ° of ranges at the top of scanning to the machinery equipment, institute
Multiple groups laser signal can be launched by stating VLP-16, and there are obstacle informations for representative if laser signal is blocked, by VLP-16
Compilation main control chip module obstacle information changed into barrier code protocol be sent to the main control chip module master control
On chip module；The Hi5380 video camera, which uploads to image information in real time on the operational management platform, to be calculated pair
The information of barrier will be sent to the main control chip module by wireless network and connected by the complaint message answered, the platform
On M5310 wireless network module, into main control chip module main control chip module；
The main control chip module be connected with drive module for the data such as the path of destination and electronic map, positioning into
After row COMPREHENSIVE CALCULATING, the main control chip module will issue adjustment direction and specifically adjust the angle, regulate the speed and
The information such as specific speed are sent on the ESP32 processor, by ESP32 by adjustment information be sent directly to described one or
On multiple power motors or hub motor, realizes that control power motor or wheel hub are turned to, adjust the speed；The background system issues
It is outer in addition to instructing to described 3399 information, more new function and subsidiary corresponding software update data packet, realization can also be issued
The machinery equipment remote auto updates；
The machinery equipment further includes having battery monitoring module, and battery monitoring module includes battery (16), and battery (16) is used for
It is powered and realizes all kinds of operational module work and operation；The battery monitoring module includes battery capacity monitoring module and electricity
Pond is taken precautions against natural calamities module；The battery capacity monitoring module is used to ensure that the battery (16) can to maintain the machinery equipment to work
When electricity and return electricity and when not enough power supply or remaining capacity do not support the machinery equipment back to it is nearest from
When dynamic charge point, the machinery equipment can be automatically stopped work and record the geographical location that current work is completed, and reach nearest
Automatic charging point carry out charging operations, automatic running is to the geographical location to stop working before this again after charging complete, to not
The region for completing work starts cleaning works；The battery takes precautions against natural calamities module for monitoring the machinery equipment work of battery (16)
In the process using safe, realize anti-flaming and explosion-proof；
Positioning and network module clean module, electronic map and fence module, drive module, obstacle avoidance module, video identification
Main control chip module stitch connection in the mode and main control module that module, waste transportation module pass through integrated circuit, after connection
Through hardware technology in the case where ensuring that circuit board is powered, the working condition of the module of each is by main control module by voluntarily
The interface protocol of formulation is obtained in real time；
One group of weight detector, the weight detections can be installed additional on bearing touch point in the tire or hub motor and chassis
Device will recognize the chassis to the pressure condition of tire and hub motor, and tire and hub motor are in normal use, bottom
The weight of the trash repository and water storehouse that carry on disk will increase or reduce, and the weight detector is caused to set in the monitoring machine
Weight can only fluctuate in fixed section when standby normal work, and the weight of any one group of tire and hub motor increases, and holds
The continuous time is longer, and the weight saving and duration on other tires or hub motor are longer, so that entire machinery equipment
On chassis four-wheel or more than force balance be broken, then can determine whether the increased tire of weight or hub motor occur and taking turns
Tyre air leakage or hub motor such as fall off at the failures, and the machinery equipment stops working, no longer moves, while opening the emergency of itself
The Reflectors such as indicator light, the emergency light cooperate other emergency lights to answer using when realizing failure using car emergency indicator light
The function of suddenly prompting；
The machinery equipment, which records to have on backstage, represents current vehicle/people fixed number, fixed number and above-mentioned master control core
Unique ID code in piece module is bound, and coded data list is formed, and is based on coded data list, each machinery equipment
All information of itself can be all recorded under the data list, realization is stored, transferred on the server, inquiring and video is looked into
Functions, the data informations such as data and failure including normal operation such as see；
It is additionally provided with graph-text identification area with equipment, graph-text identification area can illustrate the machine by way of text and/or pattern
Warning mark and reflection plaster etc. are pasted in the purposes of device equipment, the multiple positions of the body of the machinery equipment, play the safe function of prompt
Energy；It is additionally provided with combined aural and visual alarm on the robot vehicle, can star combined aural and visual alarm at work and carry out warning note, the machine
After the completion of production, what the battery compartment, water storehouse, garbage storing storage (9) etc. will use that shell unified covers device equipment
It covers and then the interference for realizing that waterproof avoids the machinery equipment from not will receive rainwater the rainy day situations such as when operation leads to failure；?
There are also an Electro-static Driven Comb iron chains on the chassis of the machinery equipment, are easy to produce electrostatic in thunderstorm or weather more drying etc.
Under environment when operation, Electro-static Driven Comb iron chains, which is put down, to be grounded, and discharges the electrostatic of the machinery equipment, if under thunderstorm weather by
Thunder and lightning is hit, and avoids damage of the thunder and lightning to the machinery equipment.
9. a kind of business model, which is characterized in that include the described in any item environmental cleanup machinery equipments of claim 1-8, institute
State machinery equipment can all kinds of scenes carry out using, and have following operation way:
(1) business model leased in short-term: it is provided with a two dimensional code on the machinery equipment vehicle body, this two dimensional code can provide
It is used to the user's barcode scanning starting vehicle for needing to clean service, after user is using specified APP or wechat and Alipay barcode scanning,
Into the operation interface of the APP, user selects to need the region cleaned on APP or need in the above-mentioned operation area of input
The cell of cleaning and the title of road, and the beginning and end of cleaning delimited, the APP can be according to current purging zone
Distance, and the speed per hour corresponding time for calculating cleaning and completing that current vehicle cleans, are calculated originally by cleaning the time completed
The expense of the payment of user required for secondary cleaning, after user confirms Fee Amount, user passes through third parties' lines such as wechat, Alipay
After upper payment platform completes payment, the expense of the payment can enter the machinery equipment in a manner of directly paying to by electronics
Operational management platform destiny account in, after the destiny account receives the amount of money of this order, a branch will be sent
Paying successfully instruction, in the machinery equipment, machinery equipment can automatically turn on, and voluntarily be guided by user to specified before this
After cleaning starting point, the machinery equipment starts automatic cleaning；After the completion of cleaning, the machinery equipment will send a cleaning
The information completed sends one by operational management backstage and cleans the information completed extremely into the operational management backstage
Barcode scanning is leased on personnel's mobile phone of the machinery equipment before.
10. business model according to claim 9, it is characterised in that: the machinery equipment can replace environmental cleanup work
Carry out the operation that road and public domain clean, in above-mentioned operation area can by with municipal sector or road upkeep department
Cooperation obtains road upkeep and the expenses such as cleans, keeps a public place clean, and the business obtained in first module is taken in；Can also by with conjunction
The time for making machinery equipment automatic running representated by the contract of quotient's signing and the amount of money of payment, after the expense of partner expires
It does not continue to pay dues, then the robot is with regard to out of service, if partner continues to pay dues before expiring, increases one newly again by operator
The automatic running time in a period, operator can also set above-mentioned machinery equipment in the region acording to the requirement of user
It is interior it is daily start to clean the time, terminate to clean time, the information such as cleaning period；
The machinery equipment can also replace cleaning worker to carry out dust alleviation work in above-mentioned working region, obtain these regions
Income of keeping a public place clean；
The machinery equipment can also be distributed directly to client and carry out using including property enterprise in above-mentioned operation area, operation
Enterprise and municipal sector or road upkeep department, by the owned enterprise of system operation platform be responsible for machinery equipment after-sales service,
The work such as maintenance, are taken in after sale；
The machinery equipment can also open shared model, and all kinds of clients can be in system operation platform by cell phone application and PC
On place an order and lease the machinery equipment in short-term, and the required work in cell phone application and the corresponding above-mentioned working region of the end PC input
Region, the time of start-up operation, the mode of cleaning are to clean road surface still to clean ground etc., and the system operation platform is by basis
The information such as the time of purging zone size, cleaning that one delimit down determine the expense of short lease, and directly raw at the end APP or PC
At reimbursement of expense two dimensional code, user only needs to pay or directly initiate by mobile phone barcode scanning Third-party payment software payment expense i.e.
It can；During realization, the characteristic of complexity and network transmission for road considers the above commercial operation, uneasy in order to prevent
Full accident occurs, and the incipient stage realizes barcode scanning lease before user directly arrives the machinery equipment, the network in the later period whole world first
The means such as perfect of technology upgrading and wisdom traffic, can be realized remotely place an order lease and the starting machinery equipment；
Can also in a shared mode, the machinery equipment can be carried on the work in each city by agency or other enterprises
Or after directly buying, operation is responsible for by the management enterprise of system operation platform, after obtaining income by above-mentioned business model, lead to
It crosses electronic accounting and agency or operating agency are directly settled accounts on background system and be assigned directly to remitted mode
And in the specified account of management enterprise of system operation platform；
Direct marketing income can be obtained so that machinery equipment described in direct marketing can be passed through, and after-sales service and maintenance work are provided
The acquisition later period is persistently taken in；
It can also be left concentratedly by rubbish associated with this business model a little and the work of trans-shipment point can also be by described
The management enterprise of system operation platform is responsible for operation, realizes a full set of environmental cleanup outsourcing, obtains the business income of the part；
Simultaneously in order to increase the expansion of range of business and later period business model, later following all kinds of town roads, cell road,
Cell unit building, passageway, school, park, market, recreation ground, residential quarter, all kinds of public institutions, all kinds of public places, underground
Room, underground parking, underground storehouse, personal family, office building, factory and permit in the operator of highway and level-one road
Perhaps in the case where, into super expressway or level-one road on execute cleaning works；
The business model further includes environmental cleanup machinery equipment at least the robot form and robot vehicle form, machine
The humanoid state of device is mainly used in such as family, residential quarters, community street, market and school；Robot vehicle shape is mainly used in people
Trade, car lane, square scene；The robot form and robot vehicle form can also pass through the variation according to usage scenario
The specification size of planing machine equipment, and then by identical technical principle keep a public place clean in indoor or building and clearly
It sweeps work to exist in the form of robot, if being cleaned on road, volume is carried out by same technical principle and is increased to
The form of vehicle can be realized.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201910503443.5A CN110184978A (en) | 2019-06-11 | 2019-06-11 | A kind of the environmental cleanup machinery equipment and business model of automatic running |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910503443.5A CN110184978A (en) | 2019-06-11 | 2019-06-11 | A kind of the environmental cleanup machinery equipment and business model of automatic running |
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| CN110184978A true CN110184978A (en) | 2019-08-30 |
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| CN111145512A (en) * | 2019-12-17 | 2020-05-12 | 福建工程学院 | Management system of intelligent sweeper |
| CN111366211A (en) * | 2020-03-12 | 2020-07-03 | 北京环卫集团环卫装备有限公司 | Method and device for processing remaining working time of target vehicle |
| CN112351243A (en) * | 2020-09-15 | 2021-02-09 | 中标慧安信息技术股份有限公司 | Environmental protection supervisory systems based on thing networking |
| CN112894208A (en) * | 2021-01-18 | 2021-06-04 | 佛山市广凡机器人有限公司 | Lifting control system of automatic welding machine |
| CN113384772A (en) * | 2021-08-02 | 2021-09-14 | 中南大学湘雅医院 | Pancreas washing unit |
| CN113585139A (en) * | 2021-07-28 | 2021-11-02 | 温州市龙湾建设园林绿化工程有限公司 | Road environmental protection cleaning device for municipal garden |
| CN115416040A (en) * | 2022-11-04 | 2022-12-02 | 东莞市喜成电子科技有限公司 | Foldable service robot |
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