CN110286678A - A kind of auto-navigation purging system - Google Patents
A kind of auto-navigation purging system Download PDFInfo
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- CN110286678A CN110286678A CN201910540057.3A CN201910540057A CN110286678A CN 110286678 A CN110286678 A CN 110286678A CN 201910540057 A CN201910540057 A CN 201910540057A CN 110286678 A CN110286678 A CN 110286678A
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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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0285—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using signals transmitted via a public communication network, e.g. GSM network
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B7/00—Signalling systems according to more than one of groups G08B3/00 - G08B6/00; Personal calling systems according to more than one of groups G08B3/00 - G08B6/00
- G08B7/06—Signalling systems according to more than one of groups G08B3/00 - G08B6/00; Personal calling systems according to more than one of groups G08B3/00 - G08B6/00 using electric transmission, e.g. involving audible and visible signalling through the use of sound and light sources
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04M—TELEPHONIC COMMUNICATION
- H04M1/00—Substation equipment, e.g. for use by subscribers
- H04M1/72—Mobile telephones; Cordless telephones, i.e. devices for establishing wireless links to base stations without route selection
- H04M1/724—User interfaces specially adapted for cordless or mobile telephones
- H04M1/72403—User interfaces specially adapted for cordless or mobile telephones with means for local support of applications that increase the functionality
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- Civil Engineering (AREA)
- Architecture (AREA)
- Structural Engineering (AREA)
- Acoustics & Sound (AREA)
- Electromagnetism (AREA)
- Human Computer Interaction (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present embodiments relate to a kind of auto-navigation purging systems (as shown in Figure 1), comprising: navigation subsystem；Clean subsystem；Rubbish concentrates discharge subsystem；Plan subsystem；Motor driven tests the speed and control subsystem；Automatic Pilot subsystem；Magnetic wire/wireless/photovoltaic charged subsystem；Audible and visual alarm subsystem；Voice broadcast subsystem；Environmental parameter (temperature and humidity and carbon dioxide, CO gas content) detects subsystem；Telecommunication and Monitor And Control Subsystem.The present invention passes through comprehensive each subsystem state information, and merge each sensing data, technically thoroughly solve it is related at present clean the problems such as man efficiency is low, recruitment cost is high, operating environment is dangerous and machine purging system has a single function, needs manual intervention more instantly, there are security risks existing for post, enable the automatic garbage especially in the severe operating environments such as high temperature, dusty and dangerous gas discharge clean with concentration emission treatment it is safe and efficient, be reliably carried out.
Description
Technical field
The present invention relates to unmanned and refuse sweeping and concentrate the technical field discharged more particularly to a kind of high temperature, height
The intelligent garbage of automatic Pilot cleans and concentrates emission treatment system under the severe operating environment such as dust and the discharge of dangerous gas
System.
Background technique
The unmanned purging system of patent CN108589599A discloses a kind of unmanned cleaning system with scalable isolating device
System, global optimum's result for being provided according to server matches one or more cleaning groups to target area, but it is not considered
The Function for Automatic Pilot of clearing apparatus auto-navigation itself, the i.e. clearing apparatus itself do not design autonomous refuse sweeping and concentrate and discharge
Etc. functions, and in the severe operating environments such as high temperature, the discharge of dusty and dangerous gas clearing apparatus itself is proposed
Rigors have no implementation.
A kind of intelligent purging system of patent CN108570955A also discloses a kind of clearing apparatus and its automatic Pilot dress
It sets.The clearing apparatus includes the devices such as side brush and round brush, dust suction and filtering dust；The servomechanism have laser radar,
The intelligent purging system of the multisensors such as differential GPS antenna, ultrasonic radar and camera.Determine however, it is not directed to ultra wide band
Position, sprinkling depositing dust, automatic charging (wired charging/wireless charging/solar photovoltaic powered), voice broadcast, environmental parameter are (warm and humid
Degree and certain gas contents) detection, telecommunication and monitoring be (by being based on Industrial Ethernet, WIFI, 5G, narrowband Internet of Things
(NB-IoT) the APP software on host computer and mobile phone or other mobile device terminals including such as) etc. technical fields, particularly with
Clearing apparatus and purging system in the severe operating environments such as high temperature, the discharge of dusty and dangerous gas have no and consider,
And these environment and region are only the place with greater need for the urgent need using the unmanned purging system of auto-navigation.
Currently, people's living standard is being continuously improved, and labourer's age and quantity decline synchronous, and social population is old
Age problem becomes increasingly conspicuous, and the problem of enterprises using the labor famine is generally existing.Especially in every case be related to filthy, high temperature, it is dusty and
The work position in severe operating environment that dangerous gas discharge etc. makes it difficult for people to receive, all suffer from personnel cost it is high,
It recruits awkward situation that is difficult, staying people to be more difficult, this undoubtedly will have a direct impact on the recruitment demand in relation to the special post of enterprise in industrial development,
Also the comprehensive, healthy, fast-developing of national economy is seriously hindered.The deployment of " made in China 2025 " with push forward comprehensively, will be
On technological layer in the form of high-tech product, come ensure and really power-assisted, thoroughly solve relevant enterprise particular job post
Recruitment problem.This patent with the refuse sweeping of self-navigation and concentrates discharge treating system to clean hilllock to solve related enterprise
Cleaning demand problem urgently to be resolved in the severe operating environment such as position, especially high temperature, the discharge of dusty and dangerous gas.
Summary of the invention
The present invention is directed to propose a kind of auto-navigation purging system, including self-navigation, automatic cleaning, automatic garbage concentration row
Put, automatically planning, motor driven, test the speed and control, automatic Pilot, automatic charging, audible and visual alarm, voice broadcast, environmental parameter
The functions such as (temperature and humidity and certain gas contents) detection, telecommunication and monitoring, it is current to thoroughly be solved on technological layer
Man efficiency is low, recruitment cost is high, operating environment is dangerous existing for related cleaning post and machine purging system function instantly
Can it is single, need manual intervention, the problems such as there are security risks more.
Above-mentioned inefficiency, high labor cost and function existing for post personnel and existing sweeping machine are cleaned for current
Single, the problems such as performance is not perfect, a kind of auto-navigation purging system proposed by the invention, including navigation subsystem, clean son
System, rubbish concentrate discharge subsystem, planning subsystem, motor driven, test the speed and control subsystem, automatic Pilot subsystem,
Magnetic wired charging/wireless charging/photovoltaic charged subsystem, audible and visual alarm subsystem, voice broadcast subsystem, environmental parameter
(temperature and humidity and certain gas contents) detects subsystem, telecommunication and Monitor And Control Subsystem etc..
The navigation subsystem using multiple ultrasonic sensors, infrared sensor, differential GPS antenna, laser radar,
Electronic compass and ultra wideband location techniques etc..The auto-navigation system is fixed by merging above-mentioned each sensor data information and ultra wide band
Position technology completes ultrasonic distance detection, infrared biology judgement, spatial position and the function such as directional perception and moving object anticipation
It can, it is ensured that the Function for Automatic Pilot for a kind of auto-navigation purging system proposed by the invention provides reliable multi-sensor data
Information fusion, to be effectively prevented from traditional sweeping machine because there are potential hazard behaviors brought by blind area to occur.
The cleaning subsystem includes two sides of the bottom ground swe eper, rear side absorbent brush and dust suction bin device, sprinkling drop
Dirt device etc..A kind of auto-navigation purging system proposed by the invention in summary necessary functions, so as to complete described in this case from
The key functions such as the cleaning of navigation, dust suction, sprinkling depositing dust are allowed to especially in high temperature, dusty and dangerous gas discharge etc.
Effectively substitute existing artificial and traditional sweeping machine in severe operating environment, with it is safe and reliable, automatic, efficiently complete rubbish
Cleaning task.
It includes the devices such as baffle push and limit switch that the rubbish, which concentrates discharge subsystem,.One kind proposed by the invention
Auto-navigation purging system simultaneously can execute rubbish concentration emission treatment function according to the status informations such as dust suction holding capacity of bin, Automatic Optimal
Can, being allowed to, which especially can timely and effectively complete rubbish in region dusty, concentrates the tasks such as emission treatment.
The planning subsystem includes auto-navigation path planning, cleans mission planning, rubbish concentration discharge planning and charging
Planning etc..Mentioned auto-navigation path planning is realized clear by using the multi-sensor information fusion technology of the navigation subsystem
It sweeps path optimization, cleaning mission planning and rubbish and concentrates discharge planning etc..Meanwhile a kind of auto-navigation proposed by the invention cleans
System can carry out on-line monitoring and management to information such as battery capacities automatically, and will be according to cleaning task and battery capacity value etc. certainly
Dynamic planning charging opportunity, guarantee system are timely and effectively completed refuse sweeping and concentration emission treatment etc. with enough electric power and are appointed
Business.
The motor driven, test the speed and control subsystem include traveling four-wheel drive motor, two sides of the bottom cleaning brush drive
Dynamic motor, rear side clean the drive control and speed/position of brush motor, dust sucting motor, sprinkling depositing dust motor, garbage emission motor etc.
Set detection etc..Preferably, when a kind of auto-navigation purging system proposed by the invention works in the high temperature environment, row
Metal wheel resistant to high temperature must be equipped with four-wheel drive motor by sailing, and drive manner is four-wheel drive, can be directly realized by it is forward and backward,
The combination of the multiple directions such as left and right operates control.It can be with as preferred sprinkling depositing dust motor (water pump and its sprinkling water tank)
Ensure that this system can, especially effectively be automatically performed refuse sweeping task in high temperature, operating environment dusty.As preferred
Rubbish concentrate discharge driving motor, enough driving moments can be provided with remove during automatic cleaning in dust suction storehouse to
Concentrate the waste items of emission treatment.
The automatic Pilot subsystem includes the behaviour control of automatic Pilot and the brake under emergency rating when working normally
Vehicle brake apparatus etc..A kind of auto-navigation purging system proposed by the invention will be by merging navigation subsystem multi-sensor data
Information cleans the information such as working conditions, battery capacity value and the environmental parameter such as subsystem and rubbish concentration discharge subsystem, according to
It plans the path optimizing and clean task that subsystem provides, it is clear that rubbish is timely and effectively completed in a manner of the automatic Pilot of auto-navigation
It sweeps and concentrates the functions such as emission treatment.Meanwhile a kind of auto-navigation purging system proposed by the invention has in host computer and hand
Machine or other mobile device terminals APP implement the functions such as manual dispatching and monitoring.
The magnetic wire/wireless/photovoltaic charged subsystem include charging plug be magnetic auxiliary wired charging device,
The radio induction charging device of automatic centering, photovoltaic charging unit and in relation to the functions such as measure voltage & current and protection.
Preferably, a kind of auto-navigation purging system proposed by the invention works in outdoor environment, then photovoltaic is selected
The main application mode that charging unit is supplied as systematic electricity.
The audible and visual alarm subsystem include timing used by a kind of auto-navigation purging system proposed by the invention and
(or) light-operated LED exterior contour indicator light, front and back indication lamp for vehicle running, brake indicating lamp and failure and alarm indicator etc..When
Mentioned auto-navigation subsystem, which detects, will timely and effectively issue the announcement such as acousto-optic when nearby having mobile object close or other biological
Alert information, and the speed and traffic direction of the good automated driving system of timely adjustment, so that a kind of auto-navigation proposed by the present invention is clear
The system of sweeping can be safely operated, to be effectively prevented from generation injury accident.
The voice broadcast subsystem includes power amplifier and audio device etc..It can not only play automatically proposed by the invention
A kind of startup self-detection information of auto-navigation purging system, pre- standby prompt, environmental parameter (temperature and humidity and certain gas contents) value,
State of charge, System production time, fault warning information, object can receive host computer and mobile phone close to caveat etc.
Or the information that APP of other mobile device terminals etc. sets and sends over, such as weather forecast, red-letter day blessing and other prompt letters
The contents such as breath.
Environmental parameter (temperature and humidity and certain gas contents) the detection subsystem uses bus type digital temperature transmitter
DS18B20 or thermocouple/thermal resistance, humidity sensor, carbon dioxide sensor, carbon monoxide transducer etc., to detect
Temperature and humidity value, the carbon dioxide of proposed by the invention a kind of auto-navigation purging system working environment and internal system key position
With carbon monoxide content etc., data of the Temperature and Humidity module reference can be not only provided for purging system self-operating, but also can be by described remote
The operating environment parameter at scene is supplied to host computer and mobile phone or other mobile device terminals by Cheng Tongxin and Monitor And Control Subsystem.This
The automatic garbage that subsystem is particularly suitable in the severe operating environments such as high temperature, the discharge of dusty and dangerous gas clean with
Concentrate emission treatment.
The telecommunication and Monitor And Control Subsystem are by using including Industrial Ethernet, WIFI, 5G, narrowband Internet of Things (NB-
) etc. IoT the communication pattern including positions skill by the various sensor data informations fusion of mentioned navigation subsystem and ultra-wide band
Art, to implement between a kind of auto-navigation purging system proposed by the invention and host computer and mobile phone or other mobile device terminals
Data interaction, make this system not only and can automatically execute refuse sweeping and concentrate the tasks such as emission treatment, and can pass through
Host computer and mobile phone or other mobile device terminals etc. artificially carry out task arrangement and monitoring, so that the job control of this system
Mode is more flexible, conveniently.
A kind of auto-navigation purging system proposed by the invention has self-navigation, automatic garbage cleaning, automatic garbage collection
Middle discharge, autotask planning, automatic Pilot, automatic charging, automatic acousto-optic alarm, automatic information broadcast, automatic environmental parameter
The functions such as (temperature and humidity and certain gas contents) detection, telecommunication and monitoring.Presently relevant cleaning hilllock can be efficiently solved
Generally existing hand labor is dangerous in the severe operating environment such as position, especially high temperature, the discharge of dusty and dangerous gas
And inefficiency, recruitment cost are high and machine purging system has a single function, needs that manual intervention, there are security risk etc. is all more instantly
More problems.
Detailed description of the invention
A kind of auto-navigation purging system overall structure schematic block diagram that Fig. 1 is proposed by the embodiment of the present invention.
A kind of navigation subsystem block diagram for auto-navigation purging system that Fig. 2 is proposed by the embodiment of the present invention.
A kind of cleaning subsystem diagram for auto-navigation purging system that Fig. 3 is proposed by the embodiment of the present invention.
A kind of rubbish for auto-navigation purging system that Fig. 4 is proposed by the embodiment of the present invention concentrates discharge subsystem diagram.
A kind of planning subsystem diagram for auto-navigation purging system that Fig. 5 is proposed by the embodiment of the present invention.
A kind of motor driven for auto-navigation purging system that Fig. 6 is proposed by the embodiment of the present invention tests the speed and controls subsystem
System block diagram.
A kind of automatic Pilot subsystem diagram for auto-navigation purging system that Fig. 7 is proposed by the embodiment of the present invention.
The magnetic wired charging of auto-navigation purging system that Fig. 8 is proposed by the embodiment of the present invention a kind of, wireless charging and
Photovoltaic charged subsystem diagram.
A kind of audible and visual alarm subsystem diagram for auto-navigation purging system that Fig. 9 is proposed by the embodiment of the present invention.
A kind of voice broadcast subsystem diagram for auto-navigation purging system that Figure 10 is proposed by the embodiment of the present invention.
Environmental parameter (temperature and humidity and the certain gas for a kind of auto-navigation purging system that Figure 11 is proposed by the embodiment of the present invention
Body content) detection subsystem.
The telecommunication and Monitor And Control Subsystem frame for a kind of auto-navigation purging system that Figure 12 is proposed by the embodiment of the present invention
Figure.
Specific embodiment
Below in conjunction with above-mentioned 1 ~ Figure 12 of attached drawing embodiment, to a kind of skill of auto-navigation purging system proposed by the invention
Art embodiment is done with described in further detail.It should be noted that technology described in following implementer's case is real
It applies mode and non-fully represents all technical embodiments proposed by the present invention.Moreover, the technical embodiment be only with
Some or some aspects proposed in above-mentioned 1 ~ Figure 12 of attached drawing and the embodiment of the present invention similar or identical embodiment and side
The representative case of formula.
Fig. 1 is a kind of one embodiment overall structure that auto-navigation purging system the provides signal proposed according to the present invention
Block diagram, each section subsystem is respectively as shown in Fig. 2 ~ Figure 12, comprising: and navigation subsystem as shown in Figure 2 is more by using merging
A ultrasonic sensor, infrared sensor, differential GPS antenna, laser radar, electronic compass and ultra wideband location techniques etc.,
Guarantee that ultrasonic distance detection, infrared biology judgement, spatial position identification and directional perception, moving object anticipation and ultra wide band are fixed
Effective implementation of the functions such as position technology, not only can be as shown in Figure 7 certainly for a kind of auto-navigation purging system proposed by the invention
The dynamic subsystem that drives provides crucial, reliable data information, completes the auto-navigation and Function for Automatic Pilot of this purging system conscientiously,
And traditional artificial driving sweeping machine can be effectively prevented from because there are the hazardous accidents that blind area is caused.
Subsystem is cleaned as shown in Figure 3, by using the clearing apparatus on two sides of the bottom ground, rear side absorbent brush and dust suction storehouse
Device, sprinkling device for reducing dust etc., plan referring to Figure 5 driving path, garbage emission that subsystem provides, sprinkling depositing dust, from
The task scheme of the optimizations such as dynamic charging, timely and effectively completes refuse sweeping function, makes a kind of auto-navigation proposed by the invention
Purging system can especially be automatically performed in the severe operating environment regions such as high temperature, the discharge of dusty and dangerous gas clear
Sweep task.
Rubbish as shown in Figure 4 concentrates discharge subsystem, according to the status informations such as dust suction holding capacity of bin in the present embodiment, according to figure
The optimization task scheme that planning subsystem shown in 5 provides, in time by using devices such as baffle push and limit switches, in time
The rubbish in dust suction storehouse is effectively subjected to concentration emission treatment, it is ensured that a kind of auto-navigation purging system proposed by the invention is outstanding
It can timely and effectively complete refuse sweeping in region dusty and concentrate the core missions such as emission treatment.
Planning subsystem as shown in Figure 5, will according to Fig.2, navigation subsystem, cleaning subsystem shown in Fig. 3, shown in Fig. 4
Rubbish concentrates magnetic wire/wireless/photovoltaic charged subsystem shown in discharge subsystem, Fig. 8, telecommunication and monitoring shown in Figure 12
The system actual working state that subsystem etc. detects effectively prescribes a kind of auto-navigation purging system institute proposed by the invention
The tasks such as the driving path planning, refuse sweeping planning, rubbish concentration emission treatment planning and the charging planning that need, to ensure this hair
A kind of bright proposed auto-navigation purging system completes auto-navigation with optimal programme of work and cleans task.
As shown in Figure 6 motor driven tests the speed and control subsystem, will planning subsystem optimization according to Fig.5, task
Allocation plan cleans brush drive motor to four-wheel drive running motor, two sides of the bottom, rear side cleans brush drive motor, dust suction electricity
Machine, sprinkling depositing dust motor, garbage emission motor etc. control effectively, to timely and effectively complete proposed by the invention one
Each section motion control function of kind auto-navigation purging system.As a preferred embodiment, when a kind of auto-navigation purging system
When applied in the severe operating environments such as high temperature, the discharge of dusty and dangerous gas, used traveling uses four-wheel drive
Metal wheel resistant to high temperature should be installed on electric machine main shaft, it is possible to further using the special Mecanum metal wheel of contour structures,
With the combination control of all directions such as the front, rear, left and right that are efficiently completed in this purging system driving direction.As a kind of excellent
The assembled scheme of choosing concentrates emission treatment driving electricity by using sprinkling depositing dust motor (water pump and its sprinkling water tank) and rubbish
The devices such as machine make a kind of auto-navigation purging system proposed by the invention more particularly in high temperature, dusty and dangerous gas
Automatic garbage is timely and effectively completed in the severe operating environment such as body discharge to clean and concentrate the functions such as emission treatment.
Automatic Pilot subsystem as shown in Figure 7, by according to the programme of work after the optimization of planning subsystem shown in Fig. 5, according to
The multi-sensor data information and ultra wideband location techniques of the fusion of navigation subsystem shown in Fig. 2, each driving motor shown in control figure 6
A kind of auto-navigation purging system proposed by the invention is safely and reliably completed in a manner of unmanned automatic driving when working normally
Operation control function.Assembled scheme as one preferred, a kind of auto-navigation purging system proposed by the invention have as
The operation of host computer shown in Figure 12 monitoring and on mobile phone or other mobile device terminals by the progress such as APP software remotely or just
The functions such as the control of ground manual dispatching mode.Assembled scheme as one preferred, a kind of auto-navigation proposed by the invention are clear
The system of sweeping includes behaviour control and emergency brake brake apparatus of normal automatic Pilot etc..
Magnetic wire/wireless/photovoltaic charged subsystem as shown in Figure 8 formulates planning subsystem according to Fig.5, most
Excellent programme of work, use wired charging device/automatic centering radio induction charging device of magnetic auxiliary charging plug etc. for
A kind of auto-navigation purging system proposed by the invention provides reliable power supply.Assembled scheme as one preferred, this
It invents a kind of auto-navigation purging system embodiment proposed to work in outdoor environment, can be filled by adding photovoltaic
One of the working method that electric installation is supplied as systematic electricity.
Audible and visual alarm subsystem as shown in Figure 9, the multi-sensor data information of navigation subsystem according to Fig.2, is merged
As a result and ultra wideband location techniques, using include timing and (or) light-operated LED exterior contour indicator light, front and back driving instruction
Lamp, brake indicating lamp and fault warning indicator light etc. make near a kind of auto-navigation purging system proposed by the invention detects
Have mobile object or other biological close to when can in time issue the information such as audible and visual alarm, and pass through automatic Pilot shown in Fig. 7
Subsystem adjusts travel speed and the direction of system in time, not only may insure the safe and reliable operation of this system, but also can have
Avoid a kind of auto-navigation purging system proposed by the invention that injury accident occurs to effect.
Voice broadcast subsystem as shown in Figure 10, by using including devices such as power amplifier and sound equipments: after the completion of booting certainly
Dynamic broadcasting system startup self-detection information；The standby prompt information of broadcasting system when standby mode will be entered；In normal work certainly
Dynamic casting environmental parameter (temperature and humidity and certain gas contents), system charge, working time/fault warning information, object have leaned on
Nearly caveat etc..Assembled scheme as one preferred, a kind of auto-navigation purging system proposed by the invention are next when receiving
Pass through APP software from the host computer and mobile phone of telecommunication as shown in figure 12 and Monitor And Control Subsystem or other mobile device terminals
The information of equal settings, such as weather forecast, red-letter day blessing and other prompt informations, the present embodiment can be broadcasted automatically for information about
Content.
Environmental parameter (temperature and humidity and certain gas contents) as shown in figure 11 detects subsystem, by using bus type number
Temperature transmitter DS18B20 and thermocouple/thermal resistance, humidity sensor, carbon dioxide sensor, carbon monoxide transducer etc.,
Automatically detect proposed by the invention a kind of auto-navigation purging system operating environment and internal system key position temperature and humidity value,
The gas content to be measured such as carbon dioxide and carbon monoxide, to provide environmental parameter for the auto-navigation purging system.Meanwhile it can also
The data such as the environmental parameter of working site to be supplied in time by telecommunication as shown in figure 12 and Monitor And Control Subsystem
Position machine and mobile phone or other mobile device terminals, this preferred assembled scheme are particularly suitable for high temperature, dusty and dangerous
Refuse sweeping and concentration emission treatment in the severe operating environment such as gas discharge.
Telecommunication as shown in figure 12 and Monitor And Control Subsystem, by based on including Industrial Ethernet, WIFI, 5G, protenchyma
Communication pattern including networking (NB-IoT) etc., will be by (warm and humid to environmental parameter shown in navigation subsystem shown in Fig. 2 and Figure 11
Degree and certain gas contents) the obtained multi-sensor data information fusion of detection subsystem, it is sent to host computer prison in time
Control system and mobile phone or other mobile device terminals, effectively to ensure a kind of auto-navigation purging system proposed by the invention not
Refuse sweeping can only be autonomously carried out and concentrate the tasks such as emission treatment, and can by host computer and mobile phone or other
The APP software of mobile device terminal carries out remotely-or locally manual work distribution and monitoring, so that one kind proposed by the invention
The operation control manner of auto-navigation purging system is more flexible, conveniently, efficiently, reliably.
Claims (12)
1. a kind of auto-navigation purging system characterized by comprising navigation subsystem；Clean subsystem；Rubbish concentrates discharge
System；Plan subsystem；Motor driven tests the speed and control subsystem；Automatic Pilot subsystem；Magnetic wire/wireless/photovoltaic fills
Electronic system；Audible and visual alarm subsystem；Voice broadcast subsystem；Environmental parameter (temperature and humidity and carbon dioxide, CO gas
Content) detection subsystem；Telecommunication and Monitor And Control Subsystem.
2. a kind of auto-navigation purging system according to claim 1, which is characterized in that navigation subsystem further includes multiple super
Sonic sensor, infrared sensor, differential GPS antenna, laser radar, electronic compass and ultra wideband location techniques, by melting
It closes and states each sensor data information and ultra wideband location techniques, it is clear for completing a kind of auto-navigation that claim 1 is proposed
Ultrasonic distance detection, infrared biology judgement, spatial position and the functions such as directional perception and moving object anticipation of system are swept, really
The Function for Automatic Pilot for protecting a kind of auto-navigation purging system proposed by claim 1, which provides reliable multi-sensor data, to be believed
Breath fusion.
3. a kind of auto-navigation purging system according to claim 1, which is characterized in that cleaning subsystem further includes bottom two
Side ground swe eper, rear side absorbent brush and dust suction bin device, sprinkling device for reducing dust, are proposed for completing claim 1
The key functions such as a kind of automatic cleaning of auto-navigation purging system, dust suction, sprinkling depositing dust.
4. a kind of auto-navigation purging system according to claim 1, which is characterized in that rubbish concentrates discharge subsystem also to wrap
Baffle push and limit switch are included, for completing a kind of dust suction holding capacity of bin for auto-navigation purging system that claim 1 is proposed
Status information monitoring, Automatic Optimal simultaneously execute rubbish concentration emission treatment function.
5. a kind of auto-navigation purging system according to claim 1, which is characterized in that planning subsystem further includes auto-navigation
Path planning cleans mission planning, rubbish concentration discharge planning and charging planning, one proposed for completing claim 1
The multi-sensor information fusion of kind auto-navigation purging system, to realize that cleaning path optimization, cleaning mission planning, rubbish are concentrated and arranged
Put the tasks such as planning, battery level information on-line monitoring and the management of automatic charging opportunity.
6. a kind of auto-navigation purging system according to claim 1, which is characterized in that motor driven tests the speed and controls son
System further include traveling four-wheel drive motor, two sides of the bottom clean brush drive motor, rear side clean brush motor, dust sucting motor,
The drive control and speed/positional detection for spraying depositing dust motor, garbage emission motor etc., are proposed for completing claim 1
A kind of auto-navigation purging system motion control involved in the functions such as traveling, cleaning, dust suction, discharge, sprinkling, meanwhile, adopt
With the four-wheel drive motor of Mecanum metal wheel resistant to high temperature cooperation traveling, it is directly realized by multiple sides such as front, rear, left and right
To combination operate control, be allowed to especially can be effectively automatically performed in high temperature, operating environment dusty refuse sweeping with
Concentrate discharge task.
7. a kind of auto-navigation purging system according to claim 1, which is characterized in that automatic Pilot subsystem further includes just
The often behaviour control of automatic Pilot and the braking device under emergency rating when work pass through the more of fusion claim 2
Sensor data information, claim 3 clean subsystem and claim 4 rubbish concentrates discharge subsystem state information, and
Battery capacity value and environmental parameter, the path optimizing provided according to claim 5 planning subsystem and cleaning task, with auto-navigation
Automatic Pilot mode timely and effectively complete the automatic Pilot function of auto-navigation purging system that claim 1 is proposed a kind of
Energy.
8. a kind of auto-navigation purging system according to claim 1, which is characterized in that magnetic wire/wireless/photovoltaic charged
Subsystem further includes radio induction charging device, the sun that charging plug is the wired charging device of magnetic auxiliary, automatic centering
The photovoltaic charged device of energy and detection and protection in relation to voltage, electric current, a kind of auto-navigation proposed to complete claim 1
The automatic charging function of purging system.
9. a kind of auto-navigation purging system according to claim 1, which is characterized in that audible and visual alarm subsystem further includes fixed
When and (or) light-operated LED exterior contour indicator light, front and back indication lamp for vehicle running, brake indicating lamp and failure and alarm indicator,
To complete a kind of accusing to the acousto-optic for moving about object and other biological for auto-navigation purging system that claim 1 is proposed
It is alert, meanwhile, by claim 7 automatic Pilot subsystem controls travel speed and traffic direction, transported with the safety of safeguards system
Row.
10. a kind of auto-navigation purging system according to claim 1, which is characterized in that voice broadcast subsystem further includes
Power amplifier and audio device, to complete a kind of auto-navigation purging system that claim 1 is proposed startup self-detection information, in advance to
Machine prompt, environmental parameter (temperature and humidity and certain gas contents) value, state of charge, System production time, fault warning information, object
Body close to caveat etc. voice broadcast, meanwhile, receive and broadcast host computer and mobile phone or other mobile device terminals APP etc. and set
Weather forecast, red-letter day blessing and other prompt informations determined and sended over.
11. a kind of auto-navigation purging system according to claim 1, which is characterized in that environmental parameter (temperature and humidity and certain
Gas content) detection subsystem further include bus type digital temperature transmitter DS18B20, thermocouple/thermal resistance, humidity sensor
Device, carbon dioxide sensor, carbon monoxide transducer, a kind of auto-navigation purging system proposed to complete claim 1
Working environment and internal system key position temperature and humidity value, carbon dioxide and carbon monoxide content etc. detection, to clean
System self-operating and telecommunication and Monitor And Control Subsystem provide operating environment parameter.
12. a kind of auto-navigation purging system according to claim 1, which is characterized in that telecommunication and Monitor And Control Subsystem
Further include the communication patterns such as Industrial Ethernet, WIFI, 5G, narrowband Internet of Things (NB-IoT), is proposed to complete claim 1
A kind of auto-navigation purging system the data interaction between host computer and mobile phone or other mobile device terminals so that should
A kind of auto-navigation purging system not only can automatically execute refuse sweeping and concentrate discharge task, but also can pass through host computer and hand
Machine or other mobile device terminals etc. artificially carry out task arrangement and monitoring.
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| CN201910540057.3A CN110286678A (en) | 2019-06-21 | 2019-06-21 | A kind of auto-navigation purging system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110924345A (en) * | 2019-12-05 | 2020-03-27 | 武汉理工大学 | Intelligent operation system of pure electric unmanned environmental sanitation cleaning and sweeping vehicle |
| CN111596671A (en) * | 2020-06-23 | 2020-08-28 | 青岛科技大学 | Unmanned intelligent sweeper track tracking control method and system |
-
2019
- 2019-06-21 CN CN201910540057.3A patent/CN110286678A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110924345A (en) * | 2019-12-05 | 2020-03-27 | 武汉理工大学 | Intelligent operation system of pure electric unmanned environmental sanitation cleaning and sweeping vehicle |
| CN111596671A (en) * | 2020-06-23 | 2020-08-28 | 青岛科技大学 | Unmanned intelligent sweeper track tracking control method and system |
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