CN110989591A - Sanitation robot for performing auxiliary operation control based on road edge identification - Google Patents
Sanitation robot for performing auxiliary operation control based on road edge identification Download PDFInfo
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- CN110989591A CN110989591A CN201911211430.7A CN201911211430A CN110989591A CN 110989591 A CN110989591 A CN 110989591A CN 201911211430 A CN201911211430 A CN 201911211430A CN 110989591 A CN110989591 A CN 110989591A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
- E01H1/00—Removing undesirable matter from roads or like surfaces, with or without moistening of the surface
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0253—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
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- G—PHYSICS
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- 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
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- Radar, Positioning & Navigation (AREA)
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Abstract
The invention discloses a sanitation robot for performing auxiliary operation control based on road edge identification. The sanitation robot for performing auxiliary operation control based on the road edge identification comprises a line control chassis and an auxiliary operation control system, wherein the line control chassis is used for driving the sanitation robot to walk, turn or brake, and the auxiliary operation control system is used for automatically identifying the road edge and controlling the working state of the line control chassis based on the identification result. According to the sanitation robot for performing auxiliary operation control based on road edge identification, the road edge is automatically identified, the working state of the drive-by-wire chassis is controlled according to the identification result, human eye observation and experience judgment of a driver are not needed, the judgment accuracy is high, the risks of collision and damage of sanitation equipment are greatly reduced, the driver only needs to pay attention to road traffic safety, and the driving safety of the sanitation robot is improved.
Description
Technical Field
The invention relates to the technical field of sanitation robots, in particular to a sanitation robot for performing auxiliary operation control based on road edge identification.
Background
The existing sanitation equipment advances along the road edge during operation, a certain distance must be kept between the equipment and the road edge, the distance between the equipment and the road edge is usually judged by a driver through human eye observation and experience, the judgment accuracy is poor, and the sanitation equipment has risks of collision and damage.
Disclosure of Invention
The invention provides a sanitation robot for performing auxiliary operation control based on road edge identification, and aims to solve the technical problem of poor judgment accuracy in the prior sanitation equipment operation by adopting human eye observation and experience to judge the distance between equipment and a road edge.
According to one aspect of the invention, a sanitation robot for auxiliary operation control based on road edge identification is provided, which comprises
The wire control chassis is used for driving the sanitation robot to walk, turn or brake,
and the auxiliary operation control system is used for automatically identifying the road edge and controlling the working state of the drive-by-wire chassis based on the identification result.
Further, the auxiliary work control system includes
The detection device is used for detecting the height of a road edge in front of the sanitation robot;
and the intelligent control module is used for controlling the wire control chassis to drive the sanitation robot to walk, turn or brake according to the detection result of the detection device.
Further, the sanitation robot for performing auxiliary operation control based on the road edge identification further comprises a cab arranged at the front end above the drive-by-wire chassis;
detection device is including setting up high laser range finder and the low level laser range finder on the driver's cabin front face, high laser range finder is used for detecting the height value of a certain check point on the road edge plane, low laser range finder is used for detecting the height value of a certain check point on the road surface, and the line of two check points is perpendicular with the road surface, intelligent control module judges the continuity difference of two height values, and whether analysis road edge height is in the tolerance scope, if road edge height is not in the tolerance scope, then intelligent control module control drive-by-wire chassis stops to order about sanitation robot walking and brake.
Further, the auxiliary work control system further comprises
The system comprises a front laser range finder arranged at the front end of the right side of the sanitation robot and a rear laser range finder arranged at the rear end of the right side of the sanitation robot, wherein the front laser range finder is used for detecting the distance between the front end of the sanitation robot and a road edge in real time, and the rear laser range finder is used for detecting the distance between the rear end of the sanitation robot and the road edge in real time;
the intelligent control module is also used for comparing the detection results of the front side laser range finder and the rear side laser range finder with the safe distance when the road edge height is within the tolerance range, analyzing whether the difference value between the detection result of the front side laser range finder and the safe distance and the difference value between the detection result of the rear side laser range finder and the safe distance are within the allowable range or not, and correspondingly controlling the steer-by-wire chassis or the straight running according to the analysis result.
Further, if the difference value between the detection result of the front laser range finder and the safe distance and the difference value between the detection result of the rear laser range finder and the safe distance are both within an allowable range, the sanitation robot is judged to be flush with the road edge, the intelligent control module judges whether the steering wheel assembly of the wire control chassis returns or not, if so, the intelligent control module controls the wire control chassis to drive the sanitation robot to keep linear driving operation, and if not, the intelligent control module controls the steering wheel assembly of the wire control chassis to return and then controls the wire control chassis to drive the sanitation robot to linearly drive operation;
if the difference value between the detection result of the front laser range finder and the safe distance and the difference value between the detection result of the rear laser range finder and the safe distance both exceed the allowable range, and the detection values of the front laser range finder and the rear laser range finder are both greater than the safe distance value, the whole sanitation robot is judged to be away from the road edge, the intelligent control module controls the wire control chassis to drive the sanitation robot to turn and advance towards the side of the road edge, after the sanitation robot is detected to be level with the road edge, the intelligent control module judges whether a steering wheel assembly of the wire control chassis returns or not at first, if so, the intelligent control module controls the wire control chassis to drive the sanitation robot to keep straight-line running operation, and if not, the intelligent control module controls the steering wheel assembly of the wire control chassis to return and then controls the wire control chassis to drive the sanitation robot to straight-line running operation;
if the difference value between the detection result of the front laser range finder and the safe distance is within the allowable range, and the difference value between the detection result of the rear laser range finder and the safe distance exceeds the allowable range, and the detection value of the rear laser range finder is greater than the safe distance value, the rear end of the sanitation robot is judged to be far away from the road edge, the intelligent control module controls the wire control chassis to drive the sanitation robot to turn and advance towards the side far away from the road edge, after the sanitation robot is detected to be level with the road edge, the intelligent control module judges whether a steering wheel assembly of the wire control chassis returns or not, if so, the intelligent control module controls the wire control chassis to drive the sanitation robot to keep straight-line running operation, and if not, the intelligent control module controls the steering wheel assembly of the wire control chassis to return and then controls the chassis to drive the sanitation robot to straight-line running operation;
if the difference value between the detection result of the front laser range finder and the safe distance exceeds the allowable range, and the difference value between the detection result of the rear laser range finder and the safe distance is within the allowable range, and the detection value of the front laser range finder is larger than the safe distance value, the front end of the sanitation robot is judged to be far away from the road edge, the intelligent control module controls the drive-by-wire chassis to drive the sanitation robot to turn to the side of the road edge and move forward, after the sanitation robot is detected to be flush with the road edge, the intelligent control module judges whether a steering wheel assembly of the drive-by-wire chassis returns or not, if so, the intelligent control module controls the drive-by-wire chassis to drive the sanitation robot to keep straight-line running operation, and if not, the intelligent control module controls the steering wheel assembly of the drive-by-wire chassis to return and then controls the drive-by-wire chassis to drive.
Furthermore, the auxiliary operation control system further comprises an alarm arranged in the cab, and the intelligent control module is further used for controlling the alarm to give an alarm prompt when the road edge height is not within the tolerance range.
Furthermore, the line control chassis is provided with a hydraulic braking system, and the hydraulic braking system comprises an artificial braking system and a line control braking system;
the manual brake system comprises a brake pedal, a master cylinder, a first one-way valve and a second one-way valve, wherein the brake pedal is connected with the master cylinder to transmit manpower to the master cylinder to form oil pressure, the master cylinder is communicated with an oil can, the master cylinder is also communicated with a front wheel brake cylinder and a rear wheel brake cylinder through pipelines to respectively convey hydraulic oil to the front wheel brake cylinder and the rear wheel brake cylinder to realize braking, the first one-way valve is arranged on the pipeline communicated with the front wheel brake cylinder, and the second one-way valve is arranged on the pipeline communicated with the rear wheel brake cylinder;
the brake-by-wire system comprises a motor, an oil pump, a third one-way valve and a fourth one-way valve, wherein the motor is respectively connected with a brake motor controller and the oil pump on a chassis by-wire and used for driving the oil pump under the control of the brake motor controller, the oil pump is communicated with an oil pot, the oil pump is also respectively communicated with a front wheel brake cylinder and a rear wheel brake cylinder through pipelines so as to respectively convey hydraulic oil to the front wheel brake cylinder and the rear wheel brake cylinder to realize braking, the third one-way valve is arranged on the pipeline communicated with the front wheel brake cylinder, and the fourth one-way valve is arranged on the pipeline communicated with the rear wheel brake cylinder.
Furthermore, the sanitation robot for performing auxiliary operation control based on the road edge identification further comprises an upper mounting system, a suction nozzle and a cleaning device;
the upper system is arranged above the line control chassis and comprises
The garbage bin is used for storing garbage;
the fan is communicated with the garbage can and is used for generating negative pressure in the garbage can and the suction nozzle;
the hydraulic system is used for providing hydraulic power;
the electric control system is used for controlling the working state of the sanitation robot;
the suction nozzle is arranged at the lower part of the front end of the wire control chassis, is communicated with the garbage can and is used for sucking road garbage into the garbage can;
the cleaning device is arranged on the wire control chassis and positioned in front of the suction nozzle and used for cleaning the road garbage to the front of the suction nozzle.
Further, the suction nozzle includes the suction nozzle body, opening regulating plate, electric putter, tuber pipe and link mechanism, the suction nozzle body passes through link mechanism and installs on the drive-by-wire chassis, electric putter installs on the suction nozzle body and is connected with the opening regulating plate, the opening regulating plate is located the front portion of suction nozzle body, the tuber pipe communicates with dustbin and suction nozzle body respectively, electric putter still is connected with electrical control system, electric putter can stretch out and draw back in order to promote the upset of opening regulating plate under electrical control system's control to adjust the anterior opening size of suction nozzle body.
Further, the garbage can comprises a cover plate, a framework, a fan air inlet, a main suction pipe, a fan cover and a garbage storage box, wherein the cover plate, the fan cover and the garbage storage box are all installed on the framework, the cover plate is arranged on the left side and the right side and on the upper portion of the garbage storage box, the main suction pipe is installed on the side wall of the garbage storage box and used for sucking road surface garbage into the garbage storage box, the fan cover is located at the top of the garbage storage box and used for carrying out garbage settlement on air flow carrying the garbage sucked by the main suction pipe, the fan air inlet is installed on the side wall of the garbage storage box and used for being connected with a fan, and the fan air inlet is communicated with the inside of the.
The invention has the following beneficial effects:
according to the sanitation robot for performing auxiliary operation control based on road edge identification, the road edge is automatically identified, the working state of the drive-by-wire chassis is controlled according to the identification result, human eye observation and experience judgment of a driver are not needed, the judgment accuracy is high, the risks of collision and damage of sanitation equipment are greatly reduced, the driver only needs to pay attention to road traffic safety, and the driving safety of the sanitation robot is improved.
In addition to the objects, features and advantages described above, other objects, features and advantages of the present invention are also provided. The present invention will be described in further detail below with reference to the drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a right side schematic view of a sanitation robot for performing auxiliary work control based on road edge recognition according to a preferred embodiment of the present invention.
Fig. 2 is a schematic front side structure view of a sanitation robot for performing auxiliary work control based on road edge recognition according to a preferred embodiment of the present invention.
Fig. 3 is a first schematic diagram of the sanitation robot for performing auxiliary operation control based on the road edge identification according to the preferred embodiment of the invention.
Fig. 4 is a schematic diagram of the sanitation robot for performing auxiliary work control based on the road edge recognition to perform the road edge recognition according to the preferred embodiment of the present invention.
FIG. 5 is a schematic diagram of the hydraulic brake system on the drive-by-wire chassis of FIG. 1 in accordance with a preferred embodiment of the present invention.
Fig. 6 is a schematic structural view of the trash can of fig. 1 according to the preferred embodiment of the present invention.
Fig. 7 is a schematic view showing the internal structure of the trash can of the preferred embodiment of the present invention with the top and left side cover plates removed.
Fig. 8 is a schematic view of the overall airflow path inside the trash can of the preferred embodiment of the present invention.
Fig. 9 is a schematic view showing the flow path of the air flow in the trash can before the air flow enters the filter net according to the preferred embodiment of the present invention.
Fig. 10 is a schematic view showing the flow path of the air flow after the air flow in the trash bin enters the filter net according to the preferred embodiment of the present invention.
Fig. 11 is a cross-sectional view schematically illustrating the structure of the inclined guide plate and the flow path of the ambient air flow in the trash bin according to the preferred embodiment of the present invention.
FIG. 12 is a schematic view of the partition in the partition receiving assembly on the trash can of the preferred embodiment of the present invention moved to the connection of the main suction pipe and the suction nozzle.
Fig. 13 is a schematic view showing a garbage can according to a preferred embodiment of the present invention performing a garbage suction operation by connecting the sub suction pipe to the auxiliary suction pipe.
FIG. 14 is a schematic view of the construction of the suction nozzle of FIG. 1 in accordance with a preferred embodiment of the present invention.
FIG. 15 is a schematic view of the suction nozzle of the preferred embodiment of the present invention sucking up large pieces of trash.
Description of the reference numerals
1. A drive-by-wire chassis; 2. a cab; 3. installing a system; 4. a dustbin; 5. an auxiliary work control system; 6. a suction nozzle; 7. a cleaning device; 51. a high laser rangefinder; 52. a low level laser rangefinder; 53. an intelligent control module; 54. a front side laser range finder; 55. a rear laser range finder; 56. an alarm; 41. a cover plate; 42. a framework; 43. a side door; 44. an auxiliary straw; 45. an air inlet of the fan; 46. a partition receiving assembly; 47. a first filter screen; 48. an inclined guide plate; 49. a main straw; 410. a fan housing; 411. a second filter screen; 412. a water tank; 413. a discharge door; 414. a separation plate; 415. a trash storage bin; 416. a partition plate; 11. a brake pedal; 12. a master cylinder is braked; 13. a first check valve; 14. a second one-way valve; 15. a motor; 16. an oil pump; 17. a proportional pressure control valve; 18. a third check valve; 19. a fourth check valve; 110. a front wheel brake cylinder; 111. a rear wheel brake cylinder; 112. a pressure sensor; 113. an oil can; 61. a suction nozzle body; 62. an opening adjusting plate; 63. an electric push rod; 64. an air duct; 65. a link mechanism; 66. a material blocking device.
Detailed Description
The embodiments of the invention will be described in detail below with reference to the accompanying drawings, but the invention can be embodied in many different forms, which are defined and covered by the following description.
As shown in fig. 1 and 2, a preferred embodiment of the present invention provides a sanitation robot for performing auxiliary work control based on curb identification, which includes a chassis-by-wire 1 and an auxiliary work control system 5, the chassis-by-wire 1 is communicatively connected to drive the sanitation robot to walk, steer or brake, and the auxiliary work control system 5 is configured to automatically identify a curb and control a working state of the chassis-by-wire 1 based on an identification result. For example, the auxiliary work control system 5 may identify a road edge and correspondingly control the drive-by-wire chassis 1 to drive the sanitation robot to walk, turn or brake according to the identification result.
In this embodiment, the sanitation robot performing auxiliary operation control based on road edge identification automatically identifies the road edge and controls the working state of the drive-by-wire chassis 1 according to the identification result, so that human eye observation and experience judgment of a driver are not needed, the judgment accuracy is high, the risks of collision and damage of sanitation equipment are greatly reduced, the driver only needs to pay attention to road traffic safety, and the driving safety of the sanitation robot is improved.
Specifically, the drive-by-wire chassis 1 includes a steering wheel assembly, a brake pedal, an accelerator pedal, a sensor assembly, a traveling motor controller, a traveling motor, a brake motor controller, a brake motor, a steering motor controller, a steering motor, a front wheel assembly, a rear wheel assembly, a frame, a suspension assembly, a chassis electric control system, and the like, wherein specific connection relationships and functions of the components are the same as those of the existing drive-by-wire chassis, and thus, the description thereof is omitted.
In addition, the sanitation robot further comprises an upper loading system 3, a suction nozzle 6 and a cleaning device 7, wherein the upper loading system 3 is arranged above the wire control chassis 1 and comprises a garbage can 4, an auxiliary suction pipe, a fan, a hydraulic system, an electric control system, a high-pressure water path and the like, and the garbage can 3 comprises a garbage can, an auxiliary suction pipe, a fan, a hydraulic system, an electric control system, a high-pressure water path and the like
The garbage can 4 is used for storing garbage, and the garbage can 4 can be integrally tilted for discharging;
the auxiliary suction pipe is communicated with the garbage can 4 and is used for manually collecting garbage in a special area;
the fan is communicated with the garbage can 4 and is used for generating negative pressure in the garbage can 4 and the suction nozzle 6;
a hydraulic system for providing hydraulic power, such as driving the movement of the components of the waste bin 4, the cleaning device 7, the suction nozzle 6, etc.;
the electric control system is used for controlling the working state of the sanitation robot, such as the unloading, lifting and descending of the garbage can 4, the starting and stopping of a fan, the lifting, swinging and contraction of the cleaning device 7, the lifting of the suction nozzle 6, the starting and stopping of a hydraulic system and the like, and mainly comprises a motor driver, an electric controller, a fan driving motor, a hydraulic pump driving motor, an electric cable and the like;
the high-pressure water path is used for providing high-pressure cleaning water;
the suction nozzle 6 is arranged at the lower part of the front end of the drive-by-wire chassis 1, is communicated with the dustbin 4 and is used for sucking road garbage into the dustbin 4;
the cleaning device 7 is arranged on the drive-by-wire chassis 1 and positioned in front of the suction nozzle 6, has the functions of lifting, swinging out and withdrawing, and is used for cleaning the road garbage in front of the sanitation robot and at the two sides of the sanitation robot to the front of the suction nozzle 6 so as to facilitate the suction of the suction nozzle 6.
The intelligent operation control system 5 comprises a detection device and an intelligent control module 53 which are in communication connection, the detection device is used for detecting the height of a road edge in front of the sanitation robot, the intelligent control module 53 is used for controlling the drive-by-wire chassis 1 to drive the sanitation robot to walk, turn or brake according to the detection result of the detection device, specifically, the sanitation robot further comprises a cab 2 arranged at the front end above the drive-by-wire chassis 1, the intelligent control module 53 is installed in the cab 2, the detection device comprises a high laser range finder 51 and a low laser range finder 52 arranged on the front face of the cab 2, the high laser range finder 51 is used for detecting the height of a certain detection point on a road edge plane, the low laser range finder 52 is used for detecting the height of a certain detection point on a road surface, the connection line of the two detection points is perpendicular to the road surface, the intelligent control module 53 judges whether the continuity difference of the two height values is within the analysis of the road edge height within the range, if the road edge height is not within the tolerance range, if the road edge height is not within the range, the intelligent control module 53, the intelligent control module is used for judging whether the intelligent control module 5 is used for judging whether the intelligent control system to detect the robot to drive-by using the intelligent control system, or not to detect the intelligent control system, the intelligent control module 5 is used for judging whether the robot to detect the robot to drive-to drive-by the robot to drive-by the intelligent control chassis to drive-to drive the robot to drive-to drive the robot.
If the road edge height is within the tolerance range, the intelligent control module 53 determines that the road edge has been successfully captured. The auxiliary operation control system 5 further comprises a front laser range finder 54 mounted at the front end of the right side of the sanitation robot and a rear laser range finder 55 mounted at the rear end of the right side of the sanitation robot, wherein the front laser range finder 54 is used for detecting the distance between the front end of the sanitation robot and the road edge in real time, and the rear laser range finder 55 is used for detecting the distance between the rear end of the sanitation robot and the road edge in real time. The intelligent control module 53 is further configured to compare the detection results of the front laser range finder 54 and the rear laser range finder 55 with the safety distance, analyze whether the difference between the detection result of the front laser range finder 54 and the safety distance and the difference between the detection result of the rear laser range finder 55 and the safety distance are within an allowable range, and correspondingly control the drive-by-wire chassis 1 to turn or go straight according to the analysis result. Specifically, as shown in fig. 4, if the difference between the detection value E of the front laser range finder 54 and the safe distance U and the difference between the detection value F of the rear laser range finder 55 and the safe distance U are both within the allowable range, that is, | E-U | ≦ Δ D and | F-U | ≦ Δ D, where Δ D represents an allowable deviation distance, it is determined that the sanitation robot is substantially flush with the road edge, the intelligent control module 53 first determines whether the steering wheel assembly of the drive-by-wire chassis 1 is in the middle, if so, the intelligent control module 53 controls the drive-by-wire chassis 1 to drive the sanitation robot to keep the straight-line driving operation, and if not, the intelligent control module 53 controls the steering wheel assembly of the drive-by-wire chassis 1 to be in the middle and then controls the drive-by-wire chassis 1 to drive the sanitation robot to straight-line driving operation. That is, the intelligent control module 53 sends a return signal to the chassis electronic control system of the drive-by-wire chassis 1, so as to control the steering motor to drive the steering mechanism to return, then the intelligent control module 53 sends a signal to the chassis electronic control system to drive the sanitation robot to linearly travel, and the chassis electronic control system controls the traveling motor to operate through the traveling motor controller to drive the sanitation robot to keep the sanitation robot to linearly travel in the current direction according to the preset operation speed.
If the difference between the detection value E of the front laser range finder 54 and the safe distance U and the difference between the detection value F of the rear laser range finder 55 and the safe distance U both exceed the allowable range, i.e. | E-U | > Δ D and | F-U | > Δ D, then the detection value E of the front laser detector 54 and the detection value F of the rear laser range finder 55 and the safe distance U are judged, if E is less than U and/or F is less than U, manual access is prompted, if E is greater than U and F is greater than U, the whole sanitation robot is judged to be far away from the road edge, the intelligent control module 53 controls the drive-by-wire chassis 1 to drive the sanitation robot to turn and advance to the road edge side, after the sanitation robot is detected to be level with the road edge, the intelligent control module 53 first judges whether the steering wheel assembly of the drive-by-wire chassis 1 returns, if yes, the intelligent control module 53 controls the drive-by-wire chassis 1 to drive the sanitation robot to keep straight-line, if not, the intelligent control module 53 controls the steer wheel assembly of the drive-by-wire chassis 1 to return to the center and then controls the drive-by-wire chassis 1 to drive the sanitation robot to run linearly. When the sanitation robot is wholly far away from the road edge, the intelligent control module 53 sends a signal for driving the sanitation robot to turn and advance towards the road edge side to the chassis electronic control system, the chassis electronic control system sends a control command to the steering motor controller and the walking motor controller, the steering motor is driven to act to drive the front wheel assembly to turn towards the road edge side, the turning angle is V-Lambda max (E-U and F-U), and Lambda is a turning angle turning coefficient, the walking motor is controlled to run to drive the sanitation robot to walk, when detecting that the E-U is less than or equal to the Delta D and the F-U is less than or equal to the Delta D, the sanitation robot is considered to be flush with the road edge, at the moment, the intelligent control module 53 firstly judges whether the steering wheel is in the middle, namely, the turning angle and the direction of the steering wheel assembly are detected through the sensor assembly on the drive-by-wire chassis 1, if the steering wheel assembly is detected to be not in the middle, the intelligent control module 53 sends a centering signal to the steering motor controller to control the steering motor to drive the steering mechanism to center, then the intelligent control module 53 sends a signal for driving the sanitation robot to linearly travel to the chassis electronic control system, and the chassis electronic control system controls the traveling motor to operate through the traveling motor controller to drive the sanitation robot to keep the sanitation robot to linearly travel in the current direction according to the preset operation speed.
If the difference value between the detection value E of the front laser range finder 54 and the safe distance U is in the allowable range, and the difference value between the detection value F of the rear laser range finder 55 and the safe distance U exceeds the allowable range, that is, if E-U is less than delta D and if F-U is more than delta D, then the size of the detection value F of the rear laser range finder 55 and the safe distance U is judged, if F is less than U, manual intervention is prompted, if F is more than U, the rear end of the sanitation robot is far away from the road edge, the intelligent control module 53 controls the drive-by-wire chassis 1 to drive the sanitation robot to turn and advance towards the side far away from the road edge, after the sanitation robot is detected to be level with the road edge, the intelligent control module 53 judges whether the steering wheel assembly of the drive-by-wire chassis 1 returns or not, if yes, the intelligent control module 53 controls the drive-by-wire chassis 1 to drive the sanitation robot to keep straight, if not, the intelligent control module 53 controls the steer wheel assembly of the drive-by-wire chassis 1 to return to the center and then controls the drive-by-wire chassis 1 to drive the sanitation robot to run linearly. When the rear end of the sanitation robot is far away from the road edge, the intelligent control module 53 sends a signal for driving the sanitation robot to turn and advance towards the side far away from the road edge to the chassis electronic control system, the chassis electronic control system sends a control command to the steering motor controller and the walking motor controller, the steering motor is driven to act so as to drive the front wheel assembly to turn towards the side far away from the road edge, the turning angle is V lambda is a turning angle turning coefficient, the walking motor is controlled to run so as to drive the sanitation robot to walk, when detecting that the lambda is a turning angle turning coefficient is smaller than the lambda, the sanitation robot is considered to be flush with the road edge, the intelligent control module 53 firstly judges whether the steering wheel is in-back, namely, the turning angle and direction of the steering wheel assembly are detected by the sensor assembly on the chassis 1, if, the intelligent control module 53 sends a centering signal to the steering motor controller to control the steering motor to drive the steering mechanism to center, then the intelligent control module 53 sends a signal for driving the sanitation robot to linearly travel to the chassis electronic control system, and the chassis electronic control system controls the traveling motor to operate through the traveling motor controller to drive the sanitation robot to keep the sanitation robot to linearly travel in the current direction according to the preset operation speed.
If the difference value between the detection value E of the front laser range finder 54 and the safe distance U exceeds the allowable range, and the difference value between the detection value F of the rear laser range finder 55 and the safe distance U is within the allowable range, namely | E-U | > Δ D and | F-U | < Δ D, then the size of the detection value E of the front laser range finder 54 and the safe distance U is judged, if E < U, manual intervention is prompted, if E > U, the front end of the sanitation robot is judged to be far away from the road edge, the intelligent control module 53 controls the drive-by-wire chassis 1 to drive the sanitation robot to turn to the road edge side and to advance, after the sanitation robot is detected to be level with the road edge, the intelligent control module 53 judges whether the steering wheel assembly of the drive-by-wire chassis 1 returns or not, if yes, the intelligent control module 53 controls the drive-by-wire chassis 1 to drive the sanitation robot to keep running straight, if not, the intelligent control module 53 controls the steer wheel assembly of the drive-by-wire chassis 1 to return to the center and then controls the drive-by-wire chassis 1 to drive the sanitation robot to run linearly. When the front end of the sanitation robot is far away from the road edge, the intelligent control module 53 sends a signal to the chassis electronic control system to drive the sanitation robot to turn and advance towards the side close to the road edge, the chassis electronic control system sends a control command to the steering motor controller and the walking motor controller to drive the steering motor to act to drive the front wheel assembly to turn towards the road edge, the turning angle is V ═ lambda | F-U |, and lambda is a turning angle turning coefficient, and simultaneously the walking motor is controlled to operate to drive the sanitation robot to walk, when detecting that | E-U | ≦ Δ D and | F-U ≦ Δ D, the sanitation robot is considered to be flush with the road edge, at the moment, the intelligent control module 53 determines whether the steering wheel is in return or not firstly, namely, the turning angle and direction of the steering wheel assembly are detected through the sensor assembly on the drive-by-wire chassis 1, if the steering wheel assembly is not in return, the intelligent control module 53 sends a centering signal to the steering motor controller to control the steering motor to drive the steering mechanism to center, then the intelligent control module 53 sends a signal for driving the sanitation robot to linearly travel to the chassis electronic control system, and the chassis electronic control system controls the traveling motor to operate through the traveling motor controller to drive the sanitation robot to keep the sanitation robot to linearly travel in the current direction according to the preset operation speed.
It can be understood that, as shown in fig. 5, a hydraulic brake system is disposed on the chassis-by-wire 1, the hydraulic brake system includes an artificial brake system and a brake-by-wire system, the artificial brake system includes a brake pedal 11, a master cylinder 12, a first one-way valve 13 and a second one-way valve 14, the brake pedal 11 is connected with the master cylinder 12 for transmitting human power to the master cylinder 12 to form oil pressure, the master cylinder 12 is communicated with an oil can 113, the master cylinder 12 is further communicated with the front wheel brake cylinder 110 and the rear wheel brake cylinder 111 through pipelines respectively for transmitting hydraulic oil to the front wheel brake cylinder 110 and the rear wheel brake cylinder 111 respectively to realize braking, the first one-way valve 13 is disposed on a pipeline through which the master cylinder 12 is communicated with the front wheel brake cylinder 110, the second one-way valve 14 is disposed on a pipeline through which the master cylinder 12 is communicated with the rear wheel brake cylinder 111, by providing the first check valve 13 and the second check valve 14, the hydraulic oil can be prevented from flowing back into the master cylinder 12. The brake-by-wire system comprises a motor 15, an oil pump 16, a third check valve 18 and a fourth check valve 19, wherein the motor 15 is respectively connected with a brake motor controller and the oil pump 16 on the chassis 1 by wire and used for driving the oil pump 16 under the control of the brake motor controller, the oil pump 16 is communicated with an oil can 113, the oil pump 16 is also respectively communicated with a front wheel brake cylinder 110 and a rear wheel brake cylinder 111 through pipelines and used for respectively conveying hydraulic oil to the front wheel brake cylinder 110 and the rear wheel brake cylinder 111 to realize braking, the third check valve 18 is arranged on the pipeline through which the oil pump 16 is communicated with the front wheel brake cylinder 110, the fourth check valve 19 is arranged on the pipeline through which the oil pump 16 is communicated with the rear wheel brake cylinder 111, and the third check valve 18 and the fourth check valve 19 are arranged to prevent the hydraulic oil from flowing back to the oil pump 16. The motor 15 is a brake motor on the drive-by-wire chassis 1.
In this embodiment, the drive-by-wire chassis 1 can realize manpower braking and drive-by-wire braking simultaneously to manpower braking system and drive-by-wire braking system form absolute isolation through four check valves, and both can independently work, also can work simultaneously, and very conveniently switches the hydraulic braking mode between manned and unmanned, have guaranteed that unmanned adoption drive-by-wire braking can intervene fast when failing, have improved unmanned security.
It can be understood that, as a preferable mode, the brake-by-wire system further includes a proportional pressure control valve 17, one end of the proportional pressure control valve 17 is communicated with the output pipeline of the oil pump 16, and the other end is communicated with the input pipeline of the oil pump 16, and the proportional pressure control valve 17 is further connected with a chassis electronic control system on the chassis-by-wire 1 and is used for regulating the pressure of the hydraulic oil output by the oil pump 16 under the control of the chassis electronic control system. In this embodiment, the pressure of the proportional pressure control valve 17 can be proportionally controlled by the chassis electronic control system outputting an electric signal, so as to facilitate the control of the oil pressure of the brake-by-wire system.
It can be understood that, as a preferable mode, the brake-by-wire system further includes a pressure sensor 112 disposed on the output line of the oil pump 16 and used for detecting the pressure of the hydraulic oil output by the oil pump 16, the pressure sensor 112 is further connected to a chassis electronic control system on the chassis 1, and the chassis electronic control system controls the rotation speed of the motor 15 and/or the working state of the proportional pressure control valve 17 according to the detection result of the pressure sensor 112. For example, the pressure sensor 112 may detect the pressure of the hydraulic oil output by the oil pump 16 in real time, and when the pressure of the hydraulic oil output by the oil pump 16 is detected to be smaller than a desired value, the vehicle controller may control the motor 15 to increase the rotation speed of the oil pump 16 so as to pump more hydraulic oil from the oil tank 113 for delivery, and/or may simultaneously control the pressure of the proportional pressure control valve 17 to decrease so as to increase the oil pressure of the main pipeline, i.e., increase the oil pressure at the output end of the oil pump 16; when it is detected that the pressure of the hydraulic oil output from the oil pump 16 is greater than a desired value, the vehicle controller may control the motor 15 to decrease the rotation speed of the oil pump 16, thereby decreasing the amount of hydraulic oil drawn from the oil can 113, and/or may also simultaneously control the pressure of the proportional pressure control valve 17 to increase, thereby increasing the oil pressure of the main line, i.e., the output of the oil pump 16. In the embodiment, the pressure sensor 112 detects and feeds back the pressure of the hydraulic oil output by the oil pump 16 in real time, and then the rotation speed of the motor 15 and/or the pressure of the proportional pressure control valve 17 are correspondingly adjusted according to the detection result of the pressure sensor 112, so that feedback adjustment is formed, and the adjustment accuracy is high.
It can be understood that, as shown in fig. 6 to 13, the trash can 4 includes a cover plate 41, a frame 42, a fan inlet 45, a main suction pipe 49, a fan housing 410, and a trash storage box 415, wherein the cover plate 41, the fan housing 410, and the trash storage box 415 are all mounted on the frame 42, and specifically, the frame 42 is connected with other components by welding, bolting, etc., so as to form a firm and stable whole. The cover 41 is provided at left and right sides and an upper portion of the trash storage bin 415 so as to enclose the trash storage bin 415 to form a semi-enclosed space. It can be understood that the cover plate 41 is made of non-metal material, has light weight and is convenient to design into various shapes so as to meet the requirement of personalized design of the overall shape of the dustbin 4. The main suction pipe 49 is installed on a sidewall of the trash storage bin 415 and serves to suck road trash into the trash storage bin 415, and particularly, the main suction pipe 49 sucks the road trash by being connected to the suction nozzle 6. The hood 410 is located at the top of the garbage storage tank 415 and is used for performing garbage settling on the airflow sucked by the main suction pipe 49 and carrying the garbage, specifically, the hood 410 is arranged right above the position of the main suction pipe 49 in the garbage storage tank 415, and preferably, the hood 410 is in a shape of a table. The fan inlet 45 is mounted to a side wall of the trash storage bin 415 and is adapted to be connected to a fan, and the fan inlet 45 communicates with the interior of the trash storage bin 415 such that the fan can draw air from the interior of the trash storage bin 415. The fan continuously sucks air from the garbage storage tank 415 through the fan air inlet 45, so that a negative pressure vacuum state is formed in the garbage storage tank 415, the main suction pipe 49 generates a certain negative pressure value, the garbage on the road surface is sucked into the garbage storage tank 415 through the suction nozzle 6 connected with the main suction pipe 49, the airflow carrying the garbage enters the garbage storage tank 415 and then touches the bottom of the air cover 410, the sucked high-speed garbage, particularly large-particle stones and the like, can be prevented from smashing the cover plate 41 at the top of the garbage storage tank 415, the kinetic energy of the garbage is reduced, the garbage after speed reduction is driven by the airflow to form vortex settlement, the garbage is left in the garbage storage tank 415, the air is sucked away from the fan air inlet 45 by the fan, and the garbage is prevented from being sucked out by the fan to cause secondary pollution.
In this embodiment, the top of the garbage storage tank 415 is provided with the wind cover 410, when the high-speed airflow with the garbage sucked from the main suction pipe 49 collides with the bottom surface of the wind cover 410, the kinetic energy of the garbage is reduced to form vortex sedimentation driven by the airflow, the garbage is left in the garbage storage tank 415, the air is drawn by the fan, and the garbage is prevented from being drawn by the fan to cause secondary pollution.
It is understood that, as a preferred option, the trash bin 4 further includes a filter screen installed on the framework 42 and located at the top of the trash storage box 415 for filtering the air sucked from the trash storage box 415 by the fan, specifically, the filter screen is disposed on a passage where the fan inlet 45 communicates with the interior of the trash storage box 415, preferably at the air outlet of the trash storage box 415, the air in the trash storage box 415 must be filtered by the filter screen to be led to the fan inlet 45, and since some of the heavier trash contained in the airflow is settled by the vortex settling of the fan housing 410, only some light drifts with small mass remain in the airflow, and the filter screen can filter only the remaining light drifts in the airflow to form filter screen settling, and the filter screen can also limit the flow trajectory of the airflow, so that the settled clean air is led to the fan from the fan inlet 45 along a set line, and then discharged from the air outlet of the fan. Preferably, the filter screens include a first filter screen 47 and a second filter screen 411 respectively located at the left and right sides of the fan housing 410, correspondingly, there are two channels communicated between the fan air inlet 45 and the garbage storage box 415, and the first filter screen 47 and the second filter screen 411 are respectively located on one of the channels, so that two airflow filtering channels can be formed, and the suction efficiency of the fan is improved. It can be understood that the first filter 47 and the second filter 411 may also be respectively located at the front side and the rear side of the fan housing 410; or the first filter screen 47 and the second filter screen 411 are located on the same side of the fan housing 410 to realize twice filter screen sedimentation, so as to further improve the garbage sedimentation effect. As a further preferred, the lower portions of the first filter screen 47 and the second filter screen 411 are vertically provided with a separating plate 414 for guiding the air flow, and an air flow sucked from the main suction pipe 49 impinges on the bottom surface of the fan housing 410 and then is divided into a left air flow and a right air flow, and then the left air flow and the right air flow impinge on the separating plate 414 on the left side and the right side respectively, so that not only is the effect of vortex sedimentation enhanced, but also the kinetic energy of the air flow and the garbage is reduced again, the flowing direction of the air flow is forced to move downwards, and meanwhile, the garbage forms gravity sedimentation under the action of gravity.
It is understood that, as a preferred option, the trash can 4 further includes a sub-suction pipe 44 communicated with the inside of the trash storage box 415 and connected to the sub-suction pipe, and the cover plates 41 on the left and right sides of the trash storage box 415 are respectively provided with a side door 43. Specifically, the auxiliary suction pipe 44 is arranged on the side wall of the garbage storage box 415, the plug on the quick connector matched with the auxiliary suction pipe 44 is hung on the framework 42 through the hook, the other end of the auxiliary suction pipe extends into the garbage storage box 415, when the positions where some main suction pipes 49 cannot suck garbage on the road surface need to be cleaned, such as horny pimples, the plug on the quick connector matched with the auxiliary suction pipe 44 can be detached, and then the auxiliary suction pipe is butted with the auxiliary suction pipe 44 through the quick connector, so that the positions where the main suction pipes 49 cannot suck the garbage can be manually cleaned, the auxiliary suction pipe 44 and the main suction pipes 49 supplement each other, the working range and the working capacity of the environmental sanitation robot are greatly enhanced, the auxiliary suction pipe 44 adopts a front hidden design, and the structure of the garbage box 4 is more compact and compact. Simultaneously, all be provided with the side door 43 on the apron 41 of the garbage storage box 415 left and right sides, when needs use vice straw 44 to clean the operation, can open the side door 43 on left side or right side so that with the butt joint of supplementary straw and vice straw 44, it is very convenient to operate to through opening the side door 43 of left and right sides, still be convenient for maintain other subassemblies inside dustbin 4.
It is further preferable that the trash can 4 further includes a partition receiving assembly 46 disposed on an outer wall of the trash storage box 415, and a partition 416 for blocking the communication between the main suction pipe 49 and the suction nozzle 6 is disposed in the partition receiving assembly 46. When the auxiliary suction pipe 44 is needed to be used independently, the partition plate 416 can be taken down from the partition plate containing assembly 46 and placed at the connecting position of the main suction pipe 49 and the suction nozzle 6, so that the connecting channel of the main suction pipe 49 and the suction nozzle 6 is blocked, the suction channel of the main suction pipe 49 is cut off, the garbage cleaning work is performed only through the auxiliary suction pipe 44, the negative pressure value at the auxiliary suction pipe 44 is increased, and the cleaning cleanliness is improved.
It can be understood that, as a preferred option, an inclined guide plate 48 is disposed at a front end of the fan air inlet 45, that is, at an end close to the garbage storage box 415, a bent section is disposed at an end of the inclined guide plate 48 close to the fan air inlet 45, a height position of the end of the bent section close to the fan air inlet 45 is lower than a height position of the lower end of the opening of the fan air inlet 45, and a height position of the end of the bent section far away from the fan air inlet 45 is higher than a height position of the lower end of the opening of the fan air inlet 45. The lower surface of the inclined guide plate 48 can prevent the airflow with the garbage introduced from the main suction pipe 49 from directly introducing into the air inlet 45 of the fan, so that the airflow is directly discharged by the fan to cause secondary pollution, and only the airflow after the airflow is subjected to speed reduction and filter by a filter screen according to a preset track can be introduced into the air inlet 45 of the fan through the upper area of the inclined guide plate 48; on the other hand, the oblique guide plate 48 is obliquely arranged, so that the dust accumulation prevention effect is obvious, and the situation that dust on the oblique guide plate 48 is sucked into the fan when the fan is started every time is avoided. Wherein, the inclination angle of the inclined guide plate 48 is 15-45 degrees, and when in the range, the dust accumulation prevention effect is better.
It can be understood that, since the sanitation robot has a limited volume, in order to save space, it is preferable that the garbage can 4 further include a water tank 412, the water tank 412 is communicated with the high-pressure waterway 10, the water tanks 412 are disposed at left and right sides of the garbage storage can 415 and are communicated with a lower portion of a front end of the garbage storage can 415, or the water tank 412 is disposed at a bottom of the garbage storage can 415, so that the whole garbage can 4 can store and transport garbage and has a function of a water tank, thereby achieving a dual purpose and a higher space utilization rate.
It can be understood that the tail of the garbage storage box 415 is further provided with a discharge door 413, the discharge door 413 is in a closed state under an operation mode to ensure a negative pressure state in the garbage storage box 415, when the garbage reaches a certain amount, the discharge door 413 can be opened, and the garbage can 4 is inclined to pour out the garbage, so that the operation is very convenient.
It can be understood that, as shown in fig. 14 and 15, the suction nozzle 6 includes a nozzle body 61, an opening adjusting plate 62, an electric push rod 63, an air pipe 64 and a link mechanism 65, the nozzle body 61 is mounted on the drive-by-wire chassis 1 through the link mechanism 65, the electric push rod 63 is mounted on the nozzle body 61 and connected to the opening adjusting plate 62, the opening adjusting plate 62 is located at the front of the nozzle body 61, the air pipe 64 is respectively communicated with the trash can 4 and the nozzle body 61, the electric push rod 63 is further connected to an electrical control system, and the electric push rod 63 can extend and contract under the control of the electrical control system to push the opening adjusting plate 62 to turn over, so as to adjust the size of the opening at the front of the nozzle body 61. For example, the electric push rod 63 can extend to push the opening adjusting plate 62 to turn over to enlarge the opening at the front of the nozzle body 61, so that large garbage can be sucked into the nozzle body 61 and then into the garbage can 4 through the air pipe 64; after the large garbage is collected, the electric push rod 63 retracts to pull the opening adjusting plate 62 to reset, and the opening at the front part of the suction nozzle body 61 is reduced, so that the negative pressure value at the suction nozzle body 61 can be ensured, and a good cleaning effect is ensured. It will be appreciated that the suction nozzle 6 further comprises a stopper 66 for stopping the garbage so that the garbage can be sucked only from the opening of the suction nozzle body 61, and preventing the garbage from running to the upper side of the suction nozzle body 61 due to the cleaning action of the cleaning device 7 so that a part of the garbage cannot be sucked into the suction nozzle body 61.
The robot provided by the invention carries out the working flow of the road edge identification auxiliary operation as follows:
firstly, a driver drives the sanitation robot to drive to a road section needing cleaning, stops at a road along a road and starts an auxiliary operation mode of an auxiliary operation control system 5; at the moment, the auxiliary operation control system 5 starts the loading hydraulic system firstly, the suction nozzle 6 is lowered, the cleaning device 7 is unfolded and lowered, then the sweeping disc on the cleaning device is driven to rotate to clean the road surface, meanwhile, the auxiliary operation control system 5 starts the loading fan to generate negative pressure in the garbage can 4 and the suction nozzle 6, and garbage is sucked and picked up through the suction nozzle 6 to perform cleaning operation. And then the auxiliary operation control system 5 detects the surrounding environment through the laser range finders at the front end and the right side of the sanitation robot, and sends corresponding control signals to the chassis control system through analysis and judgment of the auxiliary operation control system 5 to drive the sanitation robot to perform auxiliary operation along the road.
In this embodiment, the sanitation robot can be controlled to run at a constant speed based on the road edge identification technology, and the sanitation robot always keeps a better working distance from the road edge. After the auxiliary driving operation mode is started, a driver only takes over the role of a safety guard at any time or switches the sanitation robot to a human working state in an emergency. When a driver needs to take over to control the sanitation robot or trample an accelerator pedal, a brake pedal, a steering wheel and the like, a sensor on the operating mechanism transmits a related operating signal to the chassis electric control system, at the moment, the chassis electric control system can preferably input the operating signal of the driver to control the sanitation robot to complete related actions and send an interrupt and exit road edge identification operating signal to the auxiliary operation control system 5, the auxiliary operation control system 5 can close the laser range finder after receiving the interrupt signal, stop the auxiliary operation mode, enter the manual driving operation mode, and when the road edge identification auxiliary operation mode needs to be entered again, the auxiliary operation mode of the auxiliary operation control system 5 only needs to be restarted, and the sanitation robot can be manually started or remotely started through a remote controller.
The sanitation robot provided by the invention adopts the wire control chassis 1, when a driver operates the robot, the operation signal of the driver is collected through the sensor and is transmitted to the chassis electric control system, and the chassis electric control system controls the corresponding motor to act through the corresponding controller according to the set program, so that the driving of the sanitation robot by the driver is realized. For example, when a driver operates the steering wheel assembly to steer the sanitation robot, the sensor assembly collects the steering angle and direction of the steering wheel assembly and transmits data such as the steering angle and the rotating direction to the chassis electronic control system, the chassis electronic control system analyzes and processes the data, and the steering motor controller controls the action of the steering motor to drive the front wheel assembly of the sanitation robot to steer according to the rotating angle and the rotating direction of the steering wheel assembly. The driver steps on the accelerator pedal and the brake pedal and operates the relevant actuating mechanism to complete corresponding actions according to the modes. By adopting the wire control chassis 1, the mechanical connection between a steering wheel assembly and a front wheel assembly, and between a brake pedal and a brake, etc. is omitted, the transmission efficiency is improved, and the weight of the whole machine is reduced.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A sanitation robot for auxiliary operation control based on road edge identification is characterized in that,
comprises that
The wire control chassis (1) is used for driving the sanitation robot to walk, turn or brake,
and the auxiliary operation control system (5) is used for automatically identifying the road edge and controlling the working state of the drive-by-wire chassis (1) based on the identification result.
2. A sanitation robot for performing auxiliary work control based on curbside identification as set forth in claim 1,
the auxiliary work control system (5) comprises
The detection device is used for detecting the height of a road edge in front of the sanitation robot;
and the intelligent control module (53) is used for controlling the wire control chassis (1) to drive the sanitation robot to walk, turn or brake according to the detection result of the detection device.
3. A sanitation robot for performing auxiliary work control based on curbside identification as set forth in claim 2,
the sanitation robot for performing auxiliary operation control based on the road edge identification further comprises a cab (2) arranged at the front end above the drive-by-wire chassis (1);
the detection device comprises a high-position laser range finder (51) and a low-position laser range finder (52) which are arranged on the front face of a cab (2), wherein the high-position laser range finder (51) is used for detecting the height value of a certain detection point on a road edge plane, the low-position laser range finder (52) is used for detecting the height value of the certain detection point on a road surface, the connecting line of the two detection points is perpendicular to the road surface, the intelligent control module (53) judges the continuity difference value of the two height values and analyzes whether the road edge height is in a tolerance range or not, and if the road edge height is not in the tolerance range, the intelligent control module (53) controls the drive-by-wire chassis (1) to stop driving the sanitation robot to walk and brake.
4. A sanitation robot for performing auxiliary work control based on curbside identification as set forth in claim 3,
the auxiliary work control system (5) further comprises
The system comprises a front laser range finder (54) arranged at the front end of the right side of the sanitation robot and a rear laser range finder (55) arranged at the rear end of the right side of the sanitation robot, wherein the front laser range finder (54) is used for detecting the distance between the front end of the sanitation robot and a road edge in real time, and the rear laser range finder (55) is used for detecting the distance between the rear end of the sanitation robot and the road edge in real time;
the intelligent control module (53) is further used for comparing the detection results of the front side laser distance meter (54) and the rear side laser distance meter (55) with the safe distance when the road edge height is within the tolerance range, analyzing whether the difference value between the detection result of the front side laser distance meter (54) and the safe distance and the difference value between the detection result of the rear side laser distance meter (55) and the safe distance are within an allowable range or not, and correspondingly controlling the drive-by-wire chassis (1) to turn or go straight according to the analysis result.
5. A sanitation robot for performing auxiliary work control based on curbside identification as set forth in claim 4,
if the difference value between the detection result of the front laser range finder (54) and the safe distance and the difference value between the detection result of the rear laser range finder (55) and the safe distance are both within the allowable range, judging that the sanitation robot is flush with the road edge, judging whether a steering wheel assembly of the wire control chassis (1) returns or not by the intelligent control module (53), if so, controlling the wire control chassis (1) by the intelligent control module (53) to drive the sanitation robot to keep linear running operation, and if not, controlling the steering wheel assembly of the wire control chassis (1) to return and then controlling the wire control chassis (1) to drive the sanitation robot to linearly run operation;
if the difference value between the detection result of the front laser range finder (54) and the safe distance and the difference value between the detection result of the rear laser range finder (55) and the safe distance both exceed the allowable range, and the detection values of the front laser range finder (54) and the rear laser range finder (55) are both greater than the safe distance value, it is determined that the sanitation robot is away from the road edge as a whole, the intelligent control module (53) controls the line control chassis (1) to drive the sanitation robot to turn and advance towards the side of the road edge, after the sanitation robot is detected to be flush with the road edge, the intelligent control module (53) firstly determines whether a steering wheel assembly of the line control chassis (1) returns, if so, the intelligent control module (53) controls the line control chassis (1) to drive the sanitation robot to keep linear driving operation, and if not, the intelligent control module (53) controls the steering wheel assembly of the line control chassis (1) to drive the sanitation robot to linearly drive;
if the difference between the detection result of the front laser range finder (54) and the safety distance is within the allowable range, when the difference value between the detection result of the rear laser range finder (55) and the safety distance exceeds the allowable range, and the detection value of the rear laser range finder (55) is larger than the safety distance value, then the rear end of the sanitation robot is judged to be far away from the road edge, the intelligent control module (53) controls the wire control chassis (1) to drive the sanitation robot to turn and advance towards the side far away from the road edge, after the sanitation robot is detected to be level with the road edge, the intelligent control module (53) firstly judges whether the steering wheel assembly of the drive-by-wire chassis (1) returns to the center, if so, the intelligent control module (53) controls the drive-by-wire chassis (1) to drive the sanitation robot to keep straight-line running operation, if not, the intelligent control module (53) controls the drive-by-wire chassis (1) to drive the sanitation robot to linearly run after the steering wheel assembly of the drive-by-wire chassis (1) returns to the center;
if the difference between the detection result of the front laser range finder (54) and the safety distance exceeds the allowable range, when the difference value between the detection result of the rear side laser range finder (55) and the safety distance is within the allowable range, and the detection value of the front side laser range finder (54) is larger than the safety distance value, the front end of the sanitation robot is judged to be far away from the road edge, the intelligent control module (53) controls the wire control chassis (1) to drive the sanitation robot to turn and advance towards the road edge side, after the sanitation robot is detected to be level with the road edge, the intelligent control module (53) firstly judges whether the steering wheel assembly of the drive-by-wire chassis (1) returns to the center, if so, the intelligent control module (53) controls the drive-by-wire chassis (1) to drive the sanitation robot to keep straight-line running operation, if not, the intelligent control module (53) controls the drive-by-wire chassis (1) to drive the sanitation robot to linearly run after the steering wheel assembly of the drive-by-wire chassis (1) returns to the center.
6. A sanitation robot for performing auxiliary work control based on curbside identification as set forth in claim 3,
the auxiliary operation control system (5) further comprises an alarm (56) arranged in the cab (2), and the intelligent control module (53) is further used for controlling the alarm (56) to give an alarm prompt when the road edge height is not within the tolerance range.
7. A sanitation robot for performing auxiliary work control based on curbside identification as set forth in claim 1,
the line control chassis (1) is provided with a hydraulic braking system, and the hydraulic braking system comprises an artificial braking system and a line control braking system;
the manual brake system comprises a brake pedal (11), a master cylinder (12), a first one-way valve (13) and a second one-way valve (14), wherein the brake pedal (11) is connected with the master cylinder (12) to transmit manpower to the master cylinder (12) to form oil pressure, the master cylinder (12) is communicated with an oil can (113), the master cylinder (12) is also communicated with a front wheel brake cylinder (110) and a rear wheel brake cylinder (111) through pipelines respectively to be used for conveying hydraulic oil to the front wheel brake cylinder (110) and the rear wheel brake cylinder (111) respectively to realize braking, the first one-way valve (13) is arranged on the pipeline through which the master cylinder (12) is communicated with the front wheel brake cylinder (110), and the second one-way valve (14) is arranged on the pipeline through which the master cylinder (12) is communicated with the rear wheel brake cylinder (111);
the brake-by-wire system comprises a motor (15), an oil pump (16), a third one-way valve (18) and a fourth one-way valve (19), wherein the motor (15) is respectively connected with a brake motor controller and the oil pump (16) on the chassis (1) by wire and used for driving the oil pump (16) under the control of the brake motor controller, the oil pump (16) is communicated with an oil can (113), the oil pump (16) is also respectively communicated with a front wheel brake cylinder (110) and a rear wheel brake cylinder (111) through pipelines and used for respectively conveying hydraulic oil to the front wheel brake cylinder (110) and the rear wheel brake cylinder (111) to realize braking, the third one-way valve (18) is arranged on a pipeline through which the oil pump (16) is communicated with the front wheel brake cylinder (110), and the fourth one-way valve (19) is arranged on a pipeline through which the oil pump (16) is communicated with the rear wheel brake cylinder (111).
8. A sanitation robot for performing auxiliary work control based on curbside identification as set forth in claim 1,
the sanitation robot for performing auxiliary operation control based on the road edge identification further comprises an upper mounting system (3), a suction nozzle (6) and a cleaning device (7);
the upper loading system (3) is arranged above the line control chassis (1) and comprises
A dustbin (4) for storing refuse;
the fan is communicated with the garbage can (4) and is used for generating negative pressure in the garbage can (4) and the suction nozzle (6);
the hydraulic system is used for providing hydraulic power;
the electric control system is used for controlling the working state of the sanitation robot;
the suction nozzle (6) is arranged at the lower part of the front end of the wire control chassis (1), is communicated with the dustbin (4) and is used for sucking road garbage into the dustbin (4);
the cleaning device (7) is arranged on the wire control chassis (1), is positioned in front of the suction nozzle (6) and is used for cleaning the road garbage to the front of the suction nozzle (6).
9. A sanitation robot for performing auxiliary work control based on curbside identification as set forth in claim 8,
suction nozzle (6) are including the suction nozzle body (61), opening regulating plate (62), electric putter (63), tuber pipe (64) and link mechanism (65), the suction nozzle body (61) is installed on drive-by-wire chassis (1) through link mechanism (65), electric putter (63) are installed on the suction nozzle body (61) and are connected with opening regulating plate (62), opening regulating plate (62) are located the front portion of suction nozzle body (61), tuber pipe (64) communicate with dustbin (4) and suction nozzle body (61) respectively, electric putter (63) still are connected with electrical control system, electric putter (63) can stretch out and draw back under electrical control system's control and overturn in order to promote opening regulating plate (62) to adjust the anterior opening size of suction nozzle body (61).
10. A sanitation robot for performing auxiliary work control based on curbside identification as set forth in claim 8,
the dustbin (4) comprises a cover plate (41), a framework (42), a fan air inlet (45), a main suction pipe (49), an air cover (410) and a rubbish storage box (415), the cover plate (41), the fan cover (410) and the garbage storage box (415) are all arranged on the framework (42), and the cover plates (41) are provided at the left and right sides and the upper portion of the trash storage bin (415), the main suction pipe (49) is installed on a sidewall of the garbage storage bin (415) and serves to suck road garbage into the garbage storage bin (415), the hood (410) is located at the top of the refuse storage bin (415) and is used for settling the refuse-laden air flow sucked by the main suction pipe (49), the fan air inlet (45) is arranged on the side wall of the garbage storage box (415) and is used for being connected with a fan, the fan inlet (45) communicates with the interior of the bin (415) to allow the fan to draw air from the interior of the bin (415).
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