CN111636345A - Automatic adjusting mechanism for ground clearance of vertical brush of sweeper - Google Patents
Automatic adjusting mechanism for ground clearance of vertical brush of sweeper Download PDFInfo
- Publication number
- CN111636345A CN111636345A CN202010608538.6A CN202010608538A CN111636345A CN 111636345 A CN111636345 A CN 111636345A CN 202010608538 A CN202010608538 A CN 202010608538A CN 111636345 A CN111636345 A CN 111636345A
- Authority
- CN
- China
- Prior art keywords
- brush
- sweeper
- front brush
- sweeping
- swing arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 241001417527 Pempheridae Species 0.000 title claims abstract description 199
- 230000007246 mechanism Effects 0.000 title claims abstract description 37
- 238000010408 sweeping Methods 0.000 claims abstract description 97
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 13
- 239000004575 stone Substances 0.000 claims description 76
- 238000004804 winding Methods 0.000 claims 1
- 238000005299 abrasion Methods 0.000 abstract description 6
- 230000007704 transition Effects 0.000 abstract description 3
- 230000010365 information processing Effects 0.000 description 15
- 238000004140 cleaning Methods 0.000 description 13
- 230000001680 brushing effect Effects 0.000 description 9
- 230000000694 effects Effects 0.000 description 7
- 230000009471 action Effects 0.000 description 4
- 230000001276 controlling effect Effects 0.000 description 4
- 238000001514 detection method Methods 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000000875 corresponding effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000003203 everyday effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
Images
Classifications
-
- 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
- E01H1/02—Brushing apparatus, e.g. with auxiliary instruments for mechanically loosening dirt
- E01H1/05—Brushing apparatus, e.g. with auxiliary instruments for mechanically loosening dirt with driven brushes
- E01H1/053—Brushing apparatus, e.g. with auxiliary instruments for mechanically loosening dirt with driven brushes having vertical axes
Landscapes
- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Cleaning Of Streets, Tracks, Or Beaches (AREA)
Abstract
The invention discloses an automatic adjusting mechanism for the ground clearance of a vertical brush of a sweeper, wherein a front brush assembly comprises a front sweeping disc motor fixedly installed at the outer end of a front brush swing arm, a speed reducer is installed on a power shaft of the front sweeping disc motor, a front brush rotating shaft is fixedly installed on an output shaft of the speed reducer, a front brush sweeping disc is fixedly installed at the bottom end of the front brush rotating shaft, a torque sensor is installed on the outer side of the front brush rotating shaft, and a front sweeping brush with a conical structure is installed at the bottom end of the front brush sweeping disc; according to the invention, the contact resistance between the front sweeper and the ground is detected through the torque sensor, so that the sweeping height of the front sweeper relative to the ground is judged, the height of the front sweeper can be adjusted in real time according to road conditions in such a way, the fitting degree of the front sweeper and the ground is ensured to be unchanged, the proper sweeping height is ensured, and meanwhile, the transition abrasion of the front sweeper caused by the transition fitting of the front sweeper to the ground can be prevented; meanwhile, the invention can not cause the phenomenon that the front sweeping brush cannot be cleaned due to long-time abrasion in the prior art.
Description
Technical Field
The invention relates to the field of sanitation vehicles, in particular to an automatic adjusting mechanism for the ground clearance of a vertical brush of a sweeper.
Background
The traditional sanitation mode is basically the following two modes: 1. the sanitation workers manually clean garbage in a community or a street; 2. the sanitation cleaning vehicle is driven manually to clean garbage in a residential area or a street. Because the sanitation system depends on manpower seriously and sanitation workers are insufficient, the current sanitation workers need overload to finish the cleaning workload every day, and meanwhile, because the sanitation workers often work at the roadside, certain hidden dangers are brought to the life safety of the sanitation workers; therefore, in order to reduce the operation and maintenance cost of sanitation, reduce the working pressure of sanitation workers and guarantee the life safety of the sanitation workers, the intelligent unmanned sweeper is popularized in the sanitation industry, so that the sanitation workers can enjoy the convenience and the welfare brought to the sanitation workers by unmanned driving technology and intelligent sanitation.
At present, an unmanned sweeper is an application of unmanned technology, is also called as a wheel type mobile sweeping robot, and mainly depends on a computer system, a sensing system, a power system and the like in the sweeper to achieve the purpose of unmanned sweeping. The vehicle-mounted sensor is used for sensing the surrounding environment, and the steering and speed of the vehicle are controlled according to the road, garbage, position and obstacle information obtained by sensing to complete the unmanned function.
In the scheme of short-distance detection of the side edge of the unmanned sweeper at the present stage, ultrasonic detection is mainly adopted, sound waves are continuously sent out through the ultrasonic waves to detect short-distance obstacles, a feedback command is transmitted to a control center, and then corresponding actions are performed. However, the sweeping height of the sweeping brush of the existing sweeper is preset and has no real-time adjusting function, so that the sweeping height of the sweeping brush cannot be adjusted according to the current road condition, particularly, after the sweeping brush is used for a period of time, the sweeping brush is worn, and if the sweeping height is still the original sweeping height, the sweeping effect cannot be guaranteed; in addition, when the motor sweeper cleans along the shoulder stone, in order to prevent the motor sweeper from colliding with the shoulder stone to damage, the shoulder stone is often avoided, the distance between the motor sweeper and the shoulder stone is judged through ultrasonic waves in the prior art, so that the motor sweeper can move along the shoulder stone to clean, but because ultrasonic detection is influenced by the environment, when the condition of inaccurate detection is stored, the motor sweeper is not in time to remedy once colliding.
Disclosure of Invention
The invention aims to solve the technical problem of providing an automatic ground clearance adjusting mechanism of a vertical brush of a sweeper, which has reasonable design, can automatically adjust the sweeping height of the sweeper and can automatically and safely sweep along the edge of a shoulder stone.
In order to solve the technical problems, the technical scheme of the invention is as follows: the automatic adjusting mechanism for the ground clearance of the vertical brush of the sweeper is arranged at the side part of the front end of the sweeper and comprises a front brush device and a side brush device, the front brush device is arranged in the front of the side brush device and extends outwards towards the side part of the sweeper, the front brush device comprises a front brush fixing frame, a front brush swing arm capable of horizontally swinging towards the rear of the sweeper is arranged at the outer side of the front brush fixing frame, a front brush rotating shaft is fixedly arranged at the inner end of the front brush swing arm and rotatably arranged at the outer end of the front brush fixing frame, an angle sensor used for collecting the backward swinging angle of the front brush swing arm is arranged outside the front brush fixing frame at the top end of the front brush rotating shaft, a swing arm reset torsion spring used for driving the front brush swing arm to horizontally swing from the rear to the front so as to restore the front brush swing arm to the original position is arranged between the front brush swing arm and the front, the swing arm reset torsion spring is sleeved on the front brush rotating shaft; the outer end of the front brush swing arm is provided with a front brush assembly, and the lower part of the front brush assembly is covered with an edge searching device used for contacting or colliding with a road shoulder stone; the bottom of the sweeper is also provided with a sweeping brush lifting device for driving the front brush device and the side brush device to simultaneously ascend or descend; the front brush assembly comprises a front sweeping disc motor fixedly mounted at the outer end of a front brush swing arm, a speed reducer is mounted on a power shaft of the front sweeping disc motor, a front brush rotating shaft is fixedly mounted on an output shaft of the speed reducer, a front brush sweeping disc is fixedly mounted at the bottom end of the front brush rotating shaft, a torque sensor is mounted on the outer side of the front brush rotating shaft, and a front sweeping brush of a conical structure is mounted at the bottom end of the front brush sweeping disc.
As a preferable technical solution, the edge searching device includes an edge searching wheel covered outside the front brush sweeping disc, a rotation axis of the edge searching wheel coincides with a rotation axis of the front brush sweeping disc, the edge searching wheel is disposed in the middle of the front brush sweeping disc, and the edge searching wheel is rotatably mounted on the front brush sweeping disc through a wheel edge frame.
As a preferable technical scheme, an auxiliary anti-collision device is arranged at the upper part of the front brush assembly.
As a preferred technical scheme, the auxiliary anti-collision device is an anti-collision annular frame fixedly mounted on the front brush swing arm, and the anti-collision annular frame is arranged on the periphery of the front sweeper motor.
According to the preferable technical scheme, a front brush limiting plate for preventing the front brush swing arm from horizontally swinging towards the front of the sweeper is arranged at the front end of the front brush fixing frame.
As a preferred technical scheme, the side brush device comprises a side brush fixing frame, and a side brush assembly is installed at the end part of the side brush fixing frame.
According to the preferable technical scheme, the side brush assembly comprises a side sweeping disc motor fixedly installed at the rear end of a side brush fixing frame, a power shaft of the side sweeping disc motor is fixedly provided with a side brush sweeping disc through a speed reducer, and the bottom end of the side brush sweeping disc is provided with a side sweeping brush with a conical structure.
As a preferable technical scheme, the sweeper lifting device comprises a parallelogram linkage, the top end of the parallelogram linkage is fixedly mounted on the bottom end of the sweeper, the front brush device and the side brush device are respectively fixed at the bottom end of the parallelogram linkage, and a lifting control device for controlling the parallelogram linkage to ascend or descend is further arranged between the bottom end of the sweeper and the parallelogram linkage.
As a preferable technical scheme, the lifting control device comprises an electric push rod fixed at the bottom end of the sweeper, a lifting rope is wound and connected between the bottom end of the parallel four-bar mechanism and the electric push rod through a pulley, and two ends of the lifting rope are respectively connected to the parallel four-bar mechanism and the electric push rod.
By adopting the technical scheme, the automatic adjusting mechanism for the ground clearance of the vertical brush of the sweeper is arranged at the side part of the front end of the sweeper and comprises a front brush device and a side brush device, the front brush device is arranged in the front of the side brush device and extends outwards towards the side part of the sweeper, the front brush device comprises a front brush fixing frame, a front brush swing arm capable of horizontally swinging towards the rear of the sweeper is arranged at the outer side of the front brush fixing frame, a front brush rotating shaft is fixedly arranged at the inner end of the front brush swing arm and is rotatably arranged at the outer end of the front brush fixing frame, an angle sensor used for collecting the swinging angle of the front brush swing arm towards the rear is arranged at the top end of the front brush rotating shaft, which extends out of the front brush fixing frame, an angle reset torsion spring for driving the front brush swing arm to horizontally swing from the rear to the front is arranged between the front brush swing arm and the front brush fixing frame, the swing arm reset torsion spring is sleeved on the front brush rotating shaft; the outer end of the front brush swing arm is provided with a front brush assembly, and the lower part of the front brush assembly is covered with an edge searching device used for contacting or colliding with a road shoulder stone; the bottom of the sweeper is also provided with a sweeping brush lifting device for driving the front brush device and the side brush device to simultaneously ascend or descend; the front brush assembly comprises a front sweeping disc motor fixedly mounted at the outer end of a front brush swing arm, a speed reducer is mounted on a power shaft of the front sweeping disc motor, a front brush rotating shaft is fixedly mounted on an output shaft of the speed reducer, a front brushing disc is fixedly mounted at the bottom end of the front brush rotating shaft, a torque sensor is mounted on the outer side of the front brush rotating shaft, and a front sweeping brush with a conical structure is mounted at the bottom end of the front brushing disc; the invention has the beneficial effects that:
(1) according to the invention, the contact resistance between the front sweeper and the ground is detected through the torque sensor, so that the sweeping height of the front sweeper relative to the ground is judged, the height of the front sweeper can be adjusted in real time according to road conditions, the fitting degree of the front sweeper and the ground is kept unchanged, the proper sweeping height is ensured, and meanwhile, the excessive abrasion of the front sweeper caused by the fact that the front sweeper is in transitional fit with the ground can be prevented; meanwhile, the phenomenon that cleaning cannot be performed due to long-time abrasion of the front sweeping brush in the prior art is avoided;
(2) the invention can realize the anti-collision function by pre-contacting the roadside stone in advance through the edge searching device, thereby ensuring the use safety of the sweeper; and utilize angle sensor to learn the direction signal of motor sweeper and adjust, realized the automation of motor sweeper and sought the limit function for the motor sweeper can clean along the curb root all the time, clean the effect better, very big not enough and the drawback of having remedied the ultrasonic wave scheme, can let unmanned motor sweeper adapt to and seek the limit and clean the function automatically, greatly improved the safety mechanism of unmanned motor sweeper, promoted new safety guarantee for unmanned motor sweeper pushes to market.
Drawings
The drawings are only for purposes of illustrating and explaining the present invention and are not to be construed as limiting the scope of the present invention. Wherein:
FIG. 1 is a side view of an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of an embodiment of the present invention;
FIG. 3 is a schematic structural view of another embodiment of the present invention;
FIG. 4 is a schematic diagram of an embodiment of the present invention;
FIG. 5 is a diagram illustrating the effect of installation of an embodiment of the present invention;
in the figure: 1-a front brush device; 11-front brush fixing frame; 12-front brush swing arm; 13-an angle sensor; 14-swing arm return torsion spring; 15-front sweeping disc motor; 16-front brushing sweeping disc; 17-front sweeping; 18-an anti-collision annular frame; 19-front brush limit plate; 2-side brush device; 21-side brush fixing frame; 22-side sweeping disk motor; 23-brushing and sweeping the disc at the same time; 24-side sweeping; 3-an edge finding device; 31-edge seeking wheel; 32-wheel side frame; 4-a sweeper lifting device; 41-parallel four-bar mechanism; 42-electric push rod; 43-a lifting rope; 5-torque sensor.
Detailed Description
The invention is further illustrated below with reference to the figures and examples. In the following detailed description, certain exemplary embodiments of the present invention are described by way of illustration only. Needless to say, a person skilled in the art realizes that the described embodiments can be modified in various different ways without departing from the spirit and scope of the present invention. Accordingly, the drawings and description are illustrative in nature and not intended to limit the scope of the claims.
As shown in fig. 1 to 5, the automatic adjusting mechanism for the ground clearance height of the vertical brush of the sweeper is arranged at the front end side part of the sweeper, and comprises a front brush device 1 and a side brush device 2, wherein the front brush device 1 is arranged in front of the side brush device 2 and extends outwards towards the side part of the sweeper, and the cleaning height of the front brush device 1 is the same as that of the side brush device 2; the front brush device 1 and the side brush device 2 are arranged at the side part of the front end of the sweeper, and the device is mainly used for walking along a shoulder stone for cleaning, so when only one device is used, the device is required to be arranged at the right side of the front end of the sweeper; of course, the device can be arranged on both sides of the front end of the sweeper.
The front brush device 1 comprises a front brush fixing frame 11, a front brush swing arm 12 capable of horizontally swinging towards the rear of the sweeper is installed on the outer side of the front brush fixing frame 11, a front brush rotating shaft is fixedly installed at the inner end of the front brush swing arm 12, the front brush rotating shaft is rotatably installed at the outer end of the front brush fixing frame 11, an angle sensor 13 used for collecting the backward swinging angle of the front brush swing arm 12 is installed at the top end of the front brush rotating shaft, which extends out of the front brush fixing frame 11, a swing arm reset torsion spring 14 driving the front brush swing arm 12 to horizontally swing from the rear to the front so that the front brush swing arm 12 is restored to the original position is arranged between the front brush swing arm 12 and the front brush fixing frame 11, and the swing arm reset torsion spring 14 is sleeved on the front brush; the outer end of the front brush swing arm 12 is provided with a front brush assembly, and the lower part of the front brush assembly is covered with an edge searching device 3 for contacting or colliding with a shoulder stone; the height of the edge searching device 3 corresponds to that of a road shoulder stone, when the front brush assembly descends to the ground and is in a cleaning state, the height of the edge searching device 3 is lower than that of the road shoulder stone, so that the edge searching device 3 can be ensured to firstly contact or collide with the road shoulder stone when the distance between the sweeper and the road shoulder stone is too close; the bottom of the sweeper is also provided with a sweeper lifting device 4 for driving the front brush device 1 and the side brush device 2 to simultaneously ascend or descend; the front brush assembly comprises a front sweeping disc motor 15 fixedly mounted at the outer end of the front brush swing arm 12, a speed reducer is mounted on a power shaft of the front sweeping disc motor 15, a front brush rotating shaft is fixedly mounted on an output shaft of the speed reducer, a front brushing disc 16 is fixedly mounted at the bottom end of the front brushing rotating shaft, a torque sensor 5 is mounted on the outer side of the front brushing rotating shaft, and a front sweeping brush 17 of a conical structure is mounted at the bottom end of the front brushing disc 16.
The invention has the functions of automatically searching the edge of the sweeper and automatically adjusting the height of the sweeper, and the sweeper and the edge of the sweeper do not interfere with each other; two states are described below:
the automatic edge searching function of the sweeper: when the sweeper travels along the road shoulder stone, and the edge searching device 3 is not in contact with the road shoulder stone, the sweeper rotates towards the direction of the road shoulder stone to actively shorten the distance between the sweeper and the road shoulder stone, the sweeper gradually and slowly turns, and the phenomenon of transition turning is avoided; when the sweeper is adjusted to the direction of the shoulder stone and the distance between the sweeper and the shoulder stone is adjusted, when the edge searching device 3 collides with the shoulder stone, the force between the edge searching device 3 and the shoulder stone is large, and at the moment, when the sweeper continues to move forwards, the shoulder stone can provide an acting force for the front brush swing arm 12, so that the front brush swing arm 12 swings backwards by overcoming the acting force of the swing arm reset torsion spring 14, at the moment, the angle sensor 13 can acquire a steering signal of the front brush swing arm 12 and transmit the steering signal to the sweeper, at the moment, the sweeper can respond and steer towards the direction far away from the shoulder stone to increase the distance between the edge searching device 3 and the shoulder stone, the steering adjustment amplitude of the sweeper is small and gradually rotates outwards until the angle sensor 13 acquires that the swing angle value of the front brush swing arm 12 is within a range, the turning signal of the front brush swing arm 12 is not transmitted to the sweeper any more, at the moment, the edge searching device 3 is just in a contact state with the shoulder stone, at the moment, the sweeper does not rotate any more and keeps walking and sweeping in the state, and the distance between the angle sensor 13 and the shoulder stone is continuously adjusted until the turning signal of the front brush swing arm 12 is transmitted again; in the adjustment process that the motor sweeper turns to one side of keeping away from the curb stone, increased seek the distance between limit device 3 and the curb stone, the curb stone effect is used this moment effort on the preceding brush swing arm 12 is less, swing arm reset torsion spring 14 can force preceding brush swing arm 12 swing formation resets.
Automatic adjustment of the height of the sweeper: before the sweeper is ready to sweep, the sweeper lifting device 4 simultaneously lowers the front brush device 1 and the side brush device 2, so that the front brush device 1 and the side brush device 2 are in contact with and attached to the ground at a sweeping height; when the sweeper is used for sweeping, the front sweeping disc motor 15 works to drive the front brush rotating shaft and the front sweeping disc 16 arranged on the front brush rotating shaft to rotate so as to drive the front sweeping brush 17 to rotate, and the front brush assembly is in the prior art and belongs to a sweeping brush structure in the traditional sense; when the front sweeper 17 rotates, the torque sensor 5 can detect the torque applied to the front sweeper rotating shaft and transmit a signal to the sweeper, and the sweeper performs action to control the sweeper lifting device 4 so as to adjust the height between the front sweeper 17 and the ground; when the descending height of the front sweeper brush 17 is low, that is, the binding surface between the front sweeper brush 17 and the ground is large, at this time, when the front sweeper brush 17 cleans, the ground can provide a large resistance to the front sweeper brush 17, so that the torque applied to the front sweeper brush 17 and the front sweeper brush rotating shaft is large, at this time, the torsion sensor detects a large torque and transmits a signal to the sweeper truck, and at this time, the sweeper truck controls the sweeper brush lifting device 4, so that the front sweeper brush 17 is lifted upwards, and the resistance between the front sweeper brush 17 and the ground is small; when the front sweeper brush 17 is too small to be contacted with the ground or is separated from the ground, the resistance of the front sweeper brush 17 is small or no resistance is applied, the torsion sensor detects small torque or no torque and transmits a signal to the sweeper truck, and the sweeper truck controls the sweeper brush lifting device 4 to lower the front sweeper brush 17 so that the front sweeper brush 17 is contacted with the ground to reach a sweeping height.
Because the front brush assembly, the edge searching device 3, the angle sensor 13, the torque sensor 5 and other devices are additionally arranged on the basis of the existing sweeper, and all parts are designed in a combined manner, a safe distance is always kept between the sweeper and the road shoulder stone, the safe distance is generated by the direct contact between the edge searching device 3 and the road shoulder stone, a steering signal is generated by the direct contact and is transmitted to the sweeper as the basis of steering adjustment, and the mode of realizing signal transmission by the direct contact is more accurate and reliable; in the prior art, distance measurement is generally carried out by adopting ultrasonic transmitters and the like, the distance measurement is carried out by directly measuring the distance between the sweeper body and the road shoulder stone, and in order to prevent the sweeper body from colliding with the road shoulder stone, a sweeper cannot contact the root of the road shoulder stone, and the sweeping effect is poor; in the invention, the front brush device 1 extends out of the sweeper, if the distance between the sweeper and the shoulder stone is smaller and collision is about to occur, the edge searching device 3 arranged on the front brush device 1 firstly contacts the shoulder stone, and the sweeper does not contact the shoulder stone, so that the phenomenon that the repair is not too late once collision occurs as in the prior art is avoided; in addition, the front brush device 1 can directly contact the root of the curb stone and is used for directly cleaning the root of the curb stone, sweeping the cleaned dust and garbage to the front of the side brush device 2 and then further cleaning the curb stone by the side brush device 2, and the front brush device is combined with the side brush device 2 in the prior art to form a large cleaning surface, so that the cleaning effect is further ensured.
The invention can realize the anti-collision function by the advanced contact of the edge searching device 3 with the curbstone, thereby ensuring the use safety of the sweeper; and utilize angle sensor 13 to learn the direction signal of motor sweeper and adjust, realized the automatic limit function of seeking of motor sweeper for the motor sweeper can clean along the curb root all the time, clean the effect better, very big not enough and the drawback of having remedied the ultrasonic wave scheme, can let unmanned motor sweeper adapt to and seek the limit and clean the function automatically, greatly improved the safety mechanism of unmanned motor sweeper, promoted new safety guarantee for unmanned motor sweeper pushes to market.
According to the invention, the contact resistance between the front sweeper 17 and the ground is detected through the torque sensor 5, so that the sweeping height of the front sweeper 17 relative to the ground is judged, the height of the front sweeper 17 can be adjusted in real time according to road conditions in such a way, the fitting degree of the front sweeper 17 and the ground is kept unchanged, the proper sweeping height is ensured, and meanwhile, the transitional abrasion of the front sweeper 17 caused by the transitional fitting of the front sweeper 17 to the ground can be prevented; meanwhile, the invention can not cause the phenomenon that the cleaning can not be carried out due to the long-time abrasion of the front sweeper 17 in the prior art.
In the process of the movement of the sweeper along the road shoulder stone, after the edge searching device 3 collides with the road shoulder stone, in order to ensure that the front brush swing arm 12 can smoothly swing backwards, in this embodiment, the front brush fixing frame 11 is arranged forwards, the front brush swing arm 12 is perpendicular to the front brush fixing frame 11 and extends towards the outer side of the sweeper perpendicularly, at this time, after the edge searching device 3 collides with the road shoulder stone, the sweeper moves forwards, the road shoulder stone has an acting force pushing the edge searching device 3 backwards, and at this time, the edge searching device 3 swings backwards around the front brush rotating shaft; of course, the included angle between the front brush swing arm 12 and the front brush fixing frame 11 may also be smaller than 90 °, that is, the front brush swing arm 12 is inclined backward in the initial state; meanwhile, the included angle between the front brush swing arm 12 and the front brush fixing frame 11 may not be greater than 90 °, that is, the front brush swing arm 12 may not be inclined forward in the initial state, because at this time when the edge finder 3 collides with a road shoulder stone, the front brush swing arm 12 is not easily inclined backward and swung, that is, the angle sensor 13 is difficult to accurately measure the backward swinging angle of the front brush swing arm 12, that is, an accurate steering signal cannot be formed.
The angle sensor 13 is matched with the front brush rotating shaft and used for measuring the rotating angle of the front brush rotating shaft, the angle sensor 13 is in the prior art, and the specific structure and the working principle of the angle sensor are not repeated herein.
The torque sensor 5 is a conventional one, and its specific structure and operation principle are not described herein.
The outer end of the front brush fixing frame 11 is provided with a mounting hole, and the front brush rotating shaft is vertically arranged and rotatably mounted in the mounting hole. The swing arm reset torsion spring 14 is a torsion spring, the torsion spring is sleeved outside the front brush rotating shaft, the top end of the torsion spring is positioned through a baffle, one end of the torsion spring is abutted and fixed on the front brush swing arm 12, the other end of the torsion spring is abutted and fixed on the front brush fixing frame 11, and the front brush swing arm 12 is pulled back to an initial position through the self characteristic; the torsion spring is sleeved outside the front brush rotating shaft, and the front brush swing arm 12 is ensured to rotate around the axis of the front brush rotating shaft.
The edge searching device 3 comprises an edge searching wheel 31 covered outside the front brush sweeping disc 16, the rotation axis of the edge searching wheel 31 is coincident with the rotation axis of the front brush sweeping disc 16, the edge searching wheel 31 is arranged in the middle of the front brush sweeping disc 16, and the edge searching wheel 31 is rotatably installed on the front brush sweeping disc 16 through a wheel edge frame 32. Because the edge seeking wheel 31 can rotate around the front brush sweeping disc 16, when the edge seeking wheel 31 is in contact with the shoulder stone, the edge seeking wheel 31 rotates under the action of friction force, the friction between the edge seeking wheel 31 and the shoulder stone is relieved and eliminated, and the contact between the edge seeking wheel 31 and the shoulder stone is soft contact at the moment, so that the running resistance of the sweeper cannot be increased; when the edge seeking wheel 31 collides with a curb, the resistance of the curb to the edge seeking wheel 31 cannot be eliminated through the rotation of the edge seeking wheel 31, and the edge seeking wheel 31 forces the front brush swing arm 12 to rotate backwards so as to provide a steering signal for the sweeper. In this embodiment, the edge searching wheel 31 is an annular frame sleeved outside the front brush assembly, the annular frame is made of a steel pipe with high strength, the upper part of the annular frame is rotatably mounted on a sweeping shaft of the front brush sweeping disc 16 through the edge searching wheel 32, the center of the edge searching wheel 32 is mounted on the sweeping shaft through a bearing, and the edge searching wheel 32 is further provided with a protective bracket for preventing collision with the upper part of the front brush sweeping disc 16; the annular frame is steel tube structure, and the surface is smooth and do not have the pointed end, reduces the frictional force with curb stone direct contact. The edge searching wheel 31 is arranged in the middle of the front sweeper 17, and the conical bottom of the front sweeper 17 extends out of the edge searching wheel 31, so that when the edge searching wheel 31 contacts with a shoulder stone, the bottom end of the front sweeper 17 can be just cleaned to the root of the shoulder stone.
In order to further prevent the safe use of the motor of the front sweeper brush 17, an auxiliary anti-collision device is arranged at the upper part of the front brush assembly. The auxiliary anti-collision device is an anti-collision annular frame 18 fixedly mounted on the front brush swing arm 12, and the anti-collision annular frame 18 is arranged on the periphery of the motor of the front sweeper 17. The edge searching wheel 31 is matched with the anti-collision annular frame 18 for use, so that the use safety of the front brush device 1 is integrally guaranteed, and the phenomenon that the front brush device 1 is damaged and cannot be reliably and safely cleaned is avoided.
The front end of the front brush fixing frame 11 is provided with a front brush limiting plate 19 for preventing the front brush swing arm 12 from moving towards the horizontal swing in front of the sweeper, the front brush limiting plate 19 is located at the front end of the front brush fixing frame 11 and is arranged in front of the front brush swing arm 12, when the front brush swing arm 12 is driven by the swing arm reset torsion spring 14 to swing forwards to contact with the rear of the front brush limiting plate 19, the front brush swing arm 12 does not continue to move forwards, and the front brush swing arm 12 is finally in the state.
The side brush device 2 comprises a side brush fixing frame 21, and a side brush assembly is installed at the end part of the side brush fixing frame 21. The side brush assembly comprises a side brush fixing frame 21 and a side sweeping disc motor 22 fixedly arranged at the rear end of the side brush fixing frame, a power shaft of the side sweeping disc motor 22 is fixedly provided with a side brush sweeping disc 23 through a speed reducer, and a side sweeping brush 24 of a conical structure is arranged at the bottom end of the side brush sweeping disc 23. The side brush assembly is of a structure in the prior art.
The sweeper lifting device 4 comprises a parallel four-bar mechanism 41, the top end of the parallel four-bar mechanism 41 is fixedly installed at the bottom end of the sweeper, the front brush device 1 and the side brush device 2 are respectively fixed at the bottom end of the parallel four-bar mechanism 41, and a lifting control device for controlling the parallel four-bar mechanism 41 to ascend or descend is further arranged between the bottom end of the sweeper and the parallel four-bar mechanism 41. The lifting control device comprises an electric push rod 42 fixed at the bottom end of the sweeper, a lifting rope 43 is wound and connected between the bottom end of the parallel four-bar mechanism 41 and the electric push rod 42 through a pulley, and two ends of the lifting rope 43 are respectively connected to the parallel four-bar mechanism 41 and the electric push rod 42.
The parallel four-bar mechanism 41 comprises two vertical bars which are oppositely arranged, two parallel adjusting bars with the same length are hinged between the two vertical bars, the top end of one vertical bar is fixed at the bottom of the sweeper, and the front brush device 1 and the side brush device 2 are fixed at the bottom end of the other vertical bar. The lifting rope 43 passes through one of the vertical rods, and the upper adjusting rod is fixed on the lower adjusting rod. When the telescopic end of the electric push rod 42 retracts, one end of the lifting rope 43 is driven to move backwards, the lifting rope 43 pulls the adjusting rod to move upwards, so that the other vertical rod, the front brush device 1 installed on the vertical rod and the side brush device 2 move upwards, and the heights of the front brush device 1 and the side brush device 2 are increased; when the telescopic end of the electric push rod 42 extends, the front brush device 1 and the side brush device 2 move downwards to the cleaning height.
A main controller is arranged in the sweeper, and an information processing module, a power control module, a steering control module and a sweeping height control module are arranged in the main controller; the angle sensor 13 and the torque sensor 5 are respectively connected to the information processing module. The sweeper is provided with a variety of different systems and only the systems and control modules that relate to and facilitate the description of the principles of this solution are described herein. The main control unit the power control module steering control module all belongs to prior art, the power control module is used for controlling power and running gear and makes the start-up, stop and the motion of motor sweeper, steering control module is used for controlling steering gear and makes the motor sweeper turn to, the brush height control module is used for control brush control module control preceding sweeping disk motor 15 limit sweeping disk motor 22 and electric putter 42 action for the ground clearance of the action of cleaning and the brush of control brush.
The angle sensor 13 is used for acquiring the angle of the front brush swing arm 12 swinging backwards and horizontally in real time, transmitting the angle value to the information processing module, and sending a steering signal rotating close to one side of the shoulder stone, a steering signal rotating far away from one side of the shoulder stone or a signal not rotating to the steering control module by the information processing module; an angle threshold is preset in the information processing module, and the angle value received by the angle sensor 13 is compared with the preset angle threshold for judgment. In this embodiment, the angle threshold is an interval value, and the minimum value of the angle threshold is greater than 0, so that when the front brush swing arm 12 does not contact the shoulder stone, the angle value acquired by the angle sensor 13 is 0, and at this time, the sweeper needs to be controlled to be close to the shoulder stone, so that the minimum value of the angle threshold should be greater than 0, and the interval range is small, so that the edge seeking wheel 31 and the shoulder stone are in contact with each other and are kept in a small interval range; when the angle value is larger than the maximum value of a preset angle threshold value, the information processing module transmits information to the steering control module, and the steering control module is controlled to enable the sweeper to steer to the side far away from the shoulder stone, so that the distance between the sweeper and the shoulder stone is increased; when the angle value is smaller than the minimum value of the preset angle threshold value, the information processing module transmits information to the steering control module, and the steering control module is controlled to enable the sweeper to steer towards one side of the shoulder stone, so that the distance between the sweeper and the shoulder stone is shortened; when the angle value is within the interval value of the angle threshold value, the information processing module transmits a signal to the steering control module to control the steering control module to stop acting, and at the moment, the sweeper continues to move along the direction.
The torque sensor 5 is used for acquiring the torque between the sweeping brush and the ground in real time when the front sweeping brush 17 is swept, transmitting a torque value to the information processing module, and sending a signal to the sweeping height control module by the information processing module so that the sweeping height control module controls the electric push rod 42 in the sweeping lifting device 4 to extend and retract, namely, controls the front sweeping brush 17 to ascend and descend; a torque threshold value is preset in the information processing module, and the torque value received by the torque sensor 5 is compared with the preset torque threshold value for judgment. In this embodiment, the torque threshold is an interval value, when the torque value is greater than the maximum value of the preset torque threshold, the information processing module transmits information to the sweeper height control module, and the sweeper height control module enables the electric push rod 42 to contract, so as to increase the height of the front sweeper 17; when the torque value is smaller than the minimum value of the preset torque threshold value, the information processing module transmits information to the brushing height control module, and the brushing height control module enables the electric push rod 42 to extend to reduce the height of the front sweeper 17; when the torque value is within the interval value of the torque threshold value, the information processing module transmits a signal to the brush height control module, the brush height control module does not act any more, and the front brush 17 is kept at the height which is inconvenient.
The automatic edge finding principle of the embodiment is as follows:
when the sweeper travels along the road shoulder stone, and the edge searching device 3 is not in contact with the road shoulder stone, and the front brush swing arm 12 does not swing at the moment, namely the signal acquired by the angle sensor 13 is 0, and the angle value is smaller than the minimum value of a preset angle threshold, the information processing module transmits information to the steering control module, controls the steering control module to enable the sweeper to steer towards one side of the road shoulder stone, and actively shortens the distance between the sweeper and the road shoulder stone;
when the edge searching wheel 31 suddenly collides with a shoulder stone, the front brush swing arm 12 suddenly swings horizontally backwards, that is, the angle value of the front brush swing arm 12 collected by the angle sensor 13 is no longer 0, which represents that the edge searching wheel 31 is in contact with the shoulder stone at the moment, when the angle value collected by the angle sensor 13 suddenly increases from 0 to a certain value, and the angle value is transmitted to the signal processing module, and when the angle value is greater than the maximum value of a preset angle threshold, the signal processing module transmits information to the steering control module, and controls the steering control module to steer the sweeper to the side far away from the shoulder stone, so as to increase the distance between the sweeper and the shoulder stone; when the steering control module controls the sweeper to steer, the sweeper walks while steering, the steering amplitude of the sweeper is small each time, the sweeper is gradually steered outwards, the sweeper cannot be quickly steered and away from an obstacle like a driver in real life, but slowly walks clinging to a road shoulder stone, and when the sweeper walks clinging to the road shoulder stone, the angle sensor 13 also collects the swing angle of the front brush swing arm 12 in real time; when the angle value is within the interval value of the angle threshold value, the signal processing module transmits a signal to the steering control module to control the steering control module to stop acting, and at the moment, the sweeper continues to move along the direction;
in the avoidance process, when the angle value acquired by the angle sensor 13 is gradually reduced and changed, the edge-searching direction of the sweeper is to be adjusted at the moment, until the angle value acquired by the angle sensor 13 is within the angle threshold range again, the edge-searching device 3 is just in contact with the shoulder stone, the sweeper does not rotate in the direction away from the shoulder stone any more and keeps walking and sweeping in the state until the angle sensor 13 transmits the steering signal of the front brush swing arm 12 again, and the distance between the sweeper and the shoulder stone is continuously adjusted; however, when the angle value acquired by the angle sensor 13 is not reduced but gradually increased, an obstacle may exist in front, which means that the direction of the sweeper is difficult to adjust, at this time, the signal processing module controls the steering control module to increase the steering amplitude to perform quick adjustment, or controls the power control module to suddenly stop, or switches to an automatic avoiding mode of an original system of the sweeper, and when the sweeper smoothly passes through the obstacle, the automatic edge searching mode is switched again, and the device and the system control the sweeper to automatically search the edge.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (9)
1. Automatic guiding mechanism of motor sweeper vertical brush terrain clearance sets up the front end lateral part at the motor sweeper, including preceding brush device and limit brush device, preceding brush device sets up the place ahead of limit brush device and orientation the lateral part of motor sweeper outwards extends its characterized in that: the front brush device comprises a front brush fixing frame, a front brush swing arm capable of horizontally swinging towards the rear of the sweeper is installed on the outer side of the front brush fixing frame, a front brush rotating shaft is fixedly installed at the inner end of the front brush swing arm, the front brush rotating shaft is rotatably installed at the outer end of the front brush fixing frame, an angle sensor used for collecting the backward swinging angle of the front brush swing arm is installed at the position, extending out of the front brush fixing frame, of the top end of the front brush rotating shaft, an oscillating arm reset torsion spring used for driving the front brush swing arm to horizontally swing from the rear to the front is arranged between the front brush swing arm and the front brush fixing frame, so that the front brush swing arm is restored to the original position, and the oscillating arm reset torsion spring; the outer end of the front brush swing arm is provided with a front brush assembly, and the lower part of the front brush assembly is covered with an edge searching device used for contacting or colliding with a road shoulder stone; the bottom of the sweeper is also provided with a sweeping brush lifting device for driving the front brush device and the side brush device to simultaneously ascend or descend; the front brush assembly comprises a front sweeping disc motor fixedly mounted at the outer end of a front brush swing arm, a speed reducer is mounted on a power shaft of the front sweeping disc motor, a front brush rotating shaft is fixedly mounted on an output shaft of the speed reducer, a front brush sweeping disc is fixedly mounted at the bottom end of the front brush rotating shaft, a torque sensor is mounted on the outer side of the front brush rotating shaft, and a front sweeping brush of a conical structure is mounted at the bottom end of the front brush sweeping disc.
2. The automatic adjusting mechanism for the ground clearance of the vertical brush of the sweeper as claimed in claim 1, is characterized in that: the edge searching device comprises an edge searching wheel covered outside the front brush sweeping disc, the rotation axis of the edge searching wheel is overlapped with the rotation axis of the front brush sweeping disc, the edge searching wheel is arranged in the middle of the front brush sweeping disc, and the edge searching wheel is rotatably installed on the front brush sweeping disc through a wheel edge frame.
3. The automatic adjusting mechanism for the ground clearance of the vertical brush of the sweeper as claimed in claim 1, is characterized in that: and an auxiliary anti-collision device is arranged at the upper part of the front brush assembly.
4. The automatic adjusting mechanism for the ground clearance of the vertical brush of the sweeper as claimed in claim 3, is characterized in that: the auxiliary anti-collision device is an anti-collision annular frame fixedly mounted on the front brush swing arm, and the anti-collision annular frame is arranged on the periphery of the front sweeper motor.
5. The automatic adjusting mechanism for the ground clearance of the vertical brush of the sweeper as claimed in claim 1, is characterized in that: the front end of the front brush fixing frame is provided with a front brush limiting plate for preventing the front brush swing arm from moving towards the horizontal swing in front of the sweeper.
6. The automatic adjusting mechanism for the ground clearance of the vertical brush of the sweeper as claimed in claim 1, is characterized in that: the side brush device comprises a side brush fixing frame, and a side brush assembly is arranged at the end part of the side brush fixing frame.
7. The automatic adjusting mechanism for the ground clearance of the vertical brush of the sweeper as claimed in claim 6, is characterized in that: the side brush assembly comprises a side brush disc motor fixedly installed at the rear end of a side brush fixing frame, a side brush disc is fixedly installed on a power shaft of the side brush disc motor through a speed reducer, and a side brush of a conical structure is installed at the bottom end of the side brush disc.
8. The automatic adjusting mechanism for the ground clearance of the vertical brush of the sweeper as claimed in claim 1, is characterized in that: the sweeper lifting device comprises a parallel four-bar mechanism, the top end of the parallel four-bar mechanism is fixedly installed at the bottom end of the sweeper, the front brush device and the side brush device are respectively fixed at the bottom end of the parallel four-bar mechanism, and a lifting control device for controlling the parallel four-bar mechanism to ascend or descend is further arranged between the bottom end of the sweeper and the parallel four-bar mechanism.
9. The automatic adjusting mechanism for the ground clearance of the vertical brush of the sweeper as claimed in claim 8, is characterized in that: the lifting control device comprises an electric push rod fixed at the bottom end of the sweeper, a lifting rope is connected between the bottom end of the parallel four-bar mechanism and the electric push rod in a winding mode through a pulley, and two ends of the lifting rope are respectively connected to the parallel four-bar mechanism and the electric push rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010608538.6A CN111636345A (en) | 2020-06-29 | 2020-06-29 | Automatic adjusting mechanism for ground clearance of vertical brush of sweeper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010608538.6A CN111636345A (en) | 2020-06-29 | 2020-06-29 | Automatic adjusting mechanism for ground clearance of vertical brush of sweeper |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111636345A true CN111636345A (en) | 2020-09-08 |
Family
ID=72327538
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010608538.6A Pending CN111636345A (en) | 2020-06-29 | 2020-06-29 | Automatic adjusting mechanism for ground clearance of vertical brush of sweeper |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111636345A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113089550A (en) * | 2021-04-19 | 2021-07-09 | 李黔 | Electric cleaning vehicle |
| CN114214988A (en) * | 2021-12-24 | 2022-03-22 | 安徽南博机器人有限公司 | Sweeper limit brush adjustment mechanism |
| WO2023050653A1 (en) * | 2021-09-30 | 2023-04-06 | 上海仙途智能科技有限公司 | On-floor sweeping device |
| CN116327047A (en) * | 2023-05-04 | 2023-06-27 | 广东浩宇清洁环保设备有限公司 | Switchable automatic driving sweeping device |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6678912B1 (en) * | 1999-06-17 | 2004-01-20 | Schmidt Holding Gmbh | Sweeping unit |
| JP2010035773A (en) * | 2008-08-04 | 2010-02-18 | Fuji Heavy Ind Ltd | Side brush support device for cleaning robot |
| CN206418443U (en) * | 2016-11-25 | 2017-08-18 | 福建群峰机械有限公司 | A kind of brush machine of self controllable cleaning dynamics |
| CN110777711A (en) * | 2019-09-29 | 2020-02-11 | 河南银泰智能专用车有限公司 | Sweeping mechanism of anti-collision, energy-saving and sweeping sweeper with adjustable sweeping width and angle |
| CN110984040A (en) * | 2019-11-19 | 2020-04-10 | 广州赛特智能科技有限公司 | Side-touching safety detection system and method for unmanned sweeper |
| CN210712689U (en) * | 2019-06-18 | 2020-06-09 | 山东满国康洁环卫集团有限公司 | Automatic cleaning guiding device for unmanned road sweeper |
| CN212294487U (en) * | 2020-06-29 | 2021-01-05 | 康洁科技集团有限公司 | Automatic adjusting mechanism for ground clearance of vertical brush of sweeper |
-
2020
- 2020-06-29 CN CN202010608538.6A patent/CN111636345A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6678912B1 (en) * | 1999-06-17 | 2004-01-20 | Schmidt Holding Gmbh | Sweeping unit |
| JP2010035773A (en) * | 2008-08-04 | 2010-02-18 | Fuji Heavy Ind Ltd | Side brush support device for cleaning robot |
| CN206418443U (en) * | 2016-11-25 | 2017-08-18 | 福建群峰机械有限公司 | A kind of brush machine of self controllable cleaning dynamics |
| CN210712689U (en) * | 2019-06-18 | 2020-06-09 | 山东满国康洁环卫集团有限公司 | Automatic cleaning guiding device for unmanned road sweeper |
| CN110777711A (en) * | 2019-09-29 | 2020-02-11 | 河南银泰智能专用车有限公司 | Sweeping mechanism of anti-collision, energy-saving and sweeping sweeper with adjustable sweeping width and angle |
| CN110984040A (en) * | 2019-11-19 | 2020-04-10 | 广州赛特智能科技有限公司 | Side-touching safety detection system and method for unmanned sweeper |
| CN212294487U (en) * | 2020-06-29 | 2021-01-05 | 康洁科技集团有限公司 | Automatic adjusting mechanism for ground clearance of vertical brush of sweeper |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113089550A (en) * | 2021-04-19 | 2021-07-09 | 李黔 | Electric cleaning vehicle |
| WO2023050653A1 (en) * | 2021-09-30 | 2023-04-06 | 上海仙途智能科技有限公司 | On-floor sweeping device |
| CN114214988A (en) * | 2021-12-24 | 2022-03-22 | 安徽南博机器人有限公司 | Sweeper limit brush adjustment mechanism |
| CN116327047A (en) * | 2023-05-04 | 2023-06-27 | 广东浩宇清洁环保设备有限公司 | Switchable automatic driving sweeping device |
| CN116327047B (en) * | 2023-05-04 | 2024-02-02 | 广东浩宇清洁环保设备有限公司 | Switchable automatic driving sweeping device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111636346A (en) | Automatic edge searching mechanism of unmanned sweeper | |
| CN111636345A (en) | Automatic adjusting mechanism for ground clearance of vertical brush of sweeper | |
| CN212294487U (en) | Automatic adjusting mechanism for ground clearance of vertical brush of sweeper | |
| CN212772136U (en) | Street sweeper with automatic operation function | |
| CN212294489U (en) | Automatic edge searching mechanism of unmanned sweeper | |
| US7806208B2 (en) | Stair climbing platform apparatus and method | |
| CN108201427B (en) | Anti-collision mechanism of sweeping robot and intelligent sweeping robot | |
| CN113589814B (en) | Disc brush system based on road condition discernment pressure and position automatically regulated | |
| WO2017198066A1 (en) | Power tool, grass mower and method for controlling same | |
| CN212009387U (en) | Remote control road sweeper with automatic function | |
| CN110946508B (en) | Control method and device of sweeping robot using laser radar and camera | |
| CN111580515B (en) | Obstacle avoidance system for unmanned sweeping machine and obstacle avoidance method thereof | |
| CN212489787U (en) | Mopping robot | |
| CN109674403B (en) | Convenient type robot of sweeping floor with hinder function more | |
| CN108345308A (en) | A kind of best random walk selection method of automatic dust absorption machine people | |
| CN219470769U (en) | Intelligent edge pasting device of sweeper | |
| CN209907307U (en) | Multifunctional snow shoveling device | |
| CN209454898U (en) | Automatic obstacle-avoiding robot running gear | |
| CN114766984B (en) | Stair cleaning robot based on telescopic radial arm | |
| CN115158305A (en) | Automatic keep away barrier running gear | |
| CN203650526U (en) | Embedded robot applicable to automatic tracking and tracing | |
| CN112230643A (en) | Mobile robot for detecting front obstacle and method thereof | |
| CN113882300A (en) | Sweeping disc adjusting device, sweeping adjusting system and control method of sweeping device | |
| CN211519481U (en) | Vehicle with a steering wheel | |
| CN212497791U (en) | Rail mounted group's fog detection robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |