CN111636346A - Automatic edge searching mechanism of unmanned sweeper - Google Patents
Automatic edge searching mechanism of unmanned sweeper Download PDFInfo
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- CN111636346A CN111636346A CN202010608621.3A CN202010608621A CN111636346A CN 111636346 A CN111636346 A CN 111636346A CN 202010608621 A CN202010608621 A CN 202010608621A CN 111636346 A CN111636346 A CN 111636346A
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- 241001417527 Pempheridae Species 0.000 title claims abstract description 166
- 230000007246 mechanism Effects 0.000 title claims abstract description 46
- 239000004575 stone Substances 0.000 claims abstract description 90
- 238000010408 sweeping Methods 0.000 claims description 83
- 230000010365 information processing Effects 0.000 claims description 19
- 238000012545 processing Methods 0.000 claims description 7
- 239000003638 chemical reducing agent Substances 0.000 claims description 6
- 230000008054 signal transmission Effects 0.000 claims description 4
- 238000006243 chemical reaction Methods 0.000 claims description 2
- 238000004804 winding Methods 0.000 claims 1
- 238000004140 cleaning Methods 0.000 description 18
- 230000000694 effects Effects 0.000 description 8
- 230000001276 controlling effect Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
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- 230000009286 beneficial effect Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000008439 repair process Effects 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000001680 brushing effect Effects 0.000 description 1
- 230000000875 corresponding effect Effects 0.000 description 1
- 238000013461 design Methods 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
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
- E01H1/00—Removing undesirable matter from roads or like surfaces, with or without moistening of the surface
- E01H1/02—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
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Abstract
The invention discloses an automatic edge searching mechanism of an unmanned sweeper, wherein a front brush device is arranged in front of an edge 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 on the outer side of the front brush fixing frame, an angle sensor used for collecting the backward swinging angle of the front brush swing arm is arranged between the front brush swing arm and the front brush fixing frame, and an edge searching device used for contacting or colliding with a road shoulder stone is covered on the outer cover of the lower part of a front brush assembly; 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, 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.
Description
Technical Field
The invention relates to the field of sanitation vehicles, in particular to an automatic edge searching mechanism of an unmanned 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, the short-distance obstacles are detected by continuously sending out sound waves through ultrasonic waves through image and ultrasonic detection, or the distance between the obstacles and a road shoulder stone is continuously calculated through timely image processing, then a feedback command is transmitted to a control center, and then corresponding actions are performed. The motor sweeper needs to walk along the curb stone when cleaning the operation, and prior art hardly guarantees the accurate distance between operation equipment and the curb stone, and this has just directly led to the rubbish in the curb stone corner thoroughly clean.
Disclosure of Invention
The invention aims to solve the technical problem of providing an automatic edge finding mechanism of an unmanned sweeper, which is reasonable in design, automatic and accurate and can safely sweep along the edge of a road shoulder stone.
In order to solve the technical problems, the technical scheme of the invention is as follows: the automatic edge searching mechanism of the unmanned sweeper is arranged at the front end side part of the sweeper and comprises a front brush device and an edge brush device, the front brush device is arranged in the front of the edge 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 swinging horizontally towards the rear part 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 to the rear part 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 swing horizontally from the rear part to the front part so that the front brush swing arm restores to the original position is arranged between the front brush swing arm and the front brush, 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, the upper part of the front brush assembly is provided with an auxiliary anti-collision device, and the lower part of the front brush assembly is covered with an edge searching device used for contacting or colliding with road shoulder stones; and the bottom of the sweeper is also provided with a sweeper lifting device for driving the front brush device and the side brush device to simultaneously ascend or descend.
According to the preferable technical scheme, the front brush assembly comprises a front sweeping disc motor fixedly mounted at the outer end of a front brush swing arm, a front sweeping disc is fixedly mounted on a power shaft of the front sweeping disc motor through a speed reducer, and a front sweeping brush with a conical structure is mounted at the bottom end of the front 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 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.
As the preferred technical scheme, be provided with main control unit in the motor sweeper, be provided with information processing module, power control module and steering control module in the main control unit, angle sensor is connected to information processing module, angle sensor is used for gathering the angle of front brush swing arm to rear horizontal hunting, information processing module is connected to respectively steering control module with power control module, information processing module will the front brush swing arm is to rear horizontal hunting's angle value processing conversion turn to signal to with turn to signal transmission extremely steering control module plans the driving route of motor sweeper, make the device of seeking limit moves along the curb all the time.
By adopting the technical scheme, the automatic edge searching mechanism of the unmanned sweeper is arranged at the side part of the front end of the sweeper and comprises a front brush device and an edge brush device, the front brush device is arranged in the front of the edge 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 to the rear direction is arranged at the top end of the front brush rotating shaft, which extends out of the front brush fixing frame, an angle restoring torsion spring for driving the front brush swing arm to horizontally swing from the rear direction to the front direction 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, the upper part of the front brush assembly is provided with an auxiliary anti-collision device, and the lower part of the front brush assembly is covered with an edge searching device used for contacting or colliding with road shoulder stones; 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 invention has the beneficial effects that:
(1) because the front brush assembly, the edge searching device, the angle sensor and other devices are additionally arranged on the basis of the existing sweeper, and all parts are combined and designed, a safe distance is always reserved between the sweeper and the road shoulder stone, the safe distance is generated by direct contact between the edge searching device and the road shoulder stone, a steering signal is generated by the direct contact and transmitted to the sweeper as the basis for steering adjustment, and the signal transmission mode realized by the direct contact is more accurate and reliable;
(2) in the prior art, ultrasonic transmitters and the like are generally adopted for distance measurement, the distance between a sweeper body and a road shoulder stone is directly measured, 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; since the front brush device extends out of the sweeper truck, if the distance between the sweeper truck and the road shoulder stone is smaller and collision is about to occur, the edge searching device mounted on the front brush device firstly contacts the road shoulder stone, and the sweeper truck does not contact the road 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 can directly contact the root of the shoulder stone and is used for directly cleaning the root of the shoulder stone, sweeping the cleaned dust and garbage to the front of the side brush device and then further cleaning the road shoulder stone by the side brush device, and the front brush device is combined with the side brush device in the prior art to form a large cleaning surface, so that the cleaning effect is further ensured;
(3) 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 schematic structural diagram of an embodiment of the present invention;
FIG. 2 is a schematic structural view of another embodiment of the present invention;
FIG. 3 is a schematic diagram of an embodiment of the present invention;
FIG. 4 is a side view 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-lifting rope.
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 edge searching mechanism of the unmanned sweeping vehicle is arranged at the side part of the front end of the sweeping vehicle, and the device is mainly used for walking along the shoulder stone for cleaning, so when the number of the device is only one, the device is required to be arranged at the right side of the front end of the sweeping vehicle; of course, the device can be arranged on both sides of the front end of the sweeper, and the sweeper not only can be used for cleaning the road shoulder stones, but also has the function of walking along the guardrail for cleaning.
The automatic edge searching mechanism of the unmanned sweeper comprises a front brush device 1 and an edge brush device 2, wherein the cleaning heights of the front brush device and the edge brush device are the same; 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, the front brush device 1 comprises a front brush fixing frame 11, a front brush swing arm 12 which can horizontally swing towards the rear of the sweeper is arranged on the outer side of the front brush fixing frame 11, the inner end of the front brush swing arm 12 is fixedly provided with a front brush rotating shaft which is rotatably arranged at the outer end of the front brush fixing frame 11, an angle sensor 13 for collecting the backward swinging angle of the front brush swing arm 12 is arranged at the top end of the front brush rotating shaft extending out of the front brush fixing frame 11, a swing arm reset torsion spring 14 for driving the front brush swing arm 12 to horizontally swing from the rear direction to the front direction so as to restore the front brush swing arm 12 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 rotating shaft; the outer end of the front brush swing arm 12 is provided with a front brush assembly, the lower part of the front brush assembly is covered with an edge searching device 3 for contacting or colliding with a road shoulder stone, the height of the edge searching device 3 corresponds to that of the 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, and therefore when the distance between the sweeper and the road shoulder stone is too close, the edge searching device 3 can firstly contact or collide with the road shoulder stone; 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.
Because the invention adds the front brush component, the edge searching device 3, the angle sensor 13 and other components on the basis of the existing sweeper, and the components are combined and designed, a safe distance is always kept between the sweeper and the road shoulder stone, and the safe distance is generated by the direct contact between the edge searching device 3 and the road shoulder stone, and a steering signal is generated by the direct contact and transmitted to the sweeper as the basis for steering adjustment, and the way 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.
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 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 front brush assembly comprises a front sweeping disc motor 15 fixedly mounted at the outer end of the front brush swing arm 12, a front sweeping disc 16 is fixedly mounted on a power shaft of the front sweeping disc motor 15 through a speed reducer, and a front sweeping brush 17 of a conical structure is mounted at the bottom end of the front sweeping disc 16. When the front sweeping disk motor 15 works, the front sweeping disk 16 is driven to rotate, so that the front sweeping brush 17 is driven to rotate, and the front brush assembly is in the prior art and belongs to a sweeping brush structure in the traditional sense.
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 motor of the front sweeper 17 from being safe to use, an auxiliary anti-collision device is arranged on the upper portion of the front sweeper assembly, the auxiliary anti-collision device is an anti-collision annular frame 18 fixedly installed on the front sweeper 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 arranged 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.
And a sweeper lifting device 4 for driving the front brush device 1 and the side brush device 2 to simultaneously ascend or descend is further mounted at the bottom of the sweeper. 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.
The invention adds an automatic edge searching mode on the basis of the running mode of the existing sweeper, and the automatic edge searching mechanism starts to act after the sweeper is switched to the automatic edge searching mode; when the sweeper is in other non-automatic edge finding modes, the working state of the sweeper is automatically controlled according to various modes in the prior art, so that automatic emergency stop, automatic steering and the like of the sweeper can be realized, the prior art is adopted, and details are not repeated, wherein the automatic edge finding mechanism in the non-automatic edge finding mode does not have an edge finding function, but the automatic cleaning and lifting functions of the front brush device 1 and the side brush device 2 are normal, and other modes are not interfered with the automatic edge finding mode of the invention.
A main controller is arranged in the sweeper, an information processing module, a power control module and a steering control module are arranged in the main controller, a plurality of different systems are arranged on the sweeper, and only the system and the control module which are related to the scheme and are beneficial to describing the principle of the scheme are described; the angle sensor 13 is connected to the information processing module, the angle sensor 13 is used for collecting the angle of the front brush swing arm 12 swinging to the rear, the information processing module is respectively connected to the steering control module and the power control module, the information processing module processes and converts the value of the angle of the front brush swing arm 12 swinging to the rear to the horizontal into a steering signal, and transmits the steering signal to the steering control module to plan the driving route of the sweeper, so that the edge searching device 3 moves along the shoulder stone all the time. And the steering control module is used for controlling the rotating direction of the steering wheel of the sweeper. The main controller the power control module the steering control module all belong to the prior art, the power control module is used for controlling the power and the running mechanism to enable the sweeper to start, stop and move, and the steering control module is used for controlling the steering mechanism to enable the sweeper to steer. And a sweeping brush control module is also arranged in the main controller, and controls the front sweeping disk motor 15, the side sweeping disk motor 22 and the electric push rod 42 to act so as to control the sweeping action of the sweeping brush and the ground clearance of the sweeping brush. When the sweeper is in the automatic edge finding mode for automatic sweeping, the front sweeping disk motor 15 and the side sweeping disk motor 22 are both actuated, so that the front sweeper 17 and the side sweeper 24 rotate, and the front sweeper 17 and the side sweeper 24 are already lowered to the sweeping height.
When in the automatic edge finding mode: 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 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.
Of course, the left side and the right side of the rear part of the sweeper can also be respectively provided with an automatic edge searching mechanism, so that the automatic edge searching function is realized by the aid of the automatic edge searching mechanism at the front end of the sweeper.
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 (10)
1. Automatic limit mechanism of seeking of unmanned motor sweeper 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, the upper part of the front brush assembly is provided with an auxiliary anti-collision device, and the lower part of the front brush assembly is covered with an edge searching device used for contacting or colliding with road shoulder stones; and the bottom of the sweeper is also provided with a sweeper lifting device for driving the front brush device and the side brush device to simultaneously ascend or descend.
2. The automatic edge searching mechanism of the unmanned sweeping vehicle as claimed in claim 1, wherein: the front brush assembly comprises a front sweeping disc motor fixedly mounted at the outer end of a front brush swing arm, a front brush sweeping disc is fixedly mounted on a power shaft of the front sweeping disc motor through a speed reducer, and a front sweeping brush of a conical structure is mounted at the bottom end of the front brush sweeping disc.
3. The automatic edge searching mechanism of the unmanned sweeping vehicle as claimed in claim 2, wherein: 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.
4. The automatic edge searching mechanism of the unmanned sweeping vehicle as claimed in claim 2, wherein: 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 edge searching mechanism of the unmanned sweeping vehicle as claimed in claim 1, wherein: 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 edge searching mechanism of the unmanned sweeping vehicle as claimed in claim 1, wherein: 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 edge searching mechanism of the unmanned sweeping vehicle as claimed in claim 6, wherein: 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 edge searching mechanism of the unmanned sweeping vehicle as claimed in claim 1, wherein: 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 edge searching mechanism of the unmanned sweeping vehicle as claimed in claim 8, wherein: 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.
10. The automatic edge finding mechanism of the unmanned sweeping vehicle as claimed in any one of claims 1 to 9, wherein: be provided with main control unit in the motor sweeper, be provided with information processing module, power control module and steering control module in the main control unit, angle sensor is connected to information processing module, angle sensor is used for gathering preceding brush swing arm is to the angle of rear horizontal swing, information processing module is connected to respectively steering control module with power control module, information processing module will preceding brush swing arm is to the angle value processing conversion of rear horizontal swing turn signal to with turn signal transmission extremely steering control module plans the driving route of motor sweeper, make seek the limit device and move along the curb all the time.
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| CN202010608621.3A CN111636346A (en) | 2020-06-29 | 2020-06-29 | Automatic edge searching mechanism of unmanned sweeper |
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| CN115233608A (en) * | 2022-09-02 | 2022-10-25 | 长春清运宝环卫机械有限公司 | Snow removing shovel capable of conveniently cleaning ice and snow on road curbstones with different heights |
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