CN111962436B - Unmanned automatic planning environment-friendly sweeper for non-motor vehicle lane and sweeping method - Google Patents
Unmanned automatic planning environment-friendly sweeper for non-motor vehicle lane and sweeping method Download PDFInfo
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- CN111962436B CN111962436B CN202010869948.6A CN202010869948A CN111962436B CN 111962436 B CN111962436 B CN 111962436B CN 202010869948 A CN202010869948 A CN 202010869948A CN 111962436 B CN111962436 B CN 111962436B
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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
- E01H1/005—Mobile installations, particularly for upkeeping in situ road or railway furniture, for instance road barricades, traffic signs; Mobile installations particularly for upkeeping tunnel walls
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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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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
- G06F16/29—Geographical information databases
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B7/00—Signalling systems according to more than one of groups G08B3/00 - G08B6/00; Personal calling systems according to more than one of groups G08B3/00 - G08B6/00
- G08B7/06—Signalling systems according to more than one of groups G08B3/00 - G08B6/00; Personal calling systems according to more than one of groups G08B3/00 - G08B6/00 using electric transmission, e.g. involving audible and visible signalling through the use of sound and light sources
Abstract
The invention relates to an unmanned automatic planning environment-friendly sweeper for a non-motor vehicle lane and a sweeping method. The device comprises a sensing module, a driving module, a power module, a cleaning module, a collecting module, an alarm module and a control module; the sensing module is used for constructing an environment map and identifying and classifying garbage, pedestrians, non-motor vehicles and obstacles; the driving module is used for driving the unmanned sweeper to run and the sweeping module to run; the power module is used for supplying power for the sweeper to continue the journey; the cleaning module is used for cleaning garbage; the collection module is used for storing road surface cleaning garbage; the alarm module is used for sending an alarm to the outside when the motor sweeper runs to avoid obstacles; the control module is used for a control center of vehicle motion and processing perception and positioning data; the sensing module, the driving module, the power module, the cleaning module, the alarming module and the control module are all connected with the control module; the collecting module is connected with the cleaning module. The sweeper and the sweeping method can realize the planning of the sweeping task of the non-motor vehicle lane with or without obstacles.
Description
Technical Field
The invention belongs to the technical field of automatic driving navigation, and particularly relates to an unmanned automatic planning environment-friendly sweeper for a non-motor vehicle lane and a sweeping method.
Background
With the increasing development of national economy and the continuous progress of science and technology, people pay more attention to the cleanness of public environment. At present, a large-scale sweeper is mostly used for sweeping the motor vehicle lane, the road environment is continuously improved, the non-motor vehicle lane is used as a lane with higher probability of occurrence of pedestrians and non-motor vehicles, and the cleanliness of the non-motor vehicle lane is not neglected. In order to reduce the labor intensity of non-motor lane sanitation workers and improve the traffic safety and the cleaning efficiency, the non-motor lane unmanned automatic planning environment-friendly sweeper can effectively replace the labor of the workers.
Disclosure of Invention
The invention provides an unmanned automatic planning environment-friendly sweeper for a non-motor vehicle lane and a sweeping method, which can realize the planning of the sweeping task of the non-motor vehicle lane with or without obstacles, carry out avoidance and real-time alarm on the non-motor vehicle and pedestrians, improve traffic safety and effectively replace the labor of workers.
The technical scheme of the invention is described as follows by combining the attached drawings:
an unmanned automatic planning environment-friendly sweeper for a non-motor vehicle lane comprises a sensing module, a driving module, a power module, a sweeping module, a collecting module, an alarm module and a control module; the sensing module is used for constructing an environment map and identifying and classifying garbage, pedestrians, non-motor vehicles and obstacles; the driving module is used for driving the unmanned sweeper to run and the cleaning module to operate; the power module is used for supplying power to the sweeper for continuation of journey; the cleaning module is used for cleaning garbage; the collection module is used for storing the road surface cleaning garbage; the alarm module is used for sending an alarm to the outside when the motor sweeper runs to avoid obstacles; the control module is used for a control center of vehicle motion and processing perception and positioning data; the sensing module, the driving module, the power module, the cleaning module, the alarming module and the control module are all connected with the control module; the collection module is connected with the cleaning module.
The sensing module comprises a camera and a multi-line laser radar; the number of the cameras is four, and the four cameras are respectively arranged at the front side, the rear side, the left side and the right side of the sweeping vehicle; the multi-line laser radar is arranged at the center of the sweeping car roof.
The driving module is installed on a front wheel driving axle of the sweeping vehicle.
The power module is a solar panel and is installed at the top of the sweeper.
The sweeping module comprises a hydraulic cylinder 1, a first sweeping brush 2, a second sweeping brush 3, a first supporting component 4, a second supporting component 5, a third supporting component 6, a fixed bearing 7 and a water spraying device 8; one end of the second support component 5 is connected with one end of one hydraulic cylinder 1 through a fixed bearing 7, and the other end of the second support component is connected with one end of the other hydraulic cylinder 1 through the fixed bearing 7; the other ends of the two hydraulic cylinders 1 are respectively connected with a first supporting component 4 through fixed bearings 7; one ends of the two first supporting components 4 are respectively connected with two ends of a third supporting component 6 through fixed bearings 7; the water sprinkling device 8 is arranged in the middle of the third support assembly 6; the first cleaning brush 2 is symmetrically arranged at two sides of the water sprinkling device 8 through a fixed bearing 7; the first cleaning brush 2 and the second cleaning brush 3 are symmetrically arranged at two sides of the fixed bearing 7 of the first supporting component 4; and a threaded hole 9 fixedly connected with a chassis of the sweeping vehicle is formed in the second supporting component 5.
Two ends of the third supporting component 6 are arc-shaped, the side surface of the third supporting component is provided with a first groove 6-1 and a first through hole 6-2; a second through hole 6-3 connected with a water spraying device 8 is arranged in the middle of the third supporting component 6; the two ends of the second through hole 6-3 are provided with a third through hole 6-4 connected with the first sweeping brush 2; the third support member 6 has a length p.
The two ends of the first supporting component 4 are arc-shaped, and the height of the first supporting component is the same as that of the first groove 6-1; one end of the first supporting component 4 is provided with a fourth through hole 4-1 with the same size as the first through hole 6-2, and the other end is provided with a fifth through hole 4-2 connected with the first sweeping brush 2; the first supporting component 4 is also provided with a sixth through hole 4-3 connected with the second sweeping brush 3 and a seventh through hole 4-4 connected with the hydraulic cylinder 1; the length of the first support member 4 is q; the cleaning range of the sweeper is [ p, p +2q ]; the included angle between the first supporting component 4 and the third supporting component 6 is alpha, and the range of the alpha is [ pi/2, pi ]; the hydraulic cylinder 1 is connected with the control module; the two ends of the second supporting component 5 are arc-shaped, the side surface of the second supporting component is provided with a second groove 5-1 and an eighth through hole 5-2; the height of the second groove 5-1 is the same as that of one end of the hydraulic cylinder 1.
The fan-shaped nozzle at the lower end of the water sprinkling device 8 is connected with the electric water valve and then is connected with the water tank through a rubber water pipe; the electric water valve is connected with the control module; a small-diameter opening is formed in the front side of the arc-shaped area of the fan-shaped nozzle; the water spraying range of the water spraying device 8 is a sector area which takes the water spraying device as the center, takes p/2+ q as the radius and has a central angle of 2 pi/3; the collection module is a garbage storage box and is a drawer type, is arranged at the lower side of the tail of the vehicle and is connected with the first cleaning brush 2 and the second cleaning brush 3 through rubber pipes.
The alarm module is arranged at the center of the front side of the sweeper, and the alarm mode of the alarm module comprises two modes of an alarm flashing LED lamp and an alarm sound.
A cleaning method of a non-motor vehicle driveway unmanned automatic planning environment-friendly sweeper comprises the following steps:
the method comprises the following steps that firstly, a sweeper is started, a multi-line laser radar and a camera in a sensing module collect surrounding environment data, and meanwhile surrounding targets are detected; the control module establishes an environment map by using an SOLM scheme, and simultaneously fuses and classifies visual information acquired by a camera and point cloud data acquired by a multi-line laser radar to determine barriers, pedestrians, boundary lines of a non-motor vehicle lane and a motor vehicle lane in the map;
step two, planning a cleaning task according to the determined boundary width m of the non-motor vehicle lane; i.e. such that: k is int (m/p +2qcos (pi-alpha)), wherein k is the number of cleaning times for completing the round trip of the cleaning task of the whole non-motor vehicle lane; p is the length of the third support member 6; q is the length of the first support member 4; alpha at the moment is an instruction output by the control module to the cleaning brush system with the variable cleaning range; when the cleaning task within a certain cleaning width range is finished, turning around and reversely running along the next cleaning width;
step three, when pedestrians and non-motor vehicles appear in the range of p/2+ q right ahead of the sweeper, the water sprinkling device 8 stops working, the electric water valve is closed and water is cut off, an alarm is given out to prompt the pedestrians and the non-motor vehicles, and forward driving is suspended; when an obstacle appears in the range of p/2+ q right ahead of the sweeper, the sweeper bypasses the obstacle and returns to the original sweeping route to continue to complete the sweeping task; when a pedestrian or an obstacle appears in an area which is p/2+ q away from the front of the sweeper and has a width qcos pi-alpha away from the left or right side of the sweeper, the cleaning brush system on the side of the pedestrian or the obstacle is retracted to the minimum position, and the pedestrian or the obstacle is returned to the initial planning position after passing through the pedestrian or the obstacle.
The invention has the beneficial effects that:
1) the invention realizes the planning of the cleaning task of the non-motor vehicle lane with or without obstacles through the synergistic action of all the modules;
2) the invention can avoid non-motor vehicles and pedestrians and alarm in real time, improves traffic safety and can effectively replace the labor of workers;
3) the power module adopts the solar cell panel, so that the environmental protection characteristic is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the contents of the embodiments of the present invention and the drawings without creative efforts.
FIG. 1 is a schematic structural diagram of an unmanned automatic planning environmental-friendly sweeper for a non-motor vehicle lane according to the present invention;
FIG. 2 is a schematic view of a hydraulic cylinder according to the present invention;
FIG. 3 is a schematic view of a first sweeping brush according to the present invention;
FIG. 4 is a schematic view of a second sweeping brush according to the present invention;
FIG. 5 is a schematic structural view of a first support assembly according to the present invention;
FIG. 6 is a schematic structural view of a second support assembly of the present invention;
FIG. 7 is a schematic structural view of a third support assembly of the present invention;
FIG. 8 is a schematic view of the construction of the fixed bearing of the present invention;
FIG. 9 is a schematic view of the sprinkler of the present invention;
FIG. 10 is a schematic view of a variable sweep range brush system of the present invention;
FIG. 11 is a schematic view of the sweeper truck traveling in a sweeping environment;
FIG. 12 is a schematic view of a variable sweep range sweeping brush system with varying single side sweep width;
fig. 13 is a schematic diagram of an example of a sweeper truck completing a sweeping task in a non-motor vehicle lane of a city.
In the figure: 1. a hydraulic cylinder; 2. a first cleaning brush; 3. a second cleaning brush; 4. a first support assembly; 5. a second support assembly; 6. a third support assembly; 7. fixing the bearing; 8. a watering device; 9. a threaded hole; 4-1, a fourth through hole; 4-2, a fifth through hole; 4-3, a sixth through hole; 4-4, a seventh via; 5-1, a second groove; 5-2, an eighth through hole; 6-1, a first groove; 6-2, a first through hole; 6-3, a second through hole; 6-4 and a third through hole.
Detailed Description
Referring to fig. 1, the non-motor vehicle driverless automatic planning environment-friendly sweeper comprises a sensing module, a driving module, a power module, a sweeping module, a collecting module, an alarm module and a control module.
The sensing module is used for constructing an environment map and identifying and classifying garbage, pedestrians, non-motor vehicles and obstacles. The sensing module comprises a camera and a multi-line laser radar; the number of the cameras is four, and the four cameras are respectively arranged at the front side, the rear side, the left side and the right side of the sweeping vehicle; the multi-line laser radar is arranged at the center of the sweeping car roof.
And the driving module is used for driving the unmanned sweeper to run and the cleaning module to operate. The driving module is installed on a front wheel driving axle of the sweeping vehicle.
And the power module is used for supplying power to the sweeper for continuation of journey. The power module is a solar panel and is installed at the top of the sweeper.
The cleaning module is used for cleaning garbage.
Referring to fig. 2 to 12, the sweeping module includes a hydraulic cylinder 1, a first sweeping brush 2, a second sweeping brush 3, a first supporting assembly 4, a second supporting assembly 5, a third supporting assembly 6, a fixed bearing 7 and a sprinkler 8; one end of the second support component 5 is connected with one end of one hydraulic cylinder 1 through a fixed bearing 7, and the other end of the second support component is connected with one end of the other hydraulic cylinder 1 through the fixed bearing 7; the other ends of the two hydraulic cylinders 1 are respectively connected with a first supporting component 4 through fixed bearings 7; one ends of the two first supporting components 4 are respectively connected with two ends of a third supporting component 6 through fixed bearings 7; the water sprinkling device 8 is arranged in the middle of the third support assembly 6; the first cleaning brush 2 is symmetrically arranged at two sides of the water sprinkling device 8 through a fixed bearing 7; the first cleaning brush 2 and the second cleaning brush 3 are symmetrically arranged at two sides of the fixed bearing 7 of the first supporting component 4; and a threaded hole 9 fixedly connected with a chassis of the sweeping vehicle is formed in the second supporting component 5.
The first and second cleaning brushes 2, 3 adopt different sizes common to a certain cleaning vehicle manufacturer to ensure the full coverage of the cleaning range, wherein the first cleaning brush 2 is larger than the second cleaning brush 3 in size.
Referring to fig. 7, two ends of the third supporting component 6 are arc-shaped, and a first groove 6-1 and a first through hole 6-2 are formed on the side surface; a second through hole 6-3 connected with a water spraying device 8 is arranged in the middle of the third supporting component 6; the two ends of the second through hole 6-3 are provided with a third through hole 6-4 connected with the first sweeping brush 2; the third support member 6 has a length p.
Referring to fig. 5 and 6, both ends of the first supporting member 4 are arc-shaped, and have the same height as the first groove 6-1; one end of the first supporting component 4 is provided with a fourth through hole 4-1 with the same size as the first through hole 6-2, and the other end is provided with a fifth through hole 4-2 connected with the first sweeping brush 2; the first supporting component 4 is also provided with a sixth through hole 4-3 connected with the second sweeping brush 3 and a seventh through hole 4-4 connected with the hydraulic cylinder 1; the length of the first support member 4 is q; the cleaning range of the sweeper is [ p, p +2q ]; the included angle between the first supporting component 4 and the third supporting component 6 is alpha, and the range of the alpha is [ pi/2, pi ]; the hydraulic cylinder 1 is connected with the control module; the control module adopts an ECU; the two ends of the second supporting component 5 are arc-shaped, the side surface of the second supporting component is provided with a second groove 5-1 and an eighth through hole 5-2; the height of the second groove 5-1 is the same as that of one end of the hydraulic cylinder 1.
The cleaning module is fixed on a vehicle chassis, and the cleaning range is changed by controlling the hydraulic cylinder 1, so that the cleaning width is changed.
The fan-shaped nozzle at the lower end of the water sprinkling device 8 is connected with the electric water valve and then is connected with the water tank through a rubber water pipe; the electric water valve is connected with the control module; a small-diameter opening is formed in the front side of the arc-shaped area of the fan-shaped nozzle, so that uniform water spraying is guaranteed; the water spraying range of the water spraying device 8 is a sector area which takes the water spraying device as the center, takes p/2+ q as the radius and has a central angle of 2 pi/3; the collection module is a garbage storage box and is a drawer type, is arranged at the lower side of the tail of the vehicle and is connected with the first cleaning brush 2 and the second cleaning brush 3 through rubber pipes.
The collection module is used for storing road surface cleaning garbage. The collection module is a garbage storage box and is a drawer type, is arranged at the lower side of the tail of the vehicle and is connected with the first cleaning brush 2 and the second cleaning brush 3 through rubber pipes.
And the alarm module is used for giving an alarm to the outside when the motor sweeper runs to avoid the obstacle. The alarm module is arranged at the center of the front side of the sweeper, and the alarm mode of the alarm module comprises two modes of an alarm flashing LED lamp and an alarm sound.
The control module is used for a control center of vehicle motion and processing of sensing and positioning data.
The sensing module, the driving module, the power module, the cleaning module, the alarming module and the control module are all connected with the control module; the collection module is connected with the cleaning module.
Referring to fig. 11 and 12, a cleaning method of a non-motor vehicle driverless automatic planning environmental-friendly sweeper comprises the following steps:
the method comprises the following steps that firstly, a sweeper is started, a multi-line laser radar and a camera in a sensing module collect surrounding environment data, and meanwhile surrounding targets are detected; the control module establishes an environment map by using an SOLM scheme, and simultaneously fuses and classifies visual information acquired by a camera and point cloud data acquired by a multi-line laser radar to determine barriers, pedestrians, boundary lines of a non-motor vehicle lane and a motor vehicle lane in the map;
step two, planning a cleaning task according to the determined boundary width m of the non-motor vehicle lane; i.e. such that: k is int (m/p +2qcos (pi- α)), where k is the number of cleaning passes to and from complete the cleaning task of the entire non-motor vehicle lane, and p is the length of the third support member 6; q is the length of the first support member 4; alpha at the moment is an instruction output by the control module to the cleaning brush system with the variable cleaning range; when the cleaning task within a certain cleaning width range is finished, turning around and reversely running along the next cleaning width;
step three, when pedestrians and non-motor vehicles appear in the range of p/2+ q right ahead of the sweeper, the water sprinkling device 8 stops working, and the electric water valve is closed to cut off water; sending an alarm to prompt pedestrians and non-motor vehicles, and suspending forward driving; when an obstacle appears in the range of p/2+ q right ahead of the sweeper, the sweeper bypasses the obstacle and returns to the original sweeping route to continue to complete the sweeping task; when a pedestrian or an obstacle appears in an area which is p/2+ q away from the front of the sweeper and has a width qcos pi-alpha away from the left or right side of the sweeper, the cleaning brush system on the side of the pedestrian or the obstacle is retracted to the minimum position, and the pedestrian or the obstacle is returned to the initial planning position after passing through the pedestrian or the obstacle.
Referring to fig. 13, for example, in a non-motor vehicle lane of a city, a safety isolation stone pillar may exist at the boundary between the non-motor vehicle lane and the motor vehicle lane, so as to separate the non-motor vehicle lane and the motor vehicle lane. The distance range between every two isolation stone piers of a certain street in the city is [1290, 2570] mm), the width of the sweeper applied in the supported project is 1100mm, therefore, the width q of the sweeper cleaning brush assembly can be set to be 2570 plus 1100)/2mm, namely 735mm, the cleaning range of the sweeper is [1100,2570] mm), and the full coverage of the cleaning area of the non-motor vehicle lane is ensured. When the sweeper reaches the isolation stone pier, the sweeping width is changed by utilizing the sweeping steps and the sweeping planning mode according to the actual isolation pier distance, the sweeper can safely pass through, and after a single sweeping task is completed, the course is changed until the next sweeping task is started in the next sweeping area. The isolation pier is used as an isolation belt of the motor way and the non-motor way and is also used as an obstacle in the cleaning process of the sweeper.
Although the preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, the scope of the present invention is not limited to the specific details of the above embodiments, and any person skilled in the art can substitute or change the technical solution of the present invention and its inventive concept within the technical scope of the present invention, and these simple modifications belong to the scope of the present invention.
It should be noted that the various technical features described in the above embodiments can be combined in any suitable manner without contradiction, and the invention is not described in any way for the possible combinations in order to avoid unnecessary repetition.
In addition, any combination of the various embodiments of the present invention is also possible, and the same should be considered as the disclosure of the present invention as long as it does not depart from the spirit of the present invention.
Claims (2)
1. An unmanned automatic planning environment-friendly sweeper for a non-motor vehicle lane is characterized by comprising a sensing module, a driving module, a power module, a sweeping module, a collecting module, an alarm module and a control module; the sensing module is used for constructing an environment map and identifying and classifying garbage, pedestrians, non-motor vehicles and obstacles; the driving module is used for driving the unmanned sweeper to run and the cleaning module to operate; the power module is used for supplying power to the sweeper for continuation of journey; the cleaning module is used for cleaning garbage; the collection module is used for storing the road surface cleaning garbage; the alarm module is used for sending an alarm to the outside when the motor sweeper runs to avoid obstacles; the control module is used for a control center of vehicle motion and processing perception and positioning data; the sensing module, the driving module, the power module, the cleaning module, the alarming module and the control module are all connected with the control module; the collecting module is connected with the sweeping module;
the sensing module comprises a camera and a multi-line laser radar; the number of the cameras is four, and the four cameras are respectively arranged at the front side, the rear side, the left side and the right side of the sweeping vehicle; the multi-line laser radar is arranged at the center of the sweeping car roof;
the driving module is arranged on a front wheel driving axle of the sweeping vehicle;
the power module is a solar panel and is arranged at the top of the sweeper;
the cleaning module comprises a hydraulic cylinder (1), a first cleaning brush (2), a second cleaning brush (3), a first supporting assembly (4), a second supporting assembly (5), a third supporting assembly (6), a fixed bearing (7) and a water spraying device (8); one end of the second supporting component (5) is connected with one end of one hydraulic cylinder (1) through a fixed bearing (7), and the other end of the second supporting component is connected with one end of the other hydraulic cylinder (1) through the fixed bearing (7); the other ends of the two hydraulic cylinders (1) are respectively connected with a first supporting component (4) through fixed bearings (7); one ends of the two first supporting components (4) are respectively connected with two ends of a third supporting component (6) through fixed bearings (7); the water sprinkling device (8) is arranged in the middle of the third supporting assembly (6); the first cleaning brushes (2) are symmetrically arranged at two sides of the water spraying device (8) through fixed bearings (7); the first cleaning brush (2) and the second cleaning brush (3) are symmetrically arranged at two sides of the fixed bearing (7) of the first supporting component (4); the second supporting component (5) is provided with a threaded hole (9) fixedly connected with a chassis of the sweeper;
two ends of the third supporting component (6) are arc-shaped, the side surface of the third supporting component is provided with a first groove (6-1) and a first through hole (6-2); a second through hole (6-3) connected with a water spraying device (8) is formed in the middle of the third supporting component (6); the two ends of the second through hole (6-3) are provided with a third through hole (6-4) connected with the first cleaning brush (2); the third support assembly (6) has a length p;
the two ends of the first supporting component (4) are arc-shaped, and the height of the first supporting component is the same as that of the first groove (6-1); one end of the first supporting component (4) is provided with a fourth through hole (4-1) which has the same size as the first through hole (6-2), and the other end of the first supporting component is provided with a fifth through hole (4-2) connected with the first cleaning brush (2); the first supporting component (4) is also provided with a sixth through hole (4-3) connected with the second cleaning brush (3) and a seventh through hole (4-4) connected with the hydraulic cylinder (1); the length of the first support component (4) is q; the cleaning range of the sweeper is [ p, p +2q ]; the included angle between the first supporting component (4) and the third supporting component (6) is alpha, and the range of the alpha is [ pi/2, pi ]; the hydraulic cylinder (1) is connected with the control module; two ends of the second supporting component (5) are arc-shaped, a second groove (5-1) is formed in the side surface of the second supporting component, and an eighth through hole (5-2) is formed in the side surface of the second supporting component; the height of the second groove (5-1) is the same as that of one end of the hydraulic cylinder (1);
the fan-shaped nozzle at the lower end of the water sprinkling device (8) is connected with the electric water valve and then is connected with the water tank through a rubber water pipe; the electric water valve is connected with the control module; a small-diameter opening is formed in the front side of the arc-shaped area of the fan-shaped nozzle; the sprinkling range of the sprinkling device (8) is a sector area which takes the sprinkling device as the center, takes p/2+ q as the radius and has a central angle of 2 pi/3; the collection module is a garbage storage box which is drawer-type, is arranged at the lower side of the tail of the vehicle and is connected with the first cleaning brush (2) and the second cleaning brush (3) through rubber pipes;
the alarm module is arranged at the center of the front side of the sweeper, and the alarm mode of the alarm module comprises two modes of an alarm flashing LED lamp and an alarm sound.
2. The sweeping method of the unmanned automatic planning environment-friendly sweeper for the non-motor vehicle lane according to claim 1, characterized by comprising the following steps:
the method comprises the following steps that firstly, a sweeper is started, a multi-line laser radar and a camera in a sensing module collect surrounding environment data, and meanwhile surrounding targets are detected; the control module establishes an environment map by using an SOLM scheme, and simultaneously fuses and classifies visual information acquired by a camera and point cloud data acquired by a multi-line laser radar to determine barriers, pedestrians, boundary lines of a non-motor vehicle lane and a motor vehicle lane in the map;
step two, planning a cleaning task according to the determined boundary width m of the non-motor vehicle lane; i.e. such that: k is int (m/p +2qcos (pi-alpha)), wherein k is the number of cleaning times for completing the round trip of the cleaning task of the whole non-motor vehicle lane, and p is the length of the third supporting component (6); q is the length of the first support member (4); alpha at the moment is an instruction output by the control module to the cleaning brush system with the variable cleaning range; when the cleaning task within a certain cleaning width range is finished, turning around and reversely running along the next cleaning width;
step three, when pedestrians and non-motor vehicles appear in the range of p/2+ q right ahead of the sweeper, the water spraying device (8) stops working, and the electric water valve is closed to cut off water; sending an alarm to prompt pedestrians and non-motor vehicles, and suspending forward driving; when an obstacle appears in the range of p/2+ q right ahead of the sweeper, the sweeper bypasses the obstacle and returns to the original sweeping route to continue to complete the sweeping task; when a pedestrian or an obstacle appears in an area which is p/2+ q away from the front of the sweeper and has a width qcos (pi-alpha) away from the left or right side of the sweeper, the cleaning brush system on the side of the pedestrian or the obstacle is retracted to the minimum position, and returns to the initial planning position after the pedestrian or the obstacle is surpassed.
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