CN111979960A - Unmanned sweeping vehicle - Google Patents

Unmanned sweeping vehicle Download PDF

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Publication number
CN111979960A
CN111979960A CN202010903118.0A CN202010903118A CN111979960A CN 111979960 A CN111979960 A CN 111979960A CN 202010903118 A CN202010903118 A CN 202010903118A CN 111979960 A CN111979960 A CN 111979960A
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CN
China
Prior art keywords
steering
motor
module
unmanned
vehicle
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Pending
Application number
CN202010903118.0A
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Chinese (zh)
Inventor
仝光
朱金栋
尹浩
周汉杰
李解
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Shanghai Dianji University
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Shanghai Dianji University
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Publication date
Application filed by Shanghai Dianji University filed Critical Shanghai Dianji University
Priority to CN202010903118.0A priority Critical patent/CN111979960A/en
Publication of CN111979960A publication Critical patent/CN111979960A/en
Pending legal-status Critical Current

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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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B35/00—Axle units; Parts thereof ; Arrangements for lubrication of axles
    • B60B35/12—Torque-transmitting axles
    • B60B35/121—Power-transmission from drive shaft to hub
    • B60B35/122—Power-transmission from drive shaft to hub using gearings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K1/00—Arrangement or mounting of electrical propulsion units
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/64—Electric machine technologies in electromobility
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Power Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The invention discloses an unmanned sweeping vehicle which comprises a power supply module, a driving module, a sweeping module, a remote control module and a steer-by-wire module. The core controller is combined with the power supply module, the remote control module, the driving module and the steer-by-wire module, so that the vehicle can run quickly and stably. And a PID controller is designed, so that the speed response speed and the precision of the small-sized unmanned sweeping machine are improved. And the steering-by-wire module is combined with a sliding mode control algorithm, so that the response speed and the accuracy of the corner signal of the small unmanned sweeping vehicle are improved, and the safe and stable autonomous sweeping function is achieved. A remote control module is designed, so that the sweeper truck is convenient to move when a fault occurs; the lifting plate is designed to control the height of the disc brush, and the loss of the disc brush is reduced. Therefore, the efficiency of cleaning the garbage is improved, the possible abrasion is reduced, the stability and the safety of the unmanned sweeping vehicle in the driving process are improved, and the burden of sanitation workers is reduced.

Description

Unmanned sweeping vehicle
Technical Field
The invention belongs to the field of environmental sanitation, and particularly relates to an unmanned sweeping vehicle.
Background
A small-sized unmanned sweeping machine is a special vehicle for sweeping road surface garbage. The road sweeper is widely applicable to road sweeping operations of urban streets, municipal squares, airport pavement, urban residential areas, parks and the like. Most of the existing unmanned sweeping vehicles need to be driven or controlled by sanitation workers, so that automatic and intelligent operation cannot be realized, and the waste of manpower and financial resources is caused. The existing unmanned sweeping vehicle can realize the remote control of the starting and stopping of the vehicle, belongs to a large vehicle, and is provided with a plurality of sensors, so that the unmanned sweeping vehicle can sense surrounding obstacles, and the unmanned sweeping vehicle can safely avoid pedestrians, traveling vehicles and various obstacles.
Most of the existing sweeping machines need environmental sanitation workers to drive or control, automatic intelligent operation cannot be realized, and waste of manpower and financial resources is caused. The disc brush of the existing unmanned sweeping vehicle is seriously worn; when the sweeper truck breaks down in the working process, the sweeper truck can only be manually brought back to a repair shop; the existing unmanned sweeping vehicle has complex structure and high cost, and is not suitable for sweeping the roads of parks and the like in places such as parks, urban residential areas, park road sweeping and the like. The most important is that the existing unmanned sweeping vehicle has the problems of safety, stability and the like, and has the problems of uncontrollable vehicle speed, uncontrollable turning angle, difficult control, long adjusting time and the like, and particularly, the unmanned sweeping vehicle is easy to turn over during the turning process or deviates from a route due to uncontrollable turning angle to influence the running of other vehicles.
Disclosure of Invention
The invention aims to provide an unmanned sweeping vehicle, which solves the problems of safety and stability of the sweeping vehicle in the prior art by adopting a PID controller to control the running speed and controlling a corner through a sliding mode control algorithm.
The invention has the technical scheme that the unmanned sweeping vehicle comprises a vehicle frame, front wheels and rear wheels; the unmanned sweeping vehicle further comprises:
a core controller;
the driving module comprises a driving motor and a rear wheel shaft which are arranged on the frame; the rear wheel shaft is arranged along the horizontal direction, and the rear wheels are fixedly arranged at two ends of the rear wheel shaft; the driving motor is in transmission connection with the rear wheel shaft through a chain; a photoelectric encoder for detecting the rotating speed is arranged on the rear wheel shaft; the photoelectric encoder is connected with the core controller, and the core controller controls the driving motor according to a rotating speed measured value;
the steering module comprises a steering motor, a steering deflector rod, a steering push plate and two steering bent shafts; the steering motor is arranged on the frame, and a steering shaft of the steering motor faces the front of the unmanned sweeping vehicle; the rear end of the steering deflector rod is connected with the steering motor through a coupler; the steering push plate is arranged along the transverse direction, the middle part of the steering push plate is provided with a strip-shaped guide hole, and the guide hole is arranged along the direction of a steering shaft of the steering motor; the front end of the steering deflector rod is bent downwards and inserted into the guide hole; the outer ends of the two steering bent shafts are connected with the front wheel in a steering way, and the inner ends of the two steering bent shafts are bent upwards and are connected with the frame in a rotating way; the vertical section of the steering bent shaft is fixedly connected with a transmission rod extending forwards, and the front end of the transmission rod is rotatably connected with the side edge of the steering push plate; an angular displacement sensor is arranged between the inner end of the steering bent shaft and the frame and is connected with the core controller;
the sweeping module comprises a lifting assembly arranged at the front end of the frame and two disc brush motors respectively arranged at two ends of the lifting assembly, a steering shaft of each disc brush motor is arranged downwards, and a disc brush is arranged at the bottom end of each disc brush motor; the sweeping module also comprises a rolling brush and a rolling brush motor which are arranged along the transverse direction; the rolling brush driving motor drives the rolling brush to rotate through the chain wheel transmission mechanism, so that the rolling brush can sweep the garbage on the road surface into a garbage can behind the rolling brush driving motor; the disc brush motor, the lifting assembly and the rolling brush motor are all in control connection with the core controller;
and the remote control module is connected with the core controller and used for receiving the instruction and forwarding the instruction to the core controller.
The invention is further improved in that the core control module drives the driving motor, the steering motor, the disc brush motor and the rolling brush motor through an H-bridge module.
The invention has the further improvement that the core controller controls the rotating speed of the driving motor through a PID control module, thereby controlling the running speed of the unmanned sweeping vehicle; the core controller controls the rotating speed of the steering motor through a sliding mode controller control module based on a saturation function, and therefore the corner of the unmanned sweeping vehicle is controlled.
The invention is further improved in that the lifting assembly comprises a lifting motor, a gear box, a rack, a top plate and two fixing plates; the gear and the rack which are meshed with each other are arranged in the gear box; the gear 29 is connected with a rotating shaft of the lifting motor so as to drive the rack to move along the vertical direction; the top end of the rack is fixedly connected with the top plate; the top plate is arranged along the horizontal direction, and the two fixing plates are arranged on two sides of the top plate along the vertical direction; the top plate is used for fixedly connecting the disc brush motor.
The invention has the beneficial effects that: the sliding-mode controller is simple in structure and convenient to control, reduces abrasion of the disc brush by adjusting the height of the disc brush, and improves safety of a vehicle by designing the sliding-mode controller through the steer-by-wire module; and a PID controller is designed to control the speed of the unmanned sweeping vehicle, so that the response time is shortened, and the response precision is improved. The body structure of the sweeping machine is redesigned, the stability of the sweeping machine in the operation process is guaranteed, and the sweeping machine can be continuously controlled to run by using the remote control module without manual dragging after the sweeping machine breaks down. Has great significance for environmental protection of cities and reduction of the workload of sanitation workers.
Drawings
FIG. 1 is a perspective view of an unmanned sweeping vehicle;
FIG. 2 is another perspective view of the unmanned sweeping vehicle;
FIG. 3 is a top view of the unmanned sweeping vehicle;
FIG. 4 is a schematic view of a cleaning module;
FIG. 5 is a schematic structural view of the gear box;
FIG. 6 is a schematic structural view of a steering module;
FIG. 7 is a steer-by-wire process diagram;
fig. 8 is a vehicle speed control flowchart.
Detailed Description
As shown in fig. 1 to 8, an embodiment of the present invention provides an unmanned sweeping vehicle. The invention will be further explained by dividing the body structure part and the steering part of the sweeping machine.
The vehicle body structure part comprises a power supply module, a remote control module, a cleaning module, a driving module and a steering module.
As shown in fig. 1 to 3, the drive module includes a drive motor 24 provided on the frame and a rear wheel axle 25. The driving motor 24 is installed at the rear side of the sweeping vehicle, the output shaft of the driving motor is provided with a chain wheel 26, the rear wheel shaft 25 is also provided with a chain wheel, the chain wheel drives the rear wheel shaft 25 to rotate through a chain wheel transmission mechanism when the driving motor 24 works, so that the rear wheels (14) installed at the two ends of the rear wheel shaft 25 are driven to rotate, and the unmanned sweeping vehicle starts to run forwards. The lithium battery 15 provides power for the operation of the drive motor 24 and the core controller 27. The core controller sends out a control command to control the rotating speed of the motor, the photoelectric encoder 23 is arranged on a rear wheel shaft of the sweeping machine to measure the rotating speed of tires of the sweeping machine in real time and transmit the measured rotating speed to the core controller 27 in real time, so that the speed of the sweeping machine is controllable;
as shown in fig. 3 to 5, the cleaning module includes a lifting assembly disposed at a front end of the frame 4 and two disc brush motors 2 respectively disposed at two ends of the lifting assembly. The steering shaft of the disc brush motor 2 is arranged downwards, and the bottom end of the disc brush motor is provided with a disc brush 1; the lifting assembly comprises a lifting motor 20, a gear box 18, a rack 30, a top plate 17 and two fixing plates 21; the intermeshing gear and the rack 30 are provided in the gear box 18; the gear 29 is connected with a rotating shaft of the lifting motor 20 to drive the rack 30 to move in a vertical direction; the top end of the rack 30 is fixedly connected with the top plate 17; the top plate 17 is arranged along the horizontal direction, and the two fixing plates 21 are arranged on two sides of the top plate 17 along the vertical direction; the top plate 17 is used for fixedly connecting the disc brush motor.
When the lifting motor 20 works, the rack 30 makes lifting movement, at the moment, the top plate 17 fixed on the rack 30 also makes lifting movement, and the disc brush also makes lifting movement. When the sweeping machine works, the disc brush 1 is lowered to enable the disc brush 1 to be fully contacted with the road surface, and the disc brush motor 2 is started to start sweeping work; when the sweeping machine does not work in a return journey, the disc brush 1 is lifted, and the abrasion of the disc brush 1 is reduced.
In addition, the cleaning module also comprises a rolling brush 8 and a rolling brush motor 9 which are arranged along the transverse direction; the rolling brush driving motor 24 drives the rolling brush to rotate through a chain wheel transmission mechanism, so that the rolling brush can sweep the garbage on the road into the garbage can 11 behind the rolling brush. The trash can 11 is provided with a forward opening. The disc brush motor 2, the lifting motor 20 of the lifting assembly and the rolling brush motor 9 are in control connection with the core controller 27. The speed of the rolling brush 8 is higher than the running speed of the unmanned sweeping machine, so that better sweeping effect can be obtained. The rolling brush 8 and the disc brush 1 in the cleaning module are driven by separate motors and can be controlled separately.
As shown in fig. 1, 3 and 6, the steering module comprises a steering motor 22, a steering rod 5, a steering push plate 36 and two steering bent shafts (35); the steering motor 22 is arranged on the frame 4, and a steering shaft of the steering motor is arranged towards the front of the unmanned sweeping vehicle; the rear end of the steering deflector rod 5 is connected with a steering shaft of the steering motor through a coupler 6. The steering push plate 36 is arranged along the transverse direction, the middle part of the steering push plate is provided with a strip-shaped guide hole, and the guide hole is arranged along the direction of the steering shaft of the steering motor 22; the front end of the steering deflector rod 5 is bent downwards and inserted into the guide hole; the outer ends of the two steering bent shafts (35) are connected with the front wheels (16) in a steering way, and the inner ends of the two steering bent shafts are bent upwards and are connected with the frame (4) in a rotating way; a vertical section of the steering bent shaft (35) is fixedly connected with a transmission rod extending forwards, and the front end of the transmission rod is rotatably connected with the side edge of the steering push plate (36); an angular displacement sensor 31 is arranged between the inner end of the steering bent shaft (35) and the frame 4, and the angular displacement sensor 31 is connected with the core controller 27;
when the unmanned sweeping machine runs, the steering motor 22 rotates by a preset angle under the control of the core controller 27, so that the steering poking rod 5 pokes the steering push plate 36 to move transversely, and then the two steering bent shafts (35) are driven to rotate along the vertical sections of the steering push plate, and finally the front wheels 16 are driven to rotate.
When the sweeper truck drives, after the core controller 27 sends a turning angle instruction, the steering motor 22 starts to work to drive the front wheels 16 to generate a corresponding angle, so that the aim of steering the unmanned sweeper truck is fulfilled. The angular displacement sensor 31 detects the actual turning angle of the road sweeper tire and transmits the angle to the core controller 27 to realize the steering control of the road sweeper.
The remote control module comprises a remote control receiver and a remote control transmitting end, after the vehicle breaks down, a manager can control the driving motor of the sweeping machine to operate through the universal remote control, the advancing, the retreating and the turning are realized, and the sweeping machine is convenient to transfer to a repair shop. The remote control receiver is connected to the core controller 27 for receiving and forwarding instructions to said core controller.
Hardware design:
a motor controller: an H-bridge module is selected as a motor controller, the voltage of 7-24V is supported, and the motor controller has under-voltage protection and power supply transient interference suppression. The controller is provided with a double-path control interface, can simultaneously control two motors, and realizes the positive and negative rotation and the speed regulation of the motors through an external PWM signal. The core control module drives the driving motor 24, the steering motor 22, the disc brush motor 2 and the rolling brush motor 9 through an H-bridge module.
The core controller 27 controls the rotating speed of the driving motor 24 through a PID control module, so as to control the running speed of the unmanned sweeping vehicle; the core controller 27 controls the rotation speed of the steering motor 22 through a sliding mode controller control module based on a saturation function, thereby controlling the corners of the unmanned sweeping vehicle.
Vehicle speed control: and a PID controller is adopted to realize signal tracking of the vehicle speed. The PID control technology is one of the earliest developed control strategies, and is one of the main technologies for industrial control due to its characteristics of simple structure, high stability, good robustness, convenient adjustment, high reliability, and the like. In the PID control, a controlled variable is formed by linearly combining the proportional, integral, and derivative values of the deviation, and the controlled object is controlled by this controlled variable. By adjusting the parameters of the proportional term, the integral term and the derivative term, most industrial control systems obtain good closed-loop control performance. The method is particularly suitable for a deterministic control system capable of establishing an accurate mathematical model. The flow chart of the vehicle speed control module is shown in fig. 8, after the sweeping machine receives the rotating speed signal, the core controller 27 controls the driving motor 24 to work, the driving motor 24 drives the rear wheel of the sweeping machine to rotate through the chain wheel 26 and the chain, and the photoelectric encoder is used for acquiring the current vehicle speed of the sweeping machine and transmitting the current vehicle speed to the core controller. The controller takes the difference value between the expected rotating speed and the actual vehicle speed as the input of the PID controller, and the actual vehicle speed is quickly followed with the expected vehicle speed through proportional, integral and differential control and is maintained at the expected vehicle speed. The quick response capability of the unmanned sweeping vehicle is improved. The given speed is 20km/h, two working states of a PID controller and a controller-free working state are simulated respectively, and the simulation result shows that the system with the PID controller has better response and the road sweeper is better in rapidity and stability.
A steering module: in the driving process of the sweeping machine, due to the fact that the driving working condition is complex, vehicle parameters are time-varying, and the state is dynamically changed, high or even limit requirements are provided for the adaptability and robustness of vehicle stability control. Fig. 7 is a flow chart of the steer-by-wire module, and the core controller controls the steering motor to operate after receiving the turning angle signal, so as to drive the front wheels of the road sweeper to rotate, and the angular displacement sensor 31 is used for detecting the turning angle of the current front wheels and feeding back the turning angle to the controller. In order to improve the stability of the vehicle, the lateral acceleration and the yaw velocity of the sweeping machine during running are detected, the deviation between the ideal yaw velocity and the actual yaw velocity is used as the input of the controller, the corner compensation is obtained, and the stability of the vehicle during running is improved. And a controller of the steer-by-wire module adopts sliding mode control. The sliding mode variable structure control is a control strategy of a variable structure control system. The fundamental difference between this control strategy and conventional control is the discontinuity in control, i.e., a switching characteristic that causes the "configuration" of the system to change over time. The sliding mode controller is designed, so that the wheel corner can better track the expected corner. Aiming at the oscillation problem existing in sliding mode control, a saturation function is used in the control process, so that the oscillation is reduced, and the stability of the vehicle is kept.
The single motor for the unmanned sweeping vehicle controls the vehicle to run, the single motor controls the vehicle to steer through the steer-by-wire module, and the unmanned sweeping vehicle is simple in structure, easy to arrange and low in cost.
The unmanned sweeping vehicle of the embodiment adopts the PID controller to control the speed of the small-sized unmanned sweeping vehicle, so that the rapidity and the stability of the sweeping vehicle in the working process are improved, and the speed of the sweeping vehicle can better follow the target speed.
The unmanned sweeping vehicle of the embodiment adopts the sliding mode controller based on the saturation function to control the corner signal of the small-sized unmanned sweeping vehicle, so that the rapidity and the stability of the sweeping vehicle in the working process are improved, and the vehicle speed can better follow the target vehicle speed.
The unmanned sweeping machine of this embodiment can go up and down, two dish brushes are fixed on the roof, through gear adjusting roof height, reach the purpose of adjustment dish brush height. When the disk brush works, the disk brush is lowered to be in contact with the road surface; when the disc brush does not work, the disc brush is lifted and does not contact with the road surface, so that the abrasion is reduced.
The unmanned sweeping machine of this embodiment has two kinds of modes of automatic traveling and remote control, and the work of cleaning is accomplished to the unmanned completion of normal condition sweeping machine, then returns through remote control sweeping machine when breaking down, is convenient for move when breaking down in the sweeping machine. During automatic driving, it can be swept and returned according to a predetermined route.
The unmanned sweeping vehicle of the embodiment supplies power to the motor and each controller by using the lithium battery. Aiming at the conditions of unreasonable mechanical structure, insufficient stability and safety performance and the like of the existing unmanned sweeping machine, the frame structure of the sweeping machine is redesigned.
The drive module of the unmanned sweeping machine comprises a 24-drive motor, a 26-chain wheel and other transmission devices, a 27-core controller is used for regulating the speed of the 24-drive motor through PWM control, a singlechip is used for providing speed information expected by the sweeping machine, the running speed of the sweeping machine is controlled within the range of 10m/min to 30m/min, a 23-photoelectric encoder is arranged on a rear wheel of a 14-degree sweeping machine, real-time rotating speed information is returned to the controller, rotating speed closed-loop control is achieved through PID adjustment, and safe running of the sweeping machine is guaranteed.
The remote control module of the unmanned sweeping machine comprises a signal transmitter, a signal receiver 28 and a processor, and can realize remote control operation within 20 meters by using a 27MHZz radio, wherein the main instructions comprise: forward, backward, left and right steering. When the sweeper truck breaks down and stops working, the operator can use the remote control module to transport the sweeper truck away.
The unmanned sweeping machine of this embodiment designs elevating system to the serious condition of the disk brush 1 wearing and tearing that unmanned sweeping machine exists, only descends disk brush 1 at the course of the work, makes disk brush 1 and road surface contact, and when out of work, elevating system rises, makes disk brush leave the road surface, reduces the wearing and tearing of disk brush 1, also improves sweeping machine's life simultaneously.
Aiming at the conditions of high interference, insufficient steering precision and unstable operation of the sweeping vehicle in the operation of the sweeping vehicle, the designed sweeping vehicle adopts a control method of front wheel steering and rear wheel driving, and the unmanned sweeping vehicle cancels a mechanical connection part of an original steering part and adopts a wire control method. After the core controller 27 receives an operation instruction sent by an upper computer, the core controller 27 sends rotation speed information to the driving motor 24 to control the sweeping machine to move, corresponding corner information is sent to the steering motor, the steering motor adopts a stepping motor, the steering motor controls the front wheels to steer, the angle sensor 31 detects the actual corner of the front wheels, the sliding mode controller is designed to correct the actual corner of the front wheels to realize closed-loop control, the corner of the front wheels reaches an expected value quickly and stably, and the sliding mode controller is insensitive to external interference, so that the stability of the sweeping machine in operation is ensured, and steer-by-wire is realized.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.

Claims (4)

1. An unmanned sweeping vehicle comprises a vehicle frame (4), front wheels (16) and rear wheels (14); it is characterized in that the unmanned sweeping vehicle comprises:
a core controller (27);
the driving module comprises a driving motor (24) arranged on the frame (4) and a rear wheel shaft (25); the rear wheel shaft (25) is arranged along the horizontal direction, and the rear wheels (14) are fixedly arranged at two ends of the rear wheel shaft; the driving motor (24) is in transmission connection with the rear wheel shaft (25) through a chain; a photoelectric encoder (23) for detecting the rotating speed is arranged on the rear wheel shaft (25); the photoelectric encoder (23) is connected with the core controller (27), and the core controller (27) controls the driving motor (24) according to a rotating speed measured value;
the steering module comprises a steering motor (22), a steering deflector rod (5), a steering push plate (36) and two steering bent shafts (35); the steering motor (22) is arranged on the frame (4), and a steering shaft of the steering motor is arranged towards the front of the unmanned sweeping vehicle; the rear end of the steering deflector rod (5) is connected with the steering motor through a coupler (6); the steering push plate (36) is arranged along the transverse direction, the middle part of the steering push plate is provided with a strip-shaped guide hole, and the guide hole is arranged along the direction of a steering shaft of the steering motor (22); the front end of the steering deflector rod (5) is bent downwards and inserted into the guide hole; the outer ends of the two steering bent shafts (35) are connected with the front wheels (16) in a steering way, and the inner ends of the two steering bent shafts are bent upwards and are connected with the frame (4) in a rotating way; a vertical section of the steering bent shaft (35) is fixedly connected with a transmission rod extending forwards, and the front end of the transmission rod is rotatably connected with the side edge of the steering push plate (36); an angular displacement sensor (31) is arranged between the inner end of the steering bent shaft (35) and the frame (4), and the angular displacement sensor (31) is connected with the core controller (27);
the cleaning module comprises a lifting assembly arranged at the front end of the frame (4) and two disc brush motors (2) respectively arranged at two ends of the lifting assembly, a steering shaft of each disc brush motor (2) is arranged downwards, and a disc brush (1) is arranged at the bottom end of each disc brush motor; the sweeping module also comprises a rolling brush (8) and a rolling brush motor (9) which are arranged along the transverse direction; the rolling brush driving motor (24) drives the rolling brush to rotate through a chain wheel transmission mechanism, so that the rolling brush can sweep the garbage on the road surface into a garbage can (11) behind the rolling brush; the disc brush motor (2), the lifting assembly and the rolling brush motor (9) are in control connection with the core controller (27);
and the remote control module is connected with the core controller (27) and used for receiving instructions and forwarding the instructions to the core controller.
2. An unmanned sweeping vehicle according to claim 1, wherein the core control module drives the drive motor (24), the steering motor (22), the disc brush motor (2) and the rolling brush motor (9) through an H-bridge module.
3. An unmanned sweeping vehicle according to claim 2, wherein the core controller (27) controls the rotation speed of the driving motor (24) through a PID control module so as to control the running speed of the unmanned sweeping vehicle; the core controller (27) controls the rotation speed of the steering motor (22) through a sliding mode controller control module based on a saturation function, so that the corner of the unmanned sweeping vehicle is controlled.
4. An unmanned sweeping vehicle according to claim 1, wherein the lifting assembly comprises a lifting motor (20), a gear box (18), a rack (30), a top plate (17) and two fixed plates (21); the gear and the rack (30) which are meshed with each other are arranged in the gear box (18); the gear 29 is connected with a rotating shaft of the lifting motor (20) so as to drive the rack (30) to move along the vertical direction; the top end of the rack (30) is fixedly connected with the top plate (17); the top plate (17) is arranged along the horizontal direction, and the two fixing plates (21) are arranged on two sides of the top plate (17) along the vertical direction; and the top plate (17) is used for fixedly connecting the disc brush motor.
CN202010903118.0A 2020-09-01 2020-09-01 Unmanned sweeping vehicle Pending CN111979960A (en)

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