CN112190182A - Method for finishing cleaning task in cluster mode - Google Patents
Method for finishing cleaning task in cluster mode Download PDFInfo
- Publication number
- CN112190182A CN112190182A CN202011016190.8A CN202011016190A CN112190182A CN 112190182 A CN112190182 A CN 112190182A CN 202011016190 A CN202011016190 A CN 202011016190A CN 112190182 A CN112190182 A CN 112190182A
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- China
- Prior art keywords
- sweeper
- charging seat
- unmanned
- garbage
- swing arm
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Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4091—Storing or parking devices, arrangements therefor; Means allowing transport of the machine when it is not being used
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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
Abstract
The invention discloses a method for finishing cleaning tasks in a cluster manner, which comprises the following steps: a. the mobile terminal or the computer terminal sends a cleaning task to the server; b. the server plans a cleaning area; c. the server dispatches the unmanned sweeper; d. each idle unmanned sweeper respectively enters a respective sweeping task area according to the scheduling of the server; e. when the cleaning operation is completed or the garbage hopper is full of garbage, the unmanned sweeper goes to a garbage collection station according to the navigation information; f. the garbage collection station draws out a garbage hopper of the unmanned sweeper through a garbage collection device; g. the garbage collection device pours the garbage in the garbage hopper into a garbage collection station; h. the garbage collection device sends the garbage bucket back to the installation position of the unmanned sweeper; i. the unmanned sweeper returns to the task area to continue sweeping operation or returns to the position of a sweeper charging seat to charge. The invention has the advantages of high automation degree, high cleaning operation efficiency and no need of manual participation.
Description
Technical Field
The invention relates to the technical field of unmanned sweeping vehicles, in particular to a method for finishing a sweeping task in a cluster manner.
Background
The sweeper generally refers to a driving type commercial sweeper, and the electric sweeper is the most common sweeper, and the sweeper on a municipal road is generally gasoline or diesel; the electric sweeper is mainly used for occasions such as property districts, factory workshops, hotel cleaning, municipal sanitation and the like. Along with the continuous development and progress of the automatic driving technology, the unmanned sweeper comes along, and various unmanned sweeper products exist in the prior art.
For the existing unmanned sweeper, the garbage hopper is filled with garbage or the sweeping operation is completed, the garbage in the garbage hopper needs to be poured out by the aid of manpower, and then the garbage is concentrated in the garbage collection station. For the garbage collection mode, the defects of low automation degree, high manual participation degree and high cost exist, and the working efficiency of the unmanned sweeper is limited to a certain degree.
Disclosure of Invention
The invention aims to provide a method for completing a cleaning task in a cluster mode, which has high automation degree and high cleaning operation efficiency and does not need manual participation, aiming at the defects of the prior art.
In order to achieve the above-mentioned aspects, the present invention is implemented by the following technical solutions.
A method for completing a cleaning task in a cluster mode comprises the following steps:
a. the mobile terminal or the computer terminal sends a cleaning task to the server;
b. the server plans a cleaning area according to the cleaning task;
c. the server schedules the unmanned sweeper according to the planned cleaning area; the server distributes one or more areas for each idle unmanned sweeper to clean;
d. each idle unmanned sweeper respectively enters a respective sweeping task area according to the scheduling of the server, and each unmanned sweeper respectively carries out sweeping operation on the respective sweeping task area;
e. when the cleaning operation of the unmanned sweeper on the task area is completed or a garbage hopper of the unmanned sweeper is full of garbage, the unmanned sweeper needing to dump the garbage goes to a garbage collection station according to the navigation information;
f. the garbage collection station draws out a garbage hopper of the unmanned sweeper through a garbage collection device; the garbage collection device of the garbage collection station is a multi-shaft manipulator;
g. the garbage collection device pours the extracted garbage in the garbage hopper into a garbage collection station;
h. the garbage collection device sends the garbage bucket back to the installation position of the unmanned sweeper;
i. for the unmanned sweeper which does not finish the cleaning operation of the task area, the unmanned sweeper which finishes the garbage dumping action returns to the task area to continue the cleaning operation; for the unmanned sweeper which finishes the cleaning operation of the task area, the unmanned sweeper which finishes the garbage dumping action returns to the position of the sweeper charging seat for charging.
The garbage collection device of the garbage collection station comprises a first movable swing arm, a second movable swing arm, a collection station upper end hinged seat and a collection station lower end hinged seat, wherein the collection station upper end hinged seat is positioned on the upper end side of the collection station lower end hinged seat, and the collection station upper end hinged seat and the collection station lower end hinged seat are respectively and tightly mounted on the garbage collection station;
the rear end part of the first movable swing arm is hinged to the hinge seat at the upper end of the collecting station through a pivot, a first driving air cylinder is arranged between the first movable swing arm and the hinge seat at the lower end of the collecting station, the cylinder body of the first driving air cylinder is hinged to the hinge seat at the lower end of the collecting station through the pivot, and the extending end part of the piston rod of the first driving air cylinder is hinged to the middle part of the first movable swing arm through the pivot;
the front end part of the first movable swing arm is hinged with the middle part of the second movable swing arm through a pivot, a second driving cylinder is arranged between the first movable swing arm and the second movable swing arm, the cylinder body of the second driving cylinder is hinged with the middle part of the first movable swing arm through the pivot, and the extending end part of the piston rod of the second driving cylinder is hinged with the rear end part of the second movable swing arm through the pivot;
the front end part of the second movable swing arm is provided with a garbage bucket clamp, the second movable swing arm is hinged with a clamp driving cylinder at the rear end side of the garbage bucket clamp, and the extending end part of a piston rod of the clamp driving cylinder is in driving connection with the garbage bucket clamp.
The sweeping vehicle comprises a sweeping vehicle body, a sweeping vehicle controller, a sweeping vehicle control module and a control module, wherein the tail of the unmanned sweeping vehicle is provided with a camera and a sweeping vehicle touch bar which are respectively and electrically connected with the controller of the unmanned sweeping vehicle;
the front surface of the charging seat of the sweeper is provided with two pattern marks which are arranged at intervals left and right and are bilaterally and symmetrically about the contact strip of the charging seat;
the unmanned sweeper is charged by adopting the following method:
a1, starting a camera, and transmitting image data to the controller in real time by the camera;
a2, adjusting the remote motion of the unmanned sweeping vehicle;
a3, judging whether the camera acquires the pattern mark of the charging seat of the sweeper by the controller; when the camera successfully acquires the pattern mark of the charging seat of the sweeper, carrying out the subsequent steps; when the camera does not acquire the pattern mark of the charging seat of the sweeper, the step a2 is carried out again;
a4, detecting the direction range of the sweeper charging seat relative to the unmanned sweeper;
a5, adjusting the movement of the unmanned sweeper;
a6, the controller judges whether the left and right pattern marks are symmetrically distributed in the center of the image; when the left and right pattern marks are symmetrically distributed in the center of the image, carrying out the subsequent steps; when the two pattern marks on the left and the right are not symmetrically distributed in the center of the image, the step a4 is performed again;
a7, enabling the unmanned sweeper to linearly retreat;
a8, judging whether the contact strip of the sweeper contacts the contact strip of the charging seat by the controller; when the contact strip of the sweeper is contacted with the contact strip of the charging seat, the unmanned sweeper is charged; when the sweeper bar is not in contact with the charging dock bar, step a7 is repeated.
Wherein, the pattern mark is a two-dimensional code mark.
The infrared emission sensor and the sweeper touch bar are respectively and electrically connected with the controller of the unmanned sweeper;
the sweeper charging seat is provided with a left and right driving linear module with left and right horizontal actions, the driving end of the left and right driving linear module is provided with a front and back driving linear module with front and back horizontal actions, the driving end of the front and back driving linear module is provided with a movable mounting frame of which the front end part extends to the front end side of the sweeper charging seat, and the front end part of the movable mounting frame is provided with a charging seat tentacle and an infrared receiving sensor positioned beside the charging seat tentacle; the sweeper charging seat is also provided with a charging seat controller, and the left and right driving linear module, the front and back driving linear module, the charging seat tentacle and the infrared receiving sensor are respectively and electrically connected with the charging seat controller;
the unmanned sweeper is charged by adopting the following method:
b1, controlling the left hub motor and the right hub motor to rotate by the sweeper controller of the unmanned sweeper according to the navigation information, so that the unmanned sweeper moves to the front of a charging seat of the sweeper;
b2, the infrared emission sensor sends infrared signals to the charging seat of the sweeper, and the infrared signal area sent by the infrared emission sensor is divided into a left signal area, a middle signal area and a right signal area;
b3, the infrared receiving sensor receives the infrared signal sent by the infrared emission sensor; when the infrared receiving sensor receives an infrared signal of a left signal area, the charging seat controller controls the left and right driving linear modules to act, and the left and right driving linear modules drive the movable mounting frame, the infrared receiving sensor and the charging seat tentacle to move towards the right side until the infrared receiving sensor receives the infrared signal of a middle signal area; when the infrared receiving sensor receives an infrared signal of a right signal area, the charging seat controller controls the left and right driving linear modules to act, and the left and right driving linear modules drive the movable mounting frame, the infrared receiving sensor and the charging seat tentacle to move towards the left side until the infrared receiving sensor receives the infrared signal of a middle signal area; when the infrared receiving sensor receives the infrared signal of the middle signal area, the left and right driving linear modules do not act;
b4, after the infrared receiving sensor receives the infrared signal of the middle signal area, the charging seat controller controls the front and back driving linear module to act, and the front and back driving linear module drives the movable mounting frame, the infrared receiving sensor and the charging seat tentacle to move forwards; when the contact of the charging seat does not contact the sweeper contact bar of the unmanned sweeper, the front and back driving linear module drives the movable mounting frame, the infrared receiving sensor and the charging seat contact bar to continuously move forwards until the contact of the charging seat contacts the sweeper contact bar of the unmanned sweeper; when the charging seat tentacle contacts the sweeper tentacle of the unmanned sweeper, the sweeper charging seat is electrically contacted with the sweeper tentacle through the charging seat tentacle to charge the power supply battery of the unmanned sweeper.
The invention has the beneficial effects that: the invention relates to a method for finishing cleaning tasks in a cluster mode, which comprises the following steps: a. the mobile terminal or the computer terminal sends a cleaning task to the server; b. the server plans a cleaning area according to the cleaning task; c. the server schedules the unmanned sweeper according to the planned cleaning area; the server distributes one or more areas for each idle unmanned sweeper to clean; d. each idle unmanned sweeper respectively enters a respective sweeping task area according to the scheduling of the server, and each unmanned sweeper respectively carries out sweeping operation on the respective sweeping task area; e. when the cleaning operation of the unmanned sweeper on the task area is completed or a garbage hopper of the unmanned sweeper is full of garbage, the unmanned sweeper needing to dump the garbage goes to a garbage collection station according to the navigation information; f. the garbage collection station draws out a garbage hopper of the unmanned sweeper through a garbage collection device; the garbage collection device of the garbage collection station is a multi-shaft manipulator; g. the garbage collection device pours the extracted garbage in the garbage hopper into a garbage collection station; h. the garbage collection device sends the garbage bucket back to the installation position of the unmanned sweeper; i. for the unmanned sweeper which does not finish the cleaning operation of the task area, the unmanned sweeper which finishes the garbage dumping action returns to the task area to continue the cleaning operation; for the unmanned sweeper which finishes the cleaning operation of the task area, the unmanned sweeper which finishes the garbage dumping action returns to the position of the sweeper charging seat for charging. The invention can automatically and efficiently complete the cleaning task of the formulated cleaning area, has high automation degree and high cleaning operation efficiency, and does not need manual participation.
Drawings
The invention will be further described with reference to the drawings to which, however, the embodiments shown in the drawings do not constitute any limitation.
FIG. 1 is a flow chart of the present invention;
fig. 2 is a schematic structural diagram of the garbage collection device of the present invention.
Fig. 3 is a flowchart of a charging method according to the present invention.
Fig. 4 is a schematic view of the charging stand of the unmanned sweeper and the sweeper corresponding to the charging method shown in fig. 3.
Fig. 5 is a flowchart of another charging method according to the present invention.
Fig. 6 is a schematic view of the charging stand of the unmanned sweeper and the sweeper corresponding to the charging method shown in fig. 5.
Fig. 1 to 6 include:
1-unmanned sweeping vehicle 11-garbage bucket
12-camera 13-sweeper touch strip
14-infrared emission sensor 2-garbage collection device
21-first Movable swing arm 22-second Movable swing arm
23-collection station upper end hinge seat 24-collection station lower end hinge seat
25-first drive Cylinder 26-second drive Cylinder
27-garbage bucket clamp 28-clamp driving cylinder
3-sweeper charging seat 311-charging seat touch strip
312-Pattern designation 321-Flexible Mount
322-charging base tentacle 323-infrared receiving sensor.
Detailed Description
The present invention will be described below with reference to specific embodiments.
As shown in fig. 1, a method for completing a cleaning task in a cluster manner includes the following steps:
a. the mobile terminal or the computer terminal sends a cleaning task to the server;
b. the server plans a cleaning area according to the cleaning task;
c. the server dispatches the unmanned sweeper 1 according to the planned cleaning area; the server distributes one or more areas for each idle unmanned sweeper 1 to clean;
d. each idle unmanned sweeper 1 respectively enters a respective cleaning task area according to the scheduling of the server, and each unmanned sweeper 1 respectively cleans the respective cleaning task area;
e. when the cleaning operation of the unmanned sweeper 1 on the task area is completed or the garbage hopper 11 of the unmanned sweeper 1 is full of garbage, the unmanned sweeper 1 needing to dump the garbage goes to a garbage collection station according to the navigation information;
f. the garbage collection station draws out a garbage hopper 11 of the unmanned sweeper 1 through the garbage collection device 2; the garbage collection device 2 of the garbage collection station is a multi-shaft manipulator;
g. the garbage collection device 2 pours the extracted garbage in the garbage hopper 11 into a garbage collection station;
h. the garbage collection device 2 sends the garbage hopper 11 back to the installation position of the unmanned sweeper 1;
i. for the unmanned sweeper 1 which does not finish the cleaning operation of the task area, the unmanned sweeper 1 which finishes the garbage dumping action returns to the task area to continue the cleaning operation; for the unmanned sweeper 1 which finishes the cleaning operation of the task area, the unmanned sweeper 1 which finishes the garbage dumping action returns to the position of the sweeper charging seat 3 for charging.
The method for finishing the cleaning task in a cluster manner can finish the cleaning task of a formulated cleaning area automatically and efficiently, has high automation degree and high cleaning operation efficiency, and does not need manual participation.
As a preferred embodiment, as shown in fig. 2, the garbage collection device 2 of the garbage collection station comprises a first movable swing arm 21, a second movable swing arm 22, a collection station upper end hinge seat 23, and a collection station lower end hinge seat 24, wherein the collection station upper end hinge seat 23 is located at the upper end side of the collection station lower end hinge seat 24, and the collection station upper end hinge seat 23 and the collection station lower end hinge seat 24 are respectively fastened and installed on the garbage collection station;
the rear end part of the first movable swing arm 21 is hinged to a hinge seat 23 at the upper end of the collecting station through a pivot, a first driving air cylinder 25 is arranged between the first movable swing arm 21 and the hinge seat 24 at the lower end of the collecting station, the cylinder body of the first driving air cylinder 25 is hinged to the hinge seat 24 at the lower end of the collecting station through a pivot, and the extending end part of the piston rod of the first driving air cylinder 25 is hinged to the middle part of the first movable swing arm 21 through a pivot;
the front end part of the first movable swing arm 21 is hinged with the middle part of the second movable swing arm 22 through a pivot, a second driving cylinder 26 is arranged between the first movable swing arm 21 and the second movable swing arm 22, the cylinder body of the second driving cylinder 26 is hinged with the middle part of the first movable swing arm 21 through a pivot, and the extending end part of the piston rod of the second driving cylinder 26 is hinged with the rear end part of the second movable swing arm 22 through a pivot;
the front end of the second movable swing arm 22 is provided with a garbage bucket clamp 27, the second movable swing arm 22 is hinged with a clamp driving cylinder 28 at the rear end side of the garbage bucket clamp 27, and the extending end of the piston rod of the clamp driving cylinder 28 is in driving connection with the garbage bucket clamp 27.
In the garbage collection device 2, in the process of extracting the garbage bucket 11 of the unmanned sweeper 1 and pouring the garbage in the garbage bucket 11 into the garbage collection station, the garbage bucket clamp 27 firstly moves to the position of the garbage bucket 11 of the unmanned sweeper 1, and then the clamp drives the air cylinder 28 to act, so that the garbage bucket clamp 27 clamps the garbage bucket 11; after the garbage bucket 11 is clamped by the garbage bucket clamp 27, the first driving air cylinder 25 drives the first movable swing arm 21 to swing upwards, and the garbage bucket 11 of the garbage bucket clamp 27 moves to the upper part of the garbage collection station; after the garbage hopper 11 moves above the garbage collection station, the second driving cylinder 26 drives the second movable swing arm 22 to swing upwards, and the second movable swing arm 22 swinging upwards enables the garbage hopper 11 to turn over, so that the garbage hopper 11 in the garbage hopper 11 is poured out; after the garbage in the garbage bucket 11 is poured out, the first driving cylinder 25 drives the first movable swing arm 21 to reset, the second driving cylinder 26 drives the second movable swing arm 22 to reset, the garbage bucket 11 clamped by the garbage bucket 11 is reset to the installation position of the unmanned sweeper 1, and then the clamp driving cylinder 28 acts and the garbage bucket clamp 27 releases the garbage bucket 11.
In addition, as shown in fig. 4, the rear part of the unmanned sweeper 1 is provided with a camera 12 and a sweeper bar 13, and the camera 12 and the sweeper bar 13 are respectively electrically connected with the controller of the unmanned sweeper 1; the front of the sweeper charging seat 3 is provided with a charging seat contact strip 311, and the front of the sweeper charging seat 3 is provided with two pattern marks 312 which are arranged at intervals left and right and are symmetrically arranged on the left and right of the charging seat contact strip 311. Preferably, the pattern mark 312 is a two-dimensional code mark.
As shown in fig. 3, the unmanned sweeping vehicle 1 is charged by the following method:
a1, starting the camera 12, and transmitting image data to the controller in real time by the camera 12;
a2, adjusting the remote motion of the unmanned sweeper 1;
a3, the controller judges whether the camera 12 obtains the pattern mark 312 of the charging seat 3 of the sweeper; when the camera 12 successfully acquires the pattern mark 312 of the charging seat 3 of the sweeper, performing the subsequent steps; when the camera 12 does not acquire the pattern mark 312 of the charging seat 3 of the sweeper, the step a2 is performed again;
a4, detecting the direction range of the sweeper charging seat 3 relative to the unmanned sweeper 1;
a5, adjusting the movement of the unmanned sweeper 1;
a6, the controller judges whether the two pattern marks 312 are symmetrically distributed at the center of the image; when the left and right pattern marks 312 are symmetrically distributed in the center of the image, the subsequent steps are performed; when the left and right pattern symbols 312 are not symmetrically distributed in the center of the image, the step a4 is performed again;
a7, enabling the unmanned sweeper 1 to linearly retreat;
a8, judging whether the sweeper touch bar 13 is in contact with the charging seat touch bar 311 by the controller; when the sweeper touch bar 13 is in contact with the charging seat touch bar 311, the unmanned sweeper 1 is charged; when the sweeper bar 13 is not in contact with the charging dock bar 311, step a7 is resumed.
As a preferred embodiment, as shown in fig. 6, an infrared emission sensor 14 and a sweeper bar 13 are mounted at the tail of the unmanned sweeper 1, and the infrared emission sensor 14 and the sweeper bar 13 are respectively electrically connected with a controller of the unmanned sweeper 1; the sweeper charging seat 3 is provided with a left and right driving linear module with left and right horizontal actions, the driving end of the left and right driving linear module is provided with a front and back driving linear module with front and back horizontal actions, the driving end of the front and back driving linear module is provided with a movable mounting bracket 321 the front end of which extends to the front end side of the sweeper charging seat 3, and the front end part of the movable mounting bracket 321 is provided with a charging seat tentacle 322 and an infrared receiving sensor 323 positioned at the side of the charging seat tentacle 322; the sweeper charging seat 3 is also provided with a charging seat controller, and the left and right driving linear module, the front and back driving linear module, the charging seat tentacle 322 and the infrared receiving sensor 323 are respectively and electrically connected with the charging seat controller.
As shown in fig. 5, the unmanned sweeping vehicle 1 is charged by the following method:
b1, controlling the left hub motor and the right hub motor to rotate by the sweeping vehicle controller of the unmanned sweeping vehicle 1 according to the navigation information, so that the unmanned sweeping vehicle 1 moves to the front of the sweeping vehicle charging seat 3;
b2, the infrared emission sensor 14 sends infrared signals to the sweeper charging seat 3, and the infrared signal area sent by the infrared emission sensor 14 is divided into a left signal area, a middle signal area and a right signal area;
b3, the infrared receiving sensor 323 receives the infrared signal sent by the infrared emission sensor 14; when the infrared receiving sensor 323 receives the infrared signal of the left signal area, the charging seat controller controls the left and right driving linear modules to act, and the left and right driving linear modules drive the movable mounting frame 321, the infrared receiving sensor 323 and the charging seat tentacle 322 to move towards the right side until the infrared receiving sensor 323 receives the infrared signal of the middle signal area; when the infrared receiving sensor 323 receives the infrared signal of the right signal area, the charging seat controller controls the left and right driving linear modules to act, and the left and right driving linear modules drive the movable mounting frame 321, the infrared receiving sensor 323 and the charging seat tentacle 322 to move towards the left until the infrared receiving sensor 323 receives the infrared signal of the middle signal area; when the infrared receiving sensor 323 receives the infrared signal of the middle signal area, the left and right driving linear modules do not act;
b4, after the infrared receiving sensor 323 receives the infrared signal of the middle signal area, the charging seat controller controls the front and back driving linear module to act, and the front and back driving linear module drives the movable mounting frame 321, the infrared receiving sensor 323 and the charging seat tentacle 322 to move forwards; when the charging seat tentacle 322 does not contact the sweeper tentacle 13 of the unmanned sweeper 1, the front-back driving linear module drives the movable mounting frame 321, the infrared receiving sensor 323 and the charging seat tentacle 322 to continuously move forwards until the charging seat tentacle 322 contacts the sweeper tentacle 13 of the unmanned sweeper 1; when the charging seat tentacle 322 contacts the sweeper contact strip 13 of the unmanned sweeper 1, the sweeper charging seat 3 electrically contacts the sweeper contact strip 13 through the charging seat tentacle 322 to charge the power supply battery of the unmanned sweeper 1.
The above description is only a preferred embodiment of the present invention, and for those skilled in the art, the present invention should not be limited by the description of the present invention, which should be interpreted as a limitation.
Claims (5)
1. A method for completing a cleaning task in a cluster manner is characterized by comprising the following steps:
a. the mobile terminal or the computer terminal sends a cleaning task to the server;
b. the server plans a cleaning area according to the cleaning task;
c. the server dispatches the unmanned sweeper (1) according to the planned cleaning area; the server distributes one or more areas for each idle unmanned sweeper (1) to clean;
d. each idle unmanned sweeper (1) respectively enters a respective cleaning task area according to the scheduling of the server, and each unmanned sweeper (1) respectively cleans the respective cleaning task area;
e. when the cleaning operation of the unmanned sweeper (1) on a task area is completed or a garbage hopper (11) of the unmanned sweeper (1) is full of garbage, the unmanned sweeper (1) needing to pour the garbage goes to a garbage collection station according to the navigation information;
f. the garbage collection station draws out a garbage hopper (11) of the unmanned sweeper (1) through a garbage collection device (2); wherein the garbage collection device (2) of the garbage collection station is a multi-shaft manipulator;
g. the garbage collection device (2) pours the extracted garbage in the garbage hopper (11) into a garbage collection station;
h. the garbage collection device (2) sends the garbage hopper (11) back to the installation position of the unmanned sweeper (1);
i. for the unmanned sweeper (1) which does not finish the cleaning operation of the task area, returning the unmanned sweeper (1) which finishes the garbage dumping action to the task area to continue the cleaning operation; for the unmanned sweeper (1) which finishes the cleaning operation of the task area, the unmanned sweeper (1) which finishes the garbage dumping action returns to the position of the sweeper charging seat (3) to be charged.
2. A method for performing a cleaning task in a cluster as claimed in claim 1, wherein: the garbage collection device (2) of the garbage collection station comprises a first movable swing arm (21), a second movable swing arm (22), a collection station upper end hinge seat (23) and a collection station lower end hinge seat (24), wherein the collection station upper end hinge seat (23) is located on the upper end side of the collection station lower end hinge seat (24), and the collection station upper end hinge seat (23) and the collection station lower end hinge seat (24) are respectively and tightly mounted on the garbage collection station;
the rear end part of the first movable swing arm (21) is hinged to a hinge seat (23) at the upper end of the collecting station through a pivot, a first driving cylinder (25) is arranged between the first movable swing arm (21) and the hinge seat (24) at the lower end of the collecting station, the cylinder body of the first driving cylinder (25) is hinged to the hinge seat (24) at the lower end of the collecting station through the pivot, and the extending end part of the piston rod of the first driving cylinder (25) is hinged to the middle part of the first movable swing arm (21) through the pivot;
the front end part of the first movable swing arm (21) is hinged with the middle part of the second movable swing arm (22) through a pivot, a second driving cylinder (26) is arranged between the first movable swing arm (21) and the second movable swing arm (22), the cylinder body of the second driving cylinder (26) is hinged with the middle part of the first movable swing arm (21) through a pivot, and the extending end part of the piston rod of the second driving cylinder (26) is hinged with the rear end part of the second movable swing arm (22) through a pivot;
the front end part of the second movable swing arm (22) is provided with a garbage bucket clamp (27), the second movable swing arm (22) is hinged with a clamp driving cylinder (28) at the rear end side of the garbage bucket clamp (27), and the extending end part of a piston rod of the clamp driving cylinder (28) is in driving connection with the garbage bucket clamp (27).
3. A method for performing a cleaning task in a cluster as claimed in claim 1, wherein: the tail part of the unmanned sweeper (1) is provided with a camera (12) and a sweeper contact bar (13), and the camera (12) and the sweeper contact bar (13) are respectively and electrically connected with a controller of the unmanned sweeper (1);
the front of the sweeper charging seat (3) is provided with a charging seat contact strip (311), and the front of the sweeper charging seat (3) is provided with two pattern marks (312) which are spaced left and right and are symmetrically arranged left and right relative to the charging seat contact strip (311) at the side of the charging seat contact strip (311);
the unmanned sweeping vehicle (1) is charged by adopting the following method:
a1, starting the camera (12), and transmitting image data to the controller in real time by the camera (12);
a2, adjusting the remote action of the unmanned sweeping vehicle (1);
a3, judging whether the camera (12) acquires the pattern mark (312) of the charging seat (3) of the sweeper or not by the controller; when the camera (12) successfully acquires the pattern mark (312) of the sweeper charging seat (3), carrying out the subsequent steps; when the camera (12) does not acquire the pattern mark (312) of the sweeper charging seat (3), the step a2 is carried out again;
a4, detecting the direction range of the sweeper charging seat (3) relative to the unmanned sweeper (1);
a5, adjusting the movement of the unmanned sweeping vehicle (1);
a6, the controller judges whether the left and right pattern marks (312) are symmetrically distributed in the center of the image; when the left and right pattern marks (312) are symmetrically distributed in the center of the image, performing the subsequent steps; when the left and right pattern marks (312) are not symmetrically distributed in the center of the image, the step a4 is performed again;
a7, the unmanned sweeping vehicle (1) linearly retreats;
a8, judging whether the sweeper touch bar (13) is in contact with the charging seat touch bar (311) or not by the controller; when the sweeper contact bar (13) is in contact with the charging seat contact bar (311), the unmanned sweeper (1) is charged; and when the sweeper touch bar (13) is not in contact with the charging seat touch bar (311), the step a7 is carried out again.
4. A method for performing a cleaning task in a cluster as claimed in claim 2, wherein: the pattern mark (312) is a two-dimensional code mark.
5. A method for performing a cleaning task in a cluster as claimed in claim 1, wherein: the tail part of the unmanned sweeper (1) is provided with an infrared emission sensor (14) and a sweeper contact bar (13), and the infrared emission sensor (14) and the sweeper contact bar (13) are respectively and electrically connected with a controller of the unmanned sweeper (1);
the sweeper is characterized in that a left and right driving linear module which horizontally moves left and right is arranged on a sweeper charging seat (3), a front and rear driving linear module which horizontally moves front and rear is arranged at the driving end of the left and right driving linear module, a movable mounting frame (321) with the front end part extending to the front end side of the sweeper charging seat (3) is arranged at the driving end of the front and rear driving linear module, a charging seat tentacle (322) and an infrared receiving sensor (323) located beside the charging seat tentacle (322) are arranged at the front end part of the movable mounting frame; the sweeper charging seat (3) is also provided with a charging seat controller, and the left and right driving linear modules, the front and back driving linear modules, the charging seat tentacle (322) and the infrared receiving sensor (323) are respectively and electrically connected with the charging seat controller;
the unmanned sweeping vehicle (1) is charged by adopting the following method:
b1, controlling the left hub motor and the right hub motor to rotate by the sweeper controller of the unmanned sweeper (1) according to the navigation information, so that the unmanned sweeper (1) moves to the front of the sweeper charging seat (3);
b2, the infrared emission sensor (14) sends infrared signals to the sweeper charging seat (3), and the infrared signal area sent by the infrared emission sensor (14) is divided into a left signal area, a middle signal area and a right signal area;
b3, the infrared receiving sensor (323) receives the infrared signal sent by the infrared emission sensor (14); when the infrared receiving sensor (323) receives the infrared signal of the left signal area, the charging seat controller controls the left and right driving linear modules to act, and the left and right driving linear modules drive the movable mounting frame (321), the infrared receiving sensor (323) and the charging seat tentacle (322) to move towards the right until the infrared receiving sensor (323) receives the infrared signal of the middle signal area; when the infrared receiving sensor (323) receives the infrared signal of the right signal area, the charging seat controller controls the left and right driving linear modules to act, and the left and right driving linear modules drive the movable mounting frame (321), the infrared receiving sensor (323) and the charging seat tentacle (322) to move towards the left until the infrared receiving sensor (323) receives the infrared signal of the middle signal area; when the infrared receiving sensor (323) receives the infrared signal of the middle signal area, the left and right driving linear modules do not act;
b4, after the infrared receiving sensor (323) receives the infrared signal of the middle signal area, the charging seat controller controls the front and back driving linear module to act, and the front and back driving linear module drives the movable mounting frame (321), the infrared receiving sensor (323) and the charging seat tentacle (322) to move forwards; when the charging seat tentacles (322) do not contact the sweeper tentacles (13) of the unmanned sweeper (1), the front and back driving linear modules drive the movable mounting frame (321), the infrared receiving sensor (323) and the charging seat tentacles (322) to continuously move forwards until the charging seat tentacles (322) contact the sweeper tentacles (13) of the unmanned sweeper (1); when the charging seat tentacle (322) contacts the sweeper tentacle (13) of the unmanned sweeper (1), the sweeper charging seat (3) electrically contacts the sweeper tentacle (13) through the charging seat tentacle (322) to charge the power supply battery of the unmanned sweeper (1).
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