CN114281082A - Unmanned sanitation vehicle - Google Patents
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- CN114281082A CN114281082A CN202111600086.8A CN202111600086A CN114281082A CN 114281082 A CN114281082 A CN 114281082A CN 202111600086 A CN202111600086 A CN 202111600086A CN 114281082 A CN114281082 A CN 114281082A
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 120
- 238000004140 cleaning Methods 0.000 claims abstract description 31
- 239000007787 solid Substances 0.000 claims abstract description 10
- 238000010408 sweeping Methods 0.000 claims description 79
- 239000010865 sewage Substances 0.000 claims description 40
- 238000005096 rolling process Methods 0.000 claims description 37
- 239000000428 dust Substances 0.000 claims description 34
- 239000010813 municipal solid waste Substances 0.000 claims description 32
- 230000007246 mechanism Effects 0.000 claims description 14
- 238000005406 washing Methods 0.000 claims description 14
- 241001417527 Pempheridae Species 0.000 claims description 8
- 238000007790 scraping Methods 0.000 claims description 8
- 230000000007 visual effect Effects 0.000 claims description 5
- 239000000645 desinfectant Substances 0.000 claims description 4
- 230000001954 sterilising effect Effects 0.000 claims description 4
- 238000005507 spraying Methods 0.000 claims description 3
- 230000007613 environmental effect Effects 0.000 abstract description 8
- 230000009471 action Effects 0.000 description 8
- 210000001503 joint Anatomy 0.000 description 7
- 230000001174 ascending effect Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 238000001914 filtration Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 238000007599 discharging Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 206010070834 Sensitisation Diseases 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000011156 evaluation Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000002035 prolonged effect Effects 0.000 description 2
- 230000008313 sensitization Effects 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 239000003595 mist Substances 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 238000004659 sterilization and disinfection Methods 0.000 description 1
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Abstract
The invention discloses an unmanned sanitation vehicle which comprises a vehicle body, a cleaning system, a steering system, a water tank and a vehicle control unit, wherein the cleaning system, the steering system, the water tank and the vehicle control unit are arranged on the vehicle body, the unmanned sanitation vehicle further comprises a binocular camera used for collecting information of a front object and an obstacle, a front laser radar and a front ultrasonic wave used for judging the size of the front obstacle and the distance between the obstacle and the vehicle, a side ultrasonic wave used for judging the surrounding environment condition of the vehicle and a solid state laser radar arranged at the tail part of the vehicle, and the cleaning system, the steering system, the binocular camera, the front laser radar, the front ultrasonic wave, the side ultrasonic wave and the solid state laser radar are all connected with the vehicle control unit. The automatic cleaning device can realize unmanned driving and automatic operation of the whole vehicle, can obviously reduce personnel and management cost in the environmental sanitation industry, can effectively improve the utilization rate of the cleaning vehicle and the cleaning efficiency, and greatly improves the safety.
Description
Technical Field
The invention relates to the technical field of sanitation vehicles, in particular to an unmanned sanitation vehicle.
Background
The existing sanitation vehicle mostly needs manual driving operation, although one function of the sanitation vehicle can realize automatic control operation, a plurality of functions of the sanitation vehicle need manual operation, and real unmanned control operation cannot be realized.
For example, chinese patent CN112112109A discloses a collection device integrating suction sweeping and rolling sweeping of garbage of an unmanned sweeper, which comprises a rolling sweeping component, a garbage hopper, and an air draft component, wherein the rolling sweeping component comprises a rolling sweeping cover, a rolling sweeping rotating shaft and a rolling sweeping brush are embedded in a rolling sweeping cavity of the rolling sweeping cover, and the rolling sweeping rotating shaft is driven by a rolling sweeping driving motor; a garbage storage cavity is formed in the garbage hopper, an inverted V-shaped air guide channel is formed between the garbage hopper and the rolling sweeping cover, and the bottom surface of the inverted V-shaped air guide channel comprises a front end bottom surface and a rear end bottom surface which extend obliquely respectively; the air draft assembly comprises an air draft cover, an air draft cavity is formed in the air draft cover, the air draft cover is provided with an air inlet and an air outlet of the air draft cover, the upper surface of the garbage bucket is provided with an air outlet of the garbage bucket, and the upper surface of the air draft cover is provided with a fan; an inclined filter screen is embedded in the air draft cavity, an induction floating plate is arranged in the garbage storage cavity, and a distance sensor is arranged on the inner wall of the air draft cavity. The automatic control system can only realize the automatic work of part functions without human control, can not realize the unmanned driving and the unmanned control operation of the whole vehicle, and can not realize the continuous long-time work.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide an unmanned sanitation vehicle which can realize unmanned driving and automatic operation of the whole vehicle.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
the unmanned sanitation vehicle comprises a vehicle body, a cleaning system, a steering system, a water tank and a vehicle control unit, wherein the cleaning system, the steering system, the water tank and the vehicle control unit are arranged on the vehicle body, the unmanned sanitation vehicle further comprises a binocular camera used for collecting information of a front object and an obstacle, a front laser radar and a front ultrasonic wave used for judging the size of the front obstacle and the distance between the obstacle and the vehicle, a side ultrasonic wave used for judging the surrounding environment condition of the vehicle and a solid laser radar arranged at the tail part of the vehicle, and the cleaning system, the steering system, the binocular camera, the front laser radar, the front ultrasonic wave, the side ultrasonic wave and the solid laser radar are all connected with the vehicle control unit.
Further:
the sanitation vehicle is a sweeper, and the sweeping system comprises a front sweeping disc system, a rear sweeping disc system, a rolling sweeping system and a dust settling system which are arranged on a vehicle body.
The sanitation vehicle is a washing and sweeping vehicle, the sweeping system comprises a sweeping disc system, a rolling sweeping system, a dust settling system, a water scraping system, a water absorbing system and a water draining system which are arranged on a vehicle body, and the sweeping disc system, the rolling sweeping system and the water scraping system are sequentially arranged from the front to the back.
The vehicle light control system is characterized by further comprising a photosensitive control system used for sensing the intensity of external light, and the photosensitive control system is connected with the vehicle control unit and used for controlling vehicle light.
And a low water level sensor and a high water level sensor are arranged in the water tank, and are connected with the vehicle control unit to control the work of the dust-settling system.
The side of water tank is equipped with adds water mechanism and is used for controlling the camera group of vehicle to appointed fire hydrant position through visual identification, camera group links to each other with vehicle control unit.
The vehicle body is provided with a garbage can, the garbage can is provided with an overflow sensor, and the overflow sensor is connected with the vehicle control unit.
The vehicle body is provided with a sewage tank, the sewage tank is connected with a drainage system, a sewage tank high-water-level sensor and a sewage tank low-water-level sensor are arranged in the sewage tank, and the sewage tank high-water-level sensor and the sewage tank low-water-level sensor are both connected with the vehicle control unit.
And a sterilizing system for spraying disinfectant is arranged at the rear part of the roof of the sanitation vehicle and is connected with the whole vehicle controller.
And an infrared receiving sensor is arranged at a port corresponding to the drainage system on the vehicle body and is connected with the vehicle control unit.
Compared with the prior art, the invention has the following advantages:
1. the unmanned driving and automatic operation of the whole vehicle can be realized, the personnel and management cost in the environmental sanitation industry can be obviously reduced, the utilization rate of the cleaning vehicle can be effectively improved, the cleaning efficiency can be improved, the safety can be greatly improved, and the environmental sanitation safety accidents can be reduced; multiple sanitation vehicles can work coordinately through the Internet of things technology, so that the efficiency of multi-machine operation is improved; the vehicle-mounted camera can realize remote monitoring of the environment; in addition, the unmanned vehicle can also work at night, so that the environmental sanitation operation time is prolonged;
2. the conditions of the front road surface garbage and the obstacles can be intelligently identified and matched with a controller system database, corresponding cleaning actions are performed according to different conditions, and cleaning operation under various environments can be completed;
3. the traditional manual water adding mode has multiple operation steps and is relatively complicated; the water feeding is not automatically stopped without information feedback, the phenomenon of full water overflow is easy to occur, waste is caused, and the road surface is wet and slippery after the water overflow; in addition, the operation is carried out by workers, so that potential safety hazards exist; the automatic water adding mode can be realized, and the potential safety hazard is reduced without the operation of personnel; in addition, information feedback exists in the mode, water can be automatically stopped from being added, and the phenomenon that the road surface is wet and slippery due to overflowing of water is avoided;
4. the loading condition of the garbage can and the water loading condition of the sewage tank can be automatically detected, and when the garbage can and the sewage tank are fully loaded, the garbage can and the sewage tank automatically reach the appointed dumping and discharging treatment; whether garbage bin and sewage case are fully loaded, simple high-efficient need not the staff and often looks over.
Drawings
The contents of the description and the references in the drawings are briefly described as follows:
fig. 1 is a first schematic structural diagram of the sweeper of the present invention.
Fig. 2 is a schematic structural diagram of a sweeper truck according to the present invention.
Fig. 3 is a third schematic structural view of the sweeper of the invention.
FIG. 4 is a first structural view of the washing and sweeping vehicle of the present invention.
FIG. 5 is a second schematic view of the washing and sweeping vehicle according to the present invention.
FIG. 6 is a third schematic view of the washing and sweeping vehicle according to the present invention.
In the figure:
an industrial personal computer (1), a vehicle control unit (2), a front sweeping system (3), a rear sweeping system (4), a rolling sweeping system (5), a dust falling system (6), a dust collecting system (7), a driving control system (8), a binocular camera (9), a laser radar (10), a steering system (11), a low water level sensor (12), a camera set (13), a water adding mechanism (14), an overflow sensor (15), a dust removing and filtering system (16), ultrasonic waves (17), a solid laser radar (18), a high water level sensor (19) and a photosensitive control system (20);
21 a disinfection system, 22 a wiper system, 23 a hydraulic system, 24 a water absorption system, 25 a sewage tank high-water level sensor, 26 a sewage tank low-water level sensor and 27 a drainage system.
Detailed Description
The following description of the embodiments of the present invention will be made in detail with reference to the accompanying drawings.
The unmanned sanitation vehicle comprises a vehicle body, a cleaning system, a steering system, a water tank, a vehicle control unit 2, a binocular camera 9 used for collecting information of a front object and an obstacle, a front laser radar 10 and a front ultrasonic wave 17 used for judging the size of the front obstacle and the distance between the obstacle and the vehicle, a side ultrasonic wave used for judging the surrounding environment condition of the vehicle and a solid laser radar 18 arranged at the tail of the vehicle.
The cleaning system, the steering system, the binocular camera, the front laser radar, the front ultrasonic wave, the side ultrasonic wave and the solid state laser radar are all connected with the vehicle control unit 2; the automatic cleaning device can realize unmanned driving and automatic operation of the whole vehicle, can obviously reduce personnel and management cost in the environmental sanitation industry, can effectively improve the utilization rate of the cleaning vehicle and the cleaning efficiency, and greatly improves the safety.
As shown in fig. 1 to 3, the sanitation vehicle is a sweeper, and the sweeping system includes a front sweeping tray system, a rear sweeping tray system, a rolling sweeping system and a dust settling system, which are disposed on a vehicle body. Or as shown in fig. 4 to 6, the sanitation vehicle is a washing and sweeping vehicle, the sweeping system comprises a sweeping disc system, a rolling sweeping system, a dust settling system, a water wiping system, a water absorbing system and a water draining system which are arranged on the vehicle body, and the sweeping disc system, the rolling sweeping system and the water wiping system are sequentially arranged from front to back.
The front portion of vehicle is equipped with the sensitization control system 20 that is used for responding to external light intensity, and sensitization control system links to each other with vehicle control unit and is used for controlling vehicle light, realizes the automatic control of vehicle light.
A low water level sensor and a high water level sensor are arranged in the water tank, and both the low water level sensor and the high water level sensor are connected with the vehicle control unit and are used for controlling the dust fall system to work; furthermore, a water adding mechanism and a camera set used for controlling a vehicle to reach the position of the specified fire hydrant through visual recognition are arranged on the side surface of the water tank, and the camera set is connected with the vehicle control unit; the vehicle cleaning operation and the automatic water adding operation can be controlled according to the water level in the water tank.
The vehicle body is provided with a garbage can, the garbage can is provided with an overflow sensor, and the overflow sensor is connected with the vehicle control unit. The vehicle body is provided with a sewage tank, the sewage tank is connected with a drainage system, a sewage tank high-water level sensor and a sewage tank low-water level sensor are arranged in the sewage tank, and the sewage tank high-water level sensor and the sewage tank low-water level sensor are both connected with the vehicle control unit; when garbage in the garbage can and sewage in the sewage tank are fully loaded, the garbage can automatically achieves the appointed dumping and discharging treatment; whether the trash can and the sewage tank are fully loaded or not is not required to be checked by workers frequently.
Further: an infrared receiving sensor is arranged at a port corresponding to the drainage system on the vehicle body, the infrared receiving sensor is connected with the vehicle control unit, and drainage butt joint is automatically controlled.
The rear part of the roof of the sanitation vehicle is provided with a sterilizing system for spraying disinfectant, the sterilizing system is connected with the vehicle control unit and can spray disinfectant mist to the rear part of the vehicle according to requirements to sterilize the air environment.
The invention has the following advantages:
the unmanned driving and automatic operation of the whole vehicle can be realized, the personnel and management cost in the environmental sanitation industry can be obviously reduced, the utilization rate of the cleaning vehicle can be effectively improved, the cleaning efficiency can be improved, the safety can be greatly improved, and the environmental sanitation safety accidents can be reduced; multiple sanitation vehicles can work coordinately through the Internet of things technology, so that the efficiency of multi-machine operation is improved; the vehicle-mounted camera can realize remote monitoring of the environment; in addition, the unmanned vehicle can also work at night, so that the environmental sanitation operation time is prolonged;
the conditions of the front road surface garbage and the obstacles can be intelligently identified and matched with a controller system database, corresponding cleaning actions are performed according to different conditions, and cleaning operation under various environments can be completed;
the traditional manual water adding mode has multiple operation steps and is relatively complicated; the water feeding is not automatically stopped without information feedback, the phenomenon of full water overflow is easy to occur, waste is caused, and the road surface is wet and slippery after the water overflow; in addition, the operation is carried out by workers, so that potential safety hazards exist; the automatic water adding mode can be realized, and the potential safety hazard is reduced without the operation of personnel; in addition, information feedback exists in the mode, water can be automatically stopped from being added, and the phenomenon that the road surface is wet and slippery due to overflowing of water is avoided;
the loading condition of the garbage can and the water loading condition of the sewage tank can be automatically detected, and when the garbage can and the sewage tank are fully loaded, the garbage can and the sewage tank automatically reach the appointed dumping and discharging treatment; whether garbage bin and sewage case are fully loaded, simple high-efficient need not the staff and often looks over.
The first preferred embodiment:
the unmanned sweeper as shown in figures 1 to 3;
the method comprises the steps of constructing a grid map for a specified area in an automatic driving process for the area, acquiring collected environment information, generating a reference line according to the environment information, generating a plurality of candidate paths according to the reference line, producing evaluation results of the plurality of paths according to the constructed grid map, and determining a target path from the plurality of candidate paths. And then, an industrial personal computer 1 sends a cleaning operation instruction to a VCU vehicle controller 2, the VCU respectively executes the operations of a front scanning disk system 3, a rear scanning disk system 4, a rolling scanning system 5, a dust settling system 6 and a dust collection system 7, and simultaneously the industrial personal computer sends a specified target path driving instruction to a driving control system 8, and the driving control system 8 executes vehicle driving.
And when the machine performs cleaning operation for 30 minutes, the industrial personal computer sends a dust collection system operation stopping instruction to the VCU, and the VCU executes the dust collection system 7 to stop operation. After the dust collection system 7 stops working for 1 second, the industrial personal computer 1 sends an instruction of 30 seconds of working of the dust removal filtering system 16 to the VCU, and the VCU executes the working of the dust removal filtering system 16. After the dust removal filtering system 16 works for 30 seconds, the industrial personal computer 1 sends a working instruction of the dust removal system 7 to the VCU again, and the cleaning work is continued.
In the vehicle operation, the binocular camera 9 is used for collecting the information of a front object, the information is matched with a data gallery stored by the industrial personal computer 1, and if the plastic bottle in front is matched with the data gallery in a consistent manner, the vehicle continues to carry out cleaning operation forwards; if the deceleration strip is matched with the gallery in the front, the industrial personal computer sends an operation stopping instruction to the VCU, and the VCU closes the front scanning disk system 3, the rear scanning disk system 4, the rolling scanning system 5, the dust falling system 6 and the dust collecting system 7 and then forwards passes through the deceleration strip. And after the vehicle safely passes through, the industrial personal computer sends a cleaning operation instruction to the VCU again.
During vehicle operation, the binocular camera 9 collects front obstacle information, and the size of the front obstacle and the distance between the obstacle and the vehicle are judged by combining the front laser radar 10 with the 16 lines on two sides and the front two front ultrasonic waves 17. The industrial personal computer 1 judges the surrounding environment condition of the vehicle by combining the ultrasonic waves 17 on the two sides of the vehicle body and the solid-state laser radar 18 on the tail part of the vehicle according to the information, and then sends a specified rotation angle to the steering system 11. The torque sensor in the steering system 11 can sense the torque and the intended rotation direction of the rotating steering wheel, the internal electronic control unit can send an action command to the internal motor controller according to the data information such as the torque, the rotation direction and the like, and the motor outputs the rotation torque with corresponding size according to specific needs to complete the steering at a specified angle.
In the vehicle operation, if the water level of the water tank is low, the operation of the vehicle dust falling mechanism 6 is influenced, a signal is fed back to the industrial personal computer 1 through the low-water-level water level sensor 12, the industrial personal computer 1 sends an operation stopping instruction to the VCU after receiving the water level sensor feedback signal, and the VCU respectively executes the closing of the front sweeping tray system 3, the rear sweeping tray system 4, the rolling sweeping system 5, the dust falling system 6 and the dust collection system 7. Meanwhile, the industrial personal computer 1 sends a specified position driving instruction to the driving control system 8, and the driving control system 8 executes the vehicle to a specified position. At the moment, the industrial personal computer 1 starts the camera set 13 beside the water adding mechanism 14, the positions of the vehicle and the specified fire hydrant are adjusted through a visual identification technology, and after the vehicle reaches the specified position, the industrial personal computer 1 starts the camera set 13. The industrial personal computer 1 calculates the length that the mechanism 14 that adds water needs to stretch out through the camera unit and the distance of appointed fire hydrant, and the industrial personal computer control motor will add water mechanism 14 and rotate 90 degrees this moment and pendulum required length and appointed fire hydrant butt joint. After the butt joint is completed, the industrial personal computer 1 controls the water inlet of the water adding mechanism to be pressed down, and water is added. When the high water level sensor 19 detects that the water tank is full of water, a signal is fed back to the industrial personal computer, the industrial personal computer controls the water adding mechanism to be withdrawn, and then the vehicle continues to perform cleaning operation.
When the garbage bin is fully loaded, the garbage bin overflow sensor 15 feeds back a garbage bin full-load signal to the industrial personal computer, the industrial personal computer sends an operation stopping instruction to the VCU at the moment, the VCU executes closing of the front scanning disc system, the rear scanning disc system 4, the rolling scanning system 5, the dust falling system 6 and the dust collecting system 7, meanwhile, the industrial personal computer 1 sends a specified position driving instruction to the driving controller system 8, the driving control system 8 executes driving of a vehicle to a specified position, and a cleaner waits for dumping of garbage.
When the electric quantity of the machine is lower than 20%, the industrial personal computer sends an operation stopping instruction to the VCU, the VCU executes closing of the front scanning disc system, the rear scanning disc system, the rolling scanning system, the dust falling system and the dust collecting system, meanwhile, the industrial personal computer sends a specified charging position driving instruction to the driving control system, and the driving control system executes driving of the vehicle to a specified charging position. After the vehicle reaches the designated position, the industrial personal computer 1 controls the charging system to slowly extend out, and the extending position of the charging system is adjusted by the camera at the head of the charging system to be in butt joint with the charging seat, so that the charging action is completed. And after charging is finished, the industrial personal computer controls the charging system to recover.
The front portion of the vehicle is provided with a photosensitive control system 20, when the photosensitive control system 20 senses that the intensity of external light is greater than or less than a set value, the signal is fed back to the industrial personal computer 1, the industrial personal computer receives the signal and then sends a light opening or closing instruction to the vehicle control unit, and the vehicle control unit executes the lighting or extinguishing of vehicle light.
The second preferred embodiment:
the unmanned washing and sweeping integrated vehicle shown in fig. 4 to 6;
the method comprises the steps of constructing a grid map for a designated area in an automatic driving process for the area, acquiring collected environment information, generating a reference line according to the environment information, generating a plurality of candidate paths according to the reference line, producing evaluation results of the plurality of paths according to the constructed grid map, and determining a target path from the plurality of candidate paths. Then, the industrial personal computer sends an operation instruction to the hydraulic system 23, and the roll cleaning system and the wiper system 22 are lowered through the operation of the hydraulic system. 0.5 second after the descending action is finished, the industrial personal computer sends a washing and sweeping operation instruction to the VCU, the VCU executes the operations of the disc sweeping system, the rolling and sweeping system, the water absorption system 24, the dust settling system and the killing system 21, meanwhile, the industrial personal computer sends a specified target path driving instruction to the driving control system, and the driving control system executes the driving of the vehicle.
During vehicle operation, the information of a front object is collected through a binocular camera and is matched with a data gallery stored by an industrial personal computer, and if the plastic bottle in front is matched with the data gallery in a consistent manner, the vehicle continues to perform forward washing and sweeping operation; if the deceleration strip in front is matched with the gallery in a consistent manner, the industrial personal computer sends a washing and sweeping stopping operation instruction to the VCU, the VCU closes the disc sweeping system, the rolling and sweeping system, the water absorbing system 24, the dust falling system and the killing system 21, meanwhile, the industrial personal computer sends a corresponding instruction to the hydraulic system 23, and the rolling and sweeping system and the water scraping system 22 are lifted through the operation of the hydraulic system. And then forward through the speed bump. After the vehicle safely passes through, the industrial personal computer sends a washing and sweeping operation instruction to the VCU again, and simultaneously sends descending instructions of the rolling and sweeping system and the water scraping system to the hydraulic system.
In vehicle operation, when the drive control system executes a reversing state every time, the industrial control machine sends a corresponding instruction to the hydraulic system, the ascending action of the rolling sweeping system and the wiping system is completed through the operation of the hydraulic system, when the drive control system executes a forwarding state again, the industrial control machine sends a corresponding instruction to the hydraulic system, and the descending action of the rolling sweeping system and the wiping system is completed through the operation of the hydraulic system.
During vehicle operation, the information of the front obstacle is collected through a binocular camera, and the size of the front obstacle and the distance between the obstacle and a vehicle are judged by combining 16-line laser radars on two sides and two front ultrasonic waves. And the industrial personal computer judges the surrounding environment condition of the vehicle by combining ultrasonic waves at two sides of the vehicle body and the solid-state laser radar at the tail part of the vehicle according to the information, and then sends a specified rotation angle to the steering system. A torque sensor in the steering system can sense the torque and the rotating direction of a rotating steering wheel, an internal electric control unit can send an action command to an internal motor controller according to data information such as the torque, the rotating direction and the like, and the motor outputs rotating torque with corresponding size according to specific requirements to complete steering at a specified angle.
In the vehicle operation, if the clear water tank water level is lower, influence the operation of vehicle dust fall system, give the industrial computer through clear water tank low water level sensor feedback signal, the industrial computer receives clear water tank low water level sensor feedback signal back to send and stops the operation instruction of sweeping, VCU carries out respectively and closes and sweeps a set system, the system of sweeping rolls, the system of absorbing water, dust fall system and the system of killing, the industrial computer sends corresponding instruction to hydraulic system simultaneously, accomplish through the operation of hydraulic system and sweep the ascending action of water system to rolling. Meanwhile, the industrial personal computer sends a driving instruction of the specified water adding position to the driving control system, and the driving control system executes the vehicle to the specified water adding position. At the moment, the industrial personal computer starts a camera set beside the water adding system, the positions of the vehicle and the specified fire hydrant are adjusted through a visual identification technology, and the industrial personal computer closes the camera set after the vehicle reaches the specified position. The industrial computer calculates the length that the mechanism of adding water need stretch out through camera unit and the distance of appointed fire hydrant, and industrial computer control motor will add water the required length of mechanism rotation 90 degrees pendulum and appointed fire hydrant butt joint this moment. After the butt joint is completed, the industrial personal computer controls the water inlet of the water adding mechanism to be pressed down, and water is added. When the high water level sensor of the clear water tank detects that the water tank is full of water, a signal is fed back to the industrial personal computer, the industrial personal computer controls the water adding mechanism to be withdrawn, and then the vehicle continues to perform washing and sweeping operation.
In the vehicle operation, if the water level of the sewage tank is high, a signal is fed back to the industrial personal computer through the sewage tank high water level sensor 25, the industrial personal computer receives the sewage tank high water level sensor feedback signal and sends a washing and sweeping stopping operation instruction to the VCU, the VCU respectively executes closing of the sweeping disc system, the rolling and sweeping system, the water absorbing system, the dust settling system and the killing system, meanwhile, the industrial personal computer sends a corresponding instruction to the hydraulic system, and ascending actions of the rolling and sweeping system and the water scraping system are completed through the operation of the hydraulic system. Meanwhile, the industrial personal computer sends a driving instruction of a specified drainage position to the driving control system, and the driving control system executes the vehicle to the specified drainage position. At this time, after the infrared receiver at the port of the drainage system senses the signal, the sensing signal is fed back to the industrial personal computer, and the industrial personal computer controls the drainage system 27 to open the valve for drainage. When the sewage in the sewage tank is discharged, the low-water-level sensor 26 of the sewage tank feeds back a signal to the industrial personal computer, the industrial personal computer controls the drainage system to close the valve, and then the washing and sweeping operation is continued.
When the electric quantity of the machine is lower than 20%, the industrial personal computer sends an operation stopping instruction to the VCU, the VCU executes closing of the disc sweeping system, the rolling sweeping system, the water absorbing system, the dust settling system and the killing system, meanwhile, the industrial personal computer sends a corresponding instruction to the hydraulic system, and ascending actions of the rolling sweeping system and the water scraping system are completed through operation of the hydraulic system. Meanwhile, the industrial personal computer sends a driving instruction of a specified charging position to the driving control system, and the driving control system executes the vehicle to the specified charging position. After the vehicle reaches the designated position, the industrial personal computer controls the charging system to slowly extend out, and the camera at the head of the charging system adjusts the extending position of the charging system to be in butt joint with the charging seat, so that the charging action is completed. And after charging is finished, the industrial personal computer controls the charging system to recover.
The front portion of the vehicle is provided with a photosensitive control system, when the photosensitive control system senses that the intensity of external light is larger than or smaller than a set value, the photosensitive control system feeds back the signal to the industrial personal computer, the industrial personal computer receives the signal and then sends a light opening or closing instruction to the VCU, and the VCU executes the lighting of the vehicle or extinguishes the light.
The above-mentioned features are merely for describing preferred embodiments of the present invention and may be arbitrarily combined to form a plurality of embodiments of the present invention.
The invention is described above with reference to the accompanying drawings, it is obvious that the specific implementation of the invention is not limited by the above-mentioned manner, and it is within the scope of the invention to adopt various insubstantial modifications of the inventive concept and solution, or to apply the inventive concept and solution directly to other applications without modification.
Claims (10)
1. The utility model provides an unmanned sanitation vehicle, includes the automobile body and establishes cleaning system, a steering system, water tank and the vehicle control unit on the automobile body, its characterized in that: the vehicle-mounted sweeping system comprises a sweeping system, a steering system, a binocular camera, a front laser radar, a side ultrasonic wave and a solid laser radar, wherein the sweeping system is used for sweeping the front obstacle, the side ultrasonic wave and the solid laser radar are used for judging the distance between the front obstacle and the vehicle, the front laser radar and the front ultrasonic wave are used for judging the size of the front obstacle, the distance between the obstacle and the vehicle, the side ultrasonic wave is used for judging the surrounding environment condition of the vehicle, and the solid laser radar is arranged at the tail of the vehicle.
2. The unmanned sanitation vehicle of claim 1, wherein: the sanitation vehicle is a sweeper, and the sweeping system comprises a front sweeping disc system, a rear sweeping disc system, a rolling sweeping system and a dust settling system which are arranged on a vehicle body.
3. The unmanned sanitation vehicle of claim 1, wherein: the sanitation vehicle is a washing and sweeping vehicle, the sweeping system comprises a sweeping disc system, a rolling sweeping system, a dust settling system, a water scraping system, a water absorbing system and a water draining system which are arranged on a vehicle body, and the sweeping disc system, the rolling sweeping system and the water scraping system are sequentially arranged from the front to the back.
4. The unmanned sanitation vehicle of claim 1, wherein: the vehicle light control system is characterized by further comprising a photosensitive control system used for sensing the intensity of external light, and the photosensitive control system is connected with the vehicle control unit and used for controlling vehicle light.
5. The unmanned sanitation vehicle of claim 1, wherein: and a low water level sensor and a high water level sensor are arranged in the water tank, and are connected with the vehicle control unit to control the work of the dust-settling system.
6. The unmanned sanitation vehicle of claim 5, wherein: the side of water tank is equipped with adds water mechanism and is used for controlling the camera group of vehicle to appointed fire hydrant position through visual identification, camera group links to each other with vehicle control unit.
7. The unmanned sanitation vehicle of claim 1, wherein: the vehicle body is provided with a garbage can, the garbage can is provided with an overflow sensor, and the overflow sensor is connected with the vehicle control unit.
8. The unmanned sanitation vehicle of claim 3, wherein: the vehicle body is provided with a sewage tank, the sewage tank is connected with a drainage system, a sewage tank high-water-level sensor and a sewage tank low-water-level sensor are arranged in the sewage tank, and the sewage tank high-water-level sensor and the sewage tank low-water-level sensor are both connected with the vehicle control unit.
9. The unmanned sanitation vehicle of claim 3, wherein: and a sterilizing system for spraying disinfectant is arranged at the rear part of the roof of the sanitation vehicle and is connected with the whole vehicle controller.
10. The unmanned sanitation vehicle of claim 8, wherein: and an infrared receiving sensor is arranged at a port corresponding to the drainage system on the vehicle body and is connected with the vehicle control unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111600086.8A CN114281082A (en) | 2021-12-24 | 2021-12-24 | Unmanned sanitation vehicle |
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| CN117774860A (en) * | 2024-02-23 | 2024-03-29 | 江苏天一航空工业股份有限公司 | Pure electric unmanned transformation method for sweeping vehicle and installation component |
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