CN117774860B

CN117774860B - Pure electric unmanned transformation method for sweeping vehicle and installation component

Info

Publication number: CN117774860B
Application number: CN202410201217.2A
Authority: CN
Inventors: 马海兵; 马列; 马琼琼; 沈亮
Original assignee: Jiangsu Tianyi Aviation Industry Co Ltd
Current assignee: Jiangsu Tianyi Aviation Industry Co Ltd
Priority date: 2024-02-23
Filing date: 2024-02-23
Publication date: 2024-07-12
Anticipated expiration: 2044-02-23
Also published as: CN117774860A

Abstract

The invention relates to the technical field of cleaning vehicles, in particular to a pure electric unmanned reconstruction method of a cleaning vehicle and an installation part, which comprises the following steps: and (3) adding a controller: installing the controller at a proper position of a console in the vehicle; and (3) adding a sensor: each sensor of the vehicle is arranged at each position of the vehicle head, the vehicle tail and the vehicle body through the mounting part; the method comprises the steps of adding an actuator, and adding equipment for executing instructions of a controller in a vehicle; wherein the actuator comprises a water feeder and a sewage disposal device in the cleaning vehicle; and (3) adding the wire harness and the connector, and adding the wire harness and the connector for connecting the controller, the sensor and the actuator in the vehicle. Through unmanned technique, sweep the car and can independently accomplish cleaning operation, need not manual operation. The unmanned technique can avoid the influence of human factors on the operation efficiency. Through accurate sensor and control system, unmanned sweeping car can more accurate perception surrounding environment to make more accurate decision, thereby improve cleaning quality.

Description

Pure electric unmanned transformation method for sweeping vehicle and installation component

Technical Field

The invention relates to the technical field of cleaning vehicles, in particular to a pure electric unmanned modification method of a cleaning vehicle and a mounting component.

Background

Unmanned as an emerging technology has been in public for more than ten years, but is limited by various factors such as technology, industry and law, and cannot be landed on a large scale in the most widely applied passenger car scene. In sanitation tracks, there are always industry pain points such as labor shortage, high road operation risk, difficult manual operation supervision and the like. Based on this, the unmanned sanitation began to become a new solution: the technology can be used for landing: the sanitation end has several features: firstly, the sanitation vehicle has slower speed, and the challenge of high speed to the unmanned safety is larger; secondly, the route of the sanitation truck is fixed, and the technical application is more controllable; thirdly, sanitation vehicles are often in peak-shifting operation, and people flow and traffic flow peaks are difficult to meet.

The application is based on the existing pure electric washing and sweeping vehicle, and carries out intelligent line control technology transformation on the chassis of the whole vehicle on the basis of ensuring the original performance technology of the vehicle, realizes the functions of steering by line, braking by line, throttle by line, gear by line, light control by line, parking control by line, intelligent operation and the like of the vehicle, and can feed back key state information (speed, acceleration, steering wheel angle/front wheel angle, light state, working state and the like) to the whole vehicle control unit, wherein the application also designs the post-mounting mode of sensing, radar and cameras which are very key in unmanned operation, so that the application has the characteristics of convenient installation, universal universality, convenient operation and the like.

Disclosure of Invention

The invention is provided in view of the problems of the existing pure electric unmanned improvement method of the cleaning vehicle.

Therefore, the invention aims to provide a pure electric unmanned transformation method for a sweeping vehicle, which aims to: the unmanned transformation of the existing pure electric sweeping and washing vehicle is realized.

In order to solve the technical problems, the invention provides the following technical scheme: the method comprises the following steps:

and (3) adding a controller: installing the controller at a proper position of a console in the vehicle;

And (3) adding a sensor: each sensor of the vehicle is arranged at each position of the vehicle head, the vehicle tail and the vehicle body through the mounting part;

the method comprises the steps of adding an actuator, and adding equipment for executing instructions of a controller in a vehicle; wherein the actuator comprises a water feeder and a sewage disposal device in the cleaning vehicle;

and (3) adding the wire harness and the connector, and adding the wire harness and the connector for connecting the controller, the sensor and the actuator in the vehicle.

As a preferable scheme of the pure electric unmanned reconstruction method for the cleaning vehicle, the invention comprises the following steps: wherein the sensor comprises a lidar for acquiring ambient depth information; the camera is used for acquiring image information of surrounding environment; the ultrasonic sensor is used for acquiring the distance information of the surrounding environment; a speed sensor and an acceleration sensor for acquiring speed and acceleration information of the vehicle itself;

The controller comprises a core of the whole control system, and an electronic control unit ECU which is responsible for receiving and processing the data of the sensor and outputting a control instruction; a motor controller for controlling the start, stop and speed regulation of the motor; a brake controller for controlling a brake system of the vehicle to achieve deceleration and parking;

A steering motor for effecting a steering operation of the vehicle; a brake motor for effecting a braking operation of the vehicle; an accelerator motor for controlling the accelerator opening of the vehicle to accelerate and decelerate; and the gear motor is used for controlling gear switching of the vehicle and realizing gear shifting operation.

As a preferable scheme of the pure electric unmanned reconstruction method for the cleaning vehicle, the invention comprises the following steps: wherein the modification to the sweep portion includes a high efficiency tank and pump set for providing sufficient water supply and pressure; sweep dish, sucking disc, high pressure water spray pole.

In order to solve the technical problems, the invention also provides the following technical scheme: the utility model provides a mounting component, includes the cross main part and rotates and set up first rocking arm and second rocking arm on the cross main part, be provided with the mounting panel that is arranged in each vehicle sensor to install on the first rocking arm, wherein, the inside locking piece that is provided with of cross main part, the locking piece be used for right first rocking arm or the second rocking arm is in angle on the cross main part locks, be provided with the magnetism on the second rocking arm and inhale the base, the below of magnetism inhale the base is provided with the strong magnetic path rather than complex, wherein be provided with the dismantlement piece in the magnetism inhale the base, the dismantlement piece is used for with the strong magnetic loop perk in the magnetism inhale the base, be provided with in the cross main part with each the locking piece with the dismantlement piece phase transmission connects stay cord piece.

As a preferable embodiment of the mounting member of the present invention, wherein: the first rotating arm and the second rotating arm are both arranged in a '冂' shape, ring parts are arranged at two ends of the first rotating arm and are sleeved on rotating shaft parts of the cross main body, the rotating shaft parts are positioned at four end points of the cross main body, and a locking piece which is outwards expanded, extruded and locked is arranged in an inner through hole of each rotating shaft part.

As a preferable embodiment of the mounting member of the present invention, wherein: the locking piece comprises a first screw rod and conical blocks which are in threaded connection with the first screw rod, a plurality of extrusion blocks are annularly and equidistant arranged on the side surfaces of the conical blocks, the extrusion blocks move along limiting holes, the extrusion blocks are matched with key grooves between the conical blocks, a spring is arranged at one end of the first screw rod, the other end of the first screw rod is inserted into a jack of a first winding drum, a locking block is arranged in the jack, a lock hole is formed in one end of the first screw rod, the locking block is inserted into the lock hole, and a pull-back spring is arranged between the first screw rod and the first winding drum and used for driving the first winding drum to reset.

As a preferable embodiment of the mounting member of the present invention, wherein: the locking piece is divided into two groups which are horizontally and longitudinally arranged in the cross main body, two groups are symmetrically arranged in each group, a through hole is formed in the center of the cross main body, all through holes of the through holes are connected, the first winding drum is arranged on one side, far away from the through holes, of the through holes, a first ring is arranged at one end of the first winding drum, the pull rope piece comprises a first pull ring and a second pull ring, a circle of first rope is wound in the first pull ring, and two ends of the first rope penetrate through the first rings of the two locking pieces which are horizontally arranged and are wound on the outer walls of the first winding drums of the two locking pieces which are longitudinally arranged; the second pull ring is internally wound with a circle of second rope, and two ends of the second rope penetrate through the first rings of the two locking pieces which are longitudinally arranged and are wound on the outer walls of the first winding drums of the two locking pieces which are transversely arranged.

As a preferable embodiment of the mounting member of the present invention, wherein: the magnetic attraction base comprises a shielding shell and a strong magnetic ring arranged in the shielding shell, a dismounting piece is arranged at the center of the strong magnetic ring, the shielding shell is also sleeved on the outer wall of the strong magnetic block, and the strong magnetic ring and the strong magnetic block are magnetically attracted and adsorbed on a vehicle.

As a preferable embodiment of the mounting member of the present invention, wherein: the inner wall annular equidistant of strong magnetic ring is provided with a plurality of oblique breach, the dismantlement piece include with each the trapezoidal piece that the breach corresponds to one side, every the upper end of trapezoidal piece is provided with the second screw rod, every the first bevel gear of one end of second screw rod, every first bevel gear all meshes in the second bevel gear of top, be provided with the third bevel gear on the second bevel gear, third bevel gear top meshing is connected with the fourth bevel gear, the fourth bevel gear is installed on the second receipts reel.

As a preferable embodiment of the mounting member of the present invention, wherein: the pull rope piece further comprises a third rope and a fourth rope, wherein the third rope is respectively connected with the first pull ring in a tying mode, the fourth rope is connected with the second pull ring in a tying mode, the third rope and the fourth rope are both installed on the upper surface of the piston plate, a fifth rope is arranged on the lower surface of the piston plate and is wound on the second winding drum, a slotted hole is formed in the cross main body, located below the through hole, and the piston plate is located in the slotted hole.

The invention has the beneficial effects that: the benefits of unmanned modification of existing road sweeper are realized in the following aspects: the operation efficiency is improved: through unmanned technique, sweep the car and can independently accomplish cleaning operation, need not manual operation, improved the operating efficiency greatly. Meanwhile, the unmanned technology can avoid the influence of human factors on the operation efficiency, such as fatigue, negligence and the like.

The labor cost is reduced: the unmanned sweeping and washing vehicle can save a great deal of labor cost, and can reduce personnel allocation and training cost because manual operation is not needed.

The cleaning quality is improved: through accurate sensor and control system, unmanned sweeping car can more accurate perception surrounding environment to make more accurate decision, thereby improve cleaning quality.

The safety is enhanced: the unmanned vehicle cleaning vehicle can avoid potential safety hazards caused by manual operation, such as fatigue driving, inattention operation and the like. Meanwhile, through the accurate sensor and the control system, accidents such as collision and the like of the vehicle in the running process can be avoided.

The adaptability is strong: the unmanned sweeping and washing vehicle can be customized and adjusted according to different working environments and requirements, and has stronger adaptability. For example, the cleaning machine can automatically adjust according to different road conditions, weather conditions and other factors, so as to ensure the smooth cleaning operation.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic diagram of a drive-by-wire connection for a pure electric unmanned improvement of a sweeping vehicle.

Fig. 2 is a side overall schematic view of the vehicle body of the present invention.

FIG. 3 is a schematic view of the sensor attachment location of the head portion of the present invention.

FIG. 4 is a schematic view of the mounting position of the tail position sensor according to the present invention.

Fig. 5 is a schematic view showing the overall structure of the mounting member of the present invention.

Fig. 6 is a schematic view of the bottom structure of the mounting member of the present invention.

Fig. 7 is a schematic side view of the mounting member of the present invention.

FIG. 8 is a schematic view of the cross-sectional structure of the A-A direction in FIG. 7.

Fig. 9 is an enlarged schematic view of the structure at B in fig. 8.

Fig. 10 is an enlarged schematic view of the structure at C in fig. 8.

In the figure: 100. a cross body; 101. a rotating shaft portion; 102. a through hole; 103. a limiting hole; 104. a through hole; 105. a slot hole; 200. a first rotating arm; 201. a ring portion; 300. a second rotating arm; 400. a mounting plate; 500. a locking member; 501. a first screw; 501a, a lock hole; 502. conical blocks; 503. extruding a block; 504. a spring; 505. a first take-up reel; 505a, jacks; 505b, locking piece; 505c, a first ring; 506. a pull-back spring; 600. a magnetic base; 601. a shield case; 602. a strong magnetic ring; 602a, oblique notch; 700. a strong magnetic block; 800. a dismounting piece; 801. a trapezoid block; 802. a second screw; 803. a first bevel gear; 804. a second bevel gear; 805. a third bevel gear; 806. a fourth bevel gear; 807. a second take-up reel; 900. a pull rope member; 901. a first pull ring; 902. a second pull ring; 903. a first rope; 904. a second rope; 905. a third rope; 906. a fourth rope; 907. a piston plate; 908. and a fifth rope.

Detailed Description

In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways other than those described herein, and persons skilled in the art will readily appreciate that the present invention is not limited to the specific embodiments disclosed below.

Further, reference herein to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic can be included in at least one implementation of the invention. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments.

Further, in describing the embodiments of the present invention in detail, the cross-sectional view of the device structure is not partially enlarged to a general scale for convenience of description, and the schematic is only an example, which should not limit the scope of protection of the present invention. In addition, the three-dimensional dimensions of length, width and depth should be included in actual fabrication.

Example 1

Referring to fig. 1-4, for a first embodiment of the present invention, a method for modifying a pure electric unmanned vehicle of a vehicle cleaning vehicle is provided, which includes the following steps: and (3) adding a controller: installing the controller at a proper position of a console in the vehicle; and (3) adding a sensor: each sensor of the vehicle is arranged at each position of the vehicle head, the vehicle tail and the vehicle body through the mounting part; the method comprises the steps of adding an actuator, and adding equipment for executing instructions of a controller in a vehicle; wherein the actuator comprises a water feeder and a sewage disposal device in the cleaning vehicle; and (3) adding the wire harness and the connector, and adding the wire harness and the connector for connecting the controller, the sensor and the actuator in the vehicle.

Wherein the sensor comprises a lidar for acquiring ambient depth information; the camera is used for acquiring image information of surrounding environment; the ultrasonic sensor is used for acquiring the distance information of the surrounding environment; a speed sensor and an acceleration sensor for acquiring speed and acceleration information of the vehicle itself; the controller comprises a core of the whole control system, and an electronic control unit ECU which is responsible for receiving and processing the data of the sensor and outputting a control instruction; a motor controller for controlling the start, stop and speed regulation of the motor; a brake controller for controlling a brake system of the vehicle to achieve deceleration and parking; a steering motor for effecting a steering operation of the vehicle; a brake motor for effecting a braking operation of the vehicle; an accelerator motor for controlling the accelerator opening of the vehicle to accelerate and decelerate; and the gear motor is used for controlling gear switching of the vehicle and realizing gear shifting operation. Wherein the modification to the sweep portion includes a high efficiency tank and pump set for providing sufficient water supply and pressure; sweep dish, sucking disc, high pressure water spray pole.

Wherein, the controller: in order to realize intelligent line control technology transformation of the whole chassis, a corresponding electronic control unit ECU is required to be installed as a controller. The ECU can control the corresponding actuator according to the input signal and feed back the state information of the vehicle.

A sensor: in order to sense the environment around the vehicle and the state of the vehicle itself, it is necessary to install corresponding sensors. For example, lidar, cameras, ultrasonic sensors may be used to sense the surrounding environment, while speed sensors, acceleration sensors, steering wheel angle sensors, etc. may be used to sense the state of the vehicle itself.

An actuator: the actuator is a device for executing instructions of the controller, such as a steering motor, a brake motor, a throttle motor, a gear motor, and the like. These motors need to be selected for the proper model and specifications to ensure proper operation of the rebuilt vehicle.

Harness and connector: to connect the controller, sensor and actuator, a corresponding harness and connector are required. These harnesses and connectors require the selection of high quality products to ensure that the retrofitted vehicle can operate stably for a long period of time.

Steer-by-wire system: and the electronic control unit ECU receives the steering wheel angle signal and controls the steering motor to drive the steering mechanism to realize the steering of the vehicle. Meanwhile, the ECU can also adjust the steering assistance in real time according to the information of the vehicle speed, steering wheel angle and the like so as to provide the optimal driving experience.

Brake-by-wire system: and the electronic control unit ECU receives the brake pedal signal and controls the brake motor to drive the brake mechanism to realize the braking of the vehicle. Meanwhile, the ECU can also adjust the braking force in real time according to the information such as the vehicle speed, the depth of a brake pedal and the like so as to ensure the braking effect and the running safety.

Throttle by wire system: and the electronic control unit ECU receives the accelerator pedal signal and controls the motor to drive the accelerator mechanism to accelerate and decelerate the vehicle. Meanwhile, the ECU can also adjust acceleration and deceleration force in real time according to the information of the vehicle speed, the depth of an accelerator pedal and the like so as to realize optimal running performance.

Drive-by-wire gear system: and the electronic control unit ECU receives the gear signal and controls the motor to drive the gear mechanism to realize the gear shifting of the vehicle. Meanwhile, the ECU can also adjust the gear shifting time in real time according to the information of the vehicle speed, the gear and the like so as to ensure the optimal running efficiency.

Wire control light control system: the electronic control unit ECU receives the lamplight switch signal and controls the motor to drive the lamplight mechanism to realize lamplight switch control of the vehicle. Meanwhile, the ECU can also adjust the lamplight switch in real time according to the information such as the vehicle speed, the light intensity and the like so as to ensure the optimal driving safety.

Drive-by-wire driving parking control system: and the electronic control unit ECU receives the driving parking switch signal and controls the motor to drive the driving parking mechanism to realize driving parking control of the vehicle. Meanwhile, the ECU can also adjust the driving and parking time in real time according to the information of the vehicle speed, the road surface condition and the like so as to ensure the optimal driving stability.

Intelligent operation function: the intelligent operation function of the vehicle is realized by the electronic control unit ECU receiving the sensor signals and other information. For example, the working height and angle of the brush are automatically adjusted according to the road surface condition; and automatically adjusting the brightness and the range of the illuminating lamp according to the light intensity.

And (3) key state information feedback: and the electronic control unit ECU receives the sensor and other information and feeds back the key state information to the whole vehicle control unit. Such as speed, acceleration, steering wheel angle/front wheel angle, light status, operating status, etc. The information can help the whole vehicle control unit to better know the running state and the environment condition of the vehicle, so that more accurate control and adjustment can be performed.

The modified sweeping and washing vehicle has the following functions: actively identify road surface pollution degree automatically regulated upper assembling driving motor rotational speed function: through the cooperation of the installation sensor, the electronic control unit and the executor, the functions of real-time monitoring of the road surface pollution degree and automatic adjustment of the rotating speed of the upper driving motor are realized, and the cleaning efficiency and quality are improved. Pedestrian recognition automatic water closing function: through installing pedestrian recognition system, realized when the pedestrian passes by the function of automatic shutdown squirt, improved the security. Identifying a deceleration strip, an automatic lifting sucker of a pit and a sweeping function: through installing sensor, electronic control unit and executor cooperation, realized the automatic identification to barriers such as deceleration strip, hole, lift sucking disc, sweep the function of dish, improved operation adaptability and efficiency. Welt cleaning function: through installing special cleaning equipment, realized the welt to the road edge and cleaned the function, improved clean effect. Identifying the function of automatically contracting the high-pressure water spray rod of an obstacle: through installing sensor and control system, realized the function of automatic contraction high-pressure water spray rod when meetting the barrier, improved the security. Automatic start-stop loading work of traffic lights: through integrating the traffic signal recognition system, the function of automatically starting and stopping the loading work when encountering traffic lights is realized, and the operation efficiency and the safety are improved.

Example 2

Referring to fig. 5 to 10, a second embodiment of the present invention is different from the first embodiment in that: the mounting component comprises a cross main body 100 and a first rotating arm 200 and a second rotating arm 300 which are rotatably arranged on the cross main body 100, wherein a mounting plate 400 for mounting each vehicle sensor is arranged on the first rotating arm 200, a locking piece 500 is arranged in the cross main body 100, the locking piece 500 is used for locking the angle of the first rotating arm 200 or the second rotating arm 300 on the cross main body 100, a magnetic attraction base 600 is arranged on the second rotating arm 300, a strong magnetic block 700 matched with the magnetic attraction base 600 is arranged below the magnetic attraction base 600, a dismounting piece 800 is arranged in the magnetic attraction base 600, the dismounting piece 800 is used for tilting a strong magnetic ring 602 in the magnetic attraction base 600, and a pull rope piece 900 which is in transmission connection with each locking piece 500 and the dismounting piece 800 is arranged in the cross main body 100. The magnetic attraction base 600 comprises a shielding shell 601 and a strong magnetic ring 602 arranged in the shielding shell 601, a dismounting piece 800 is arranged at the center of the strong magnetic ring 602, the shielding shell 601 is also sleeved on the outer wall of the strong magnetic block 700, and the strong magnetic ring 602 and the strong magnetic block 700 are magnetically attracted and attracted to a vehicle.

In this embodiment, various sensors such as a polar camera, a forest camera, a millimeter wave radar, an ultrasonic radar, a mechanical laser radar, a solid-state laser radar, an angular radar and the like are installed through the installation component designed by the application in the later stage on the vehicle, firstly, the base of the sensor is attached to the installation board 400 of the installation component, and the base of the sensor is directly screwed on the installation board 400 through bolts, the installation board 400 is convenient for directly installing self-tapping bolts and screwing bolts and nuts after punching, thus, the situation that independent punching is carried out on the existing vehicle body to install the sensor is avoided, and the later punching operation is inconvenient for some positions of the vehicle, and the structural characteristics of some vehicle body structures are easily influenced when the punching is carried out, so that the vehicle body structure is damaged. The peripheries of the magnetic attraction base 600 and the strong magnetic block 700 are provided with a shielding shell 601, which is used for limiting the magnetic attraction force and the magnetic field of the shielding shell, so that the sensor arranged on the shielding shell is prevented from being interfered.

When the sensor is installed on the mounting plate 400, the magnetic attraction base 600 of the installation component is attracted to the outer side of the position of the vehicle body, where the sensor is to be installed, and then the strong magnetic block 700 is attracted to the inner side of the position of the vehicle body, where the sensor is to be installed, and the magnetic attraction force between the magnetic attraction base 600 and the magnetic attraction base 600 is added through the magnetic attraction force between the magnetic attraction base 600 and the metal structure of the vehicle body, so that the installation component is firmly installed on the vehicle body.

The rest of the structure is the same as that of embodiment 1.

Example 3

Referring to fig. 5 to 9, a third embodiment of the present invention is shown, which is different from the second embodiment in that: the first rotating arm 200 and the second rotating arm 300 are both arranged in a '冂' shape, the two ends of the first rotating arm are provided with ring parts 201, the ring parts are sleeved on the rotating shaft part 101 of the cross main body 100, the rotating shaft part 101 is positioned at four end points of the cross main body 100, and a locking piece 500 which is outwards expanded, extruded and locked is arranged in the through hole 102 in each rotating shaft part 101. The locking piece 500 comprises a first screw rod 501 and conical blocks 502 which are in threaded connection with the first screw rod 501, a plurality of extrusion blocks 503 are annularly and equidistant arranged on the side surface of the conical blocks 502, the extrusion blocks 503 move along the limiting holes 103, key grooves between the extrusion blocks 503 and the conical blocks 502 are matched, a spring 504 is arranged at one end of the first screw rod 501, the other end of the first screw rod 501 is inserted into an insertion hole 505a of the first winding drum 505, a locking block 505b is arranged in the insertion hole 505a, a locking hole 501a is arranged at one end of the first screw rod 501, a pull-back spring 506 is arranged between the first screw rod 501 and the first winding drum 505 and used for driving the first winding drum 505 to reset.

It should be noted that, the rope wound on the first winding drum 505 is pulled to drive the first winding drum 505 to rotate, the first winding drum 505 is inserted into the lock hole 501a of the first screw 501 through the lock block 505b, so that the first screw 501 is driven to rotate when the first winding drum 505 rotates, and the conical block 502 is matched with the key slot around each extrusion block 503 arranged on the outer wall of the first winding drum, and the extrusion blocks 503 move along the limit holes 103 formed in the rotating shaft part 101, so that the conical block 502 cannot rotate and can only be driven by the first screw 501 to move forwards and backwards, and then the conical block 502 is driven to retract and drive each extrusion block 503 to be recovered, so that the extrusion blocks 503 are separated from the extrusion of the ring part 201, and then the first rotating arm 200 or the second rotating arm 300 and the cross body 100 are unlocked, so that the angle between the first rotating arm 200, the cross body 100 and the second rotating arm 300 can be adjusted in all directions, and the angle of the mounting plate 400 and the sensor mounted on the first rotating arm 200 can be adjusted, and the sensor can be used for detecting the directions conveniently.

The locking piece 500 is divided into two groups in the cross body 100 in the transverse direction and the longitudinal direction, two groups are symmetrically arranged in each group, a through hole 104 is arranged in the center of the cross body 100, all through holes 102 of the through holes 104 are connected, one side, far away from the through holes 104, of the first winding drum 505 in the through holes 102 is provided with a first ring 505c, the pull rope piece 900 comprises a first pull ring 901 and a second pull ring 902, a first ring 903 is wound in the first pull ring 901, and two ends of the first rope 903 penetrate through the first rings 505c of the two locking pieces 500 in the transverse direction and are wound on the outer walls of the first winding drums 505 of the two locking pieces 500 in the longitudinal direction; the second pull ring 902 is wound with a second rope 904, and both ends of the second rope 904 pass through the first rings 505c of the two locking pieces 500 arranged longitudinally and are wound on the outer walls of the first winding drums 505 of the two locking pieces 500 arranged transversely.

It should be noted that, whether the two locking pieces 500 transversely arranged are unlocked between the first rotating arm 200 and the cross main body 100 is controlled by the first pull ring 901 and the first rope 903, so that the angle between the first rotating arm 200 and the cross main body 100 can be adjusted, and the sensor angle mounted on the first rotating arm 200 and the mounting plate 400 can be adjusted conveniently; whether the two locking pieces 500 longitudinally arranged are used for unlocking the second rotating arm 300 and the cross main body 100 or not is controlled through the second pull ring 902 and the second rope 904, so that the angle between the second rotating arm 300 and the cross main body 100 can be adjusted, the angle of the sensor mounted on the first rotating arm 200 and the mounting plate 400 is matched for further adjustment, and finally, the wide-range adjustment of the angle of the sensor is realized.

In this embodiment, the first rotating arm 200 is disposed above the cross body 100 and is screwed with the mounting plate 400, the second rotating arm 300 is disposed below the cross body 100 and is screwed with the magnetic attraction base 600, and the first rotating arm 200 and the second rotating arm 300 are also disposed in a cross shape in space, so that the first rotating arm 200 and the second rotating arm 300 rotate on the cross body 100, and therefore the angle of the sensor on the mounting seat can be adjusted, and the sensor is convenient to use.

Specifically, when the first rotating arm 200 needs to be rotated, the first pull ring 901 is pulled, the first pull ring 901 drives the locking piece 500 for locking the first rotating arm 200 to be unlocked through the first rope 903, wherein the first pull ring 901 is pulled by a worker, two ends of the first rope 903 respectively pass through the first rings 505c of the two transversely arranged locking pieces 500, so that the two transversely arranged first rings 505c are driven to move towards one side of the through hole 104 until the first rings 505c are located within the range of the through hole 104, then two ends of the first rope 903 drive the first winding drum 505 in the two longitudinally arranged locking pieces 500 to rotate and release the first rope 903, the first winding drum 505 rotates, the locking piece 505b and the locking hole 501a drive the first screw 501 to rotate, the rotating conical block 502 of the first screw 501 is driven to move backwards, meanwhile, the spring 504 at one end of the conical block 502 is tightened, the backward movement of each extrusion block 503 is driven to be recovered along the limit hole 103, and the ring part 201 of the first rotating arm 200 is separated from the rotating shaft part 101 of the cross body 100, so that the first rotating arm 200 can be adjusted in the position of the cross body 100. Wherein in the two locking members 500 disposed in the lateral direction, when the first ring 505c moves to the extent of the through-hole 104, the first winding drum 505 is separated from the first screw 501, unlocked, and the pullback spring 506 therein is elongated, at which time the first winding drum 505 can idle on the first screw 501 while the first winding drum 505 is in contact with the spiral spring 504 on the first screw 501. The third rope 905, which is attached to the first pull ring 901, does not move the piston plate 907 upward due to its redundancy.

Conversely, when the first pull ring 901 is released, the spiral spring 504 in the longitudinally arranged locking piece 500 is released to drive the first screw 501 to rotate reversely, the conical block 502 is driven to move forward, the conical block 502 drives each extrusion block 503 to move outwards along the limiting hole 103, the ring 201 of the first rotating arm 200 and the rotating shaft 101 of the cross main body 100 are locked again, meanwhile, the first winding drum 505 is driven to rotate reversely by the reverse rotation of the first screw 501 to wind the first rope 903 again, after the first rope 903 is completely wound on the first winding drum 505, the first winding drum 505 in the transversely arranged locking piece 500 is pulled back by the retraction spring 506, the locking block 505b of the first winding drum 505 is reinserted into the locking hole 501a of the first screw 501, the transversely arranged locking piece 500 is reset, and finally the first pull ring 901 is also pulled to reset.

Similarly, the second pull ring 902 is pulled to unlock the transverse locking member 500, and the ring 201 of the second rotating arm 300 is released from the rotating shaft portion 101 of the cross body 100, and at the same time, the first winding drum 505 and the first screw 501 of the longitudinal locking member 500 are separated and unlocked; conversely, the second pull ring 902 is released, the transverse locking member 500 is locked, the ring 201 of the second rotating arm 300 and the rotating shaft 101 of the cross body 100 are locked in a plugging manner, and the first winding drum 505 and the first screw 501 of the longitudinal locking member 500 are simultaneously locked in a folding manner.

The rest of the structure is the same as that of embodiment 2.

Example 4

Referring to fig. 5 to 10, a fourth embodiment of the present invention is different from the third embodiment in that: the inner wall ring-shaped equidistant of strong magnetic ring 602 is provided with a plurality of oblique breach 602a, and the dismantlement piece 800 includes the trapezoidal piece 801 that corresponds with each oblique breach 602a, and the upper end of every trapezoidal piece 801 is provided with second screw rod 802, and the first bevel gear 803 of one end of every second screw rod 802, every first bevel gear 803 all meshes in the second bevel gear 804 of top, is provided with third bevel gear 805 on the second bevel gear 804, and the meshing of third bevel gear 805 top is connected with fourth bevel gear 806, and fourth bevel gear 806 installs on second receipts reel 807. The pull rope 900 further includes a third rope 905 respectively connected to the first pull ring 901, a fourth rope 906 connected to the second pull ring 902, the third rope 905 and the fourth rope 906 are both mounted on the upper surface of the piston plate 907, a fifth rope 908 is provided on the lower surface of the piston plate 907, the fifth rope 908 is wound on the second winding drum 807, a slot 105 is provided in the cross body 100 below the through hole 104, and the piston plate 907 is located in the slot 105.

It should be noted that, the fourth bevel gear 806 is disposed at one end of the second winding drum 807 and is meshed with the third bevel gear 805, and because the diameter of the fourth bevel gear 806 is far smaller than that of the third bevel gear 805, the fourth bevel gear 806 drives the third bevel gear 805 to save labor, the third bevel gear 805 and the second bevel gear 804 are coaxially disposed, and may also be disposed as a planetary gear set therebetween for further labor-saving design, and finally, the second bevel gear 804 drives each of the first bevel gear 803 and the second screw 802 to rotate, so that the second screw 802 drives the trapezoid block 801, which is also for the purpose of saving labor, so that the force for tilting the strong magnetic ring 602 is not applied by the staff, and the staff is ensured to detach the strong magnetic ring 602 in a easier state.

In this embodiment, when the magnetic base 600 is installed, a mark is made on a portion of an existing vehicle body where a sensor needs to be installed, then according to the flatness of the vehicle body where the magnetic base 600 is installed, a rubber pad is added on the end face of the shielding shell 601 of the magnetic base 600 to ensure the adaptation with the vehicle body, then the magnetic base 600 is aligned to the mark to perform magnetic adhesion, then the strong magnetic block 700 is magnetically adhered on the inner side of the vehicle body where the magnetic base 600 is installed, and the installation component is installed on the vehicle body through the attraction of the strong magnetic ring 602 and the strong magnetic block 700 in the magnetic base 600 and the attraction between the strong magnetic ring 602 and the metal of the vehicle body.

When the magnetic base 600 is disassembled, the first pull ring 901 and the second pull ring 902 are pulled simultaneously, and the first pull ring 901 separates the first winding drum 505 in the two transversely arranged locking pieces 500 from the locking piece 505b in the first screw 501 and the locking hole 501a through the first rope 903, so that the second pull ring 902 only drives the two transversely arranged first winding drums 505 to rotate through the second rope 904 at the moment and does not drive the locking pieces 500 to unlock; the same reason is that the second pull ring 902 separates the first winding drum 505 in the two locking pieces 500 which are longitudinally arranged from the locking piece 505b in the first screw 501 and the locking hole 501a through the second rope 904, so that at this time, the first pull ring 901 only drives the two first winding drums 505 which are longitudinally arranged to rotate through the first rope 903, and does not drive the locking pieces 500 to unlock, as the first pull ring 901 and the second pull ring 902 continue to stretch, redundant parts in the third rope 905 and the fourth rope 906 are pulled completely, and the piston plate 907 is driven to move upwards along the slotted hole 105, the piston plate 907 moves upwards to drive the second winding drum 807 to rotate through the fifth rope 908, the second winding drum 807 drives the fourth bevel gear 806 positioned at one end of the second winding drum to rotate, the fourth bevel gear 806 drives the third bevel gear 805 to rotate, the third bevel gear 805 drives the second bevel gear 804 which is coaxially arranged to rotate, the second bevel gear 804 drives the first bevel gears which are arranged around the second bevel gears, the first bevel gear 803 drives the second bevel gear 802 to rotate, the second bevel gear 802 drives the trapezoid blocks 801 to move outwards, and the second bevel gears 803 are inclined along the first bevel gears which are arranged around the first bevel gears, and the second bevel gears 803 are inclined 602, and finally the magnetic ring 602 is detached, and finally the magnetic ring 602 is moved upwards, and the magnetic ring 602 is lifted upwards, and the magnetic ring 602 is also removed, and the magnetic ring 602 is mounted and removed. During the pulling of the third and fourth cords 905, 906, the first and second cords 903, 904 continue to unwind outwardly on the first winding drum 505.

When the ferromagnetic ring 602 is reset, the first pull ring 901 and the second pull ring 902 are loosened, the spiral spring 504 on the second winding drum 807 drives the second winding drum 807 to rotate reversely, the second winding drum 807 winds the fifth rope 908 on one hand, the fifth rope 908 drives the piston plate 907 to descend, the piston plate 907 drives the third rope 905 and the fourth rope 906 to descend, but the spiral spring 504 between each first winding drum 505 and the first screw 501 drives the first winding drum 505 to rotate, so that the first winding drum 505 drives the first rope 903 and the second rope 904 to retract completely, the first winding drum 505 and the first screw 501 are spliced and locked again, and on the other hand, the fourth bevel gear 806 is driven to rotate reversely, so that the third bevel gear 805, the second bevel gear 804 and each first bevel gear 803 rotate reversely, the first bevel gear 803 drives the second screw 802 to rotate reversely, and the second screw 802 drives each trapezoid block 801 to recover and the ferromagnetic ring 602 to descend.

The rest of the structure is the same as that of embodiment 3.

It is important to note that the construction and arrangement of the application as shown in the various exemplary embodiments is illustrative only. Although only a few embodiments have been described in detail in this disclosure, those skilled in the art who review this disclosure will readily appreciate that many modifications are possible (e.g., variations in sizes, dimensions, structures, shapes and proportions of the various elements, values of parameters (e.g., temperature, pressure, etc.), mounting arrangements, use of materials, colors, orientations, etc.) without materially departing from the novel teachings and advantages of the subject matter described in this application. For example, elements shown as integrally formed may be constructed of multiple parts or elements, the position of elements may be reversed or otherwise varied, and the nature or number of discrete elements or positions may be altered or varied. Accordingly, all such modifications are intended to be included within the scope of present application. The order or sequence of any process or method steps may be varied or re-sequenced according to alternative embodiments. In the claims, any means-plus-function clause is intended to cover the structures described herein as performing the recited function and not only structural equivalents but also equivalent structures. Other substitutions, modifications, changes and omissions may be made in the design, operating conditions and arrangement of the exemplary embodiments without departing from the scope of the present applications. Therefore, the application is not limited to the specific embodiments, but extends to various modifications that nevertheless fall within the scope of the appended claims.

Furthermore, in an effort to provide a concise description of the exemplary embodiments, all features of an actual implementation may not be described (i.e., those not associated with the best mode presently contemplated for carrying out the invention, or those not associated with practicing the invention).

It should be noted that the above embodiments are only for illustrating the technical solution of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the technical solution of the present invention may be modified or substituted without departing from the spirit and scope of the technical solution of the present invention, which is intended to be covered in the scope of the claims of the present invention.

Claims

1. A pure electric unmanned transformation method for a sweeping vehicle is characterized in that: the method comprises the following steps:

The method comprises the steps of adding a wire harness and a connector, and adding the wire harness and the connector for connecting a controller, a sensor and an actuator in a vehicle;

The mounting component comprises a cross main body (100) and a first rotating arm (200) and a second rotating arm (300) which are rotatably arranged on the cross main body (100), wherein a mounting plate (400) for mounting each vehicle sensor is arranged on the first rotating arm (200), a locking piece (500) is arranged inside the cross main body (100), the locking piece (500) is used for locking the angle of the first rotating arm (200) or the second rotating arm (300) on the cross main body (100), a magnetic attraction base (600) is arranged on the second rotating arm (300), a strong magnetic block (700) matched with the magnetic attraction base (600) is arranged below the magnetic attraction base (600), a dismounting piece (800) is arranged in the magnetic attraction base (600), the dismounting piece (800) is used for tilting a strong magnetic ring (602) in the magnetic attraction base (600), and a pull rope (900) is connected with each locking piece (500) and the dismounting piece (900) in a transmission mode in the cross main body (100). The first rotating arm (200) and the second rotating arm (300) are both arranged in a '冂' shape, ring parts (201) are arranged at two ends of the rotating arm, the rotating arm is sleeved on a rotating shaft part (101) of the cross main body (100), the rotating shaft part (101) is positioned at four end points of the cross main body (100), and a locking piece (500) which is outwards expanded, extruded and locked is arranged in an inner through hole (102) of each rotating shaft part (101).

2. The method for the pure electric unmanned reconstruction of the cleaning vehicle according to claim 1, wherein the method comprises the following steps:

Wherein the sensor comprises a lidar for acquiring ambient depth information; the camera is used for acquiring image information of surrounding environment; the ultrasonic sensor is used for acquiring the distance information of the surrounding environment; a speed sensor and an acceleration sensor for acquiring speed and acceleration information of the vehicle itself;

3. The method for the pure electric unmanned reconstruction of the cleaning vehicle according to claim 1, wherein the method comprises the following steps: wherein the modification to the sweep portion includes a high efficiency tank and pump set for providing sufficient water supply and pressure; sweep dish, sucking disc, high pressure water spray pole.

4. The method for the pure electric unmanned reconstruction of the cleaning vehicle according to claim 1, wherein the method comprises the following steps: the locking piece (500) comprises a first screw rod (501) and conical blocks (502) which are connected with the first screw rod (501) in a screwed mode, a plurality of extrusion blocks (503) are arranged on the side face of the conical blocks (502) in an annular equidistant mode, the extrusion blocks (503) move along the limiting holes (103), the extrusion blocks (503) are matched with key grooves between the conical blocks (502), a spring (504) is arranged at one end of the first screw rod (501), the other end of the first screw rod (501) is inserted into a jack (505 a) of a first winding drum (505), a locking block (505 b) is arranged in the jack (505 a), a lock hole (501 a) is formed in one end of the first screw rod (501), and the locking block (505 b) is inserted into the lock hole (501 a) in a mode, and a pull-back spring (506) is arranged between the first screw rod (501) and the first winding drum (505) and is used for driving the first winding drum (505) to reset.

5. The method for the pure electric unmanned reconstruction of the cleaning vehicle according to claim 4, wherein the method comprises the following steps: the locking piece (500) is divided into two groups which are arranged in a transverse direction and a longitudinal direction in the cross main body (100), two groups are symmetrically arranged in each group, a through hole (104) is arranged in the center of the inside of the cross main body (100), each through hole (102) of the through holes (104) is connected, the first winding drum (505) is arranged at one side, far away from the through holes (104), of the through holes (102), a first ring (505 c) is arranged at one end of the first winding drum (505), the pull rope piece (900) comprises a first pull ring (901) and a second pull ring (902), a first ring (903) is wound in the first pull ring (901), and two ends of the first rope (903) penetrate through the first rings (505 c) of the two locking pieces (500) which are arranged in the transverse direction and are wound on the outer walls of the first winding drums (505) of the two locking pieces (500) which are arranged in the longitudinal direction; a circle of second ropes (904) is wound in the second pull ring (902), and two ends of each second rope (904) penetrate through the first rings (505 c) of the two locking pieces (500) which are longitudinally arranged and are wound on the outer walls of the first winding drums (505) of the two locking pieces (500) which are transversely arranged.

6. The method for the pure electric unmanned reconstruction of the cleaning vehicle according to claim 5, wherein the method comprises the following steps: the magnetic attraction base (600) comprises a shielding shell (601) and a strong magnetic ring (602) arranged in the shielding shell (601), a dismounting piece (800) is arranged at the center of the Jiang Cihuan (602), the shielding shell (601) is also sleeved on the outer wall of the strong magnetic block (700), and the Jiang Cihuan (602) and the strong magnetic block (700) are magnetically attracted and adsorbed on a vehicle.

7. The method for the pure electric unmanned reconstruction of the cleaning vehicle according to claim 6, wherein the method comprises the following steps: the inner wall annular equidistant of Jiang Cihuan (602) is provided with a plurality of oblique breach (602 a), dismantlement piece (800) include with each trapezoidal piece (801) that oblique breach (602 a) corresponds, every the upper end of trapezoidal piece (801) is provided with second screw rod (802), every first bevel gear (803) of one end of second screw rod (802), every first bevel gear (803) all meshes in second bevel gear (804) of top, be provided with third bevel gear (805) on second bevel gear (804), third bevel gear (805) top meshing is connected with fourth bevel gear (806), fourth bevel gear (806) are installed on second receipts reel (807).

8. The method for the pure electric unmanned reconstruction of the sweeper truck according to claim 7, which is characterized in that: the pull rope piece (900) further comprises a third rope (905) respectively connected with the first pull ring (901), a fourth rope (906) connected with the second pull ring (902), the third rope (905) and the fourth rope (906) are both installed on the upper surface of the piston plate (907), a fifth rope (908) is arranged on the lower surface of the piston plate (907), the fifth rope (908) is wound on the second winding drum (807), a slotted hole (105) is formed in the cross main body (100) and located below the through hole (104), and the piston plate (907) is located in the slotted hole (105).