CN205530067U - Road is motor sweeper independently based on laser and vision - Google Patents
Road is motor sweeper independently based on laser and vision Download PDFInfo
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- CN205530067U CN205530067U CN201620293245.2U CN201620293245U CN205530067U CN 205530067 U CN205530067 U CN 205530067U CN 201620293245 U CN201620293245 U CN 201620293245U CN 205530067 U CN205530067 U CN 205530067U
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Abstract
The utility model discloses a road is motor sweeper independently based on laser and vision belongs to intelligent sanitation machinery technical field, which comprises a carriage body, the outside the place ahead of automobile body is equipped with laser scanning range radar and camera, the top of automobile body is equipped with GPS orientation module, the below of automobile body is equipped with at least one and cleans a set brush, directive wheel and drive wheel, it is located between directive wheel and the drive wheel to clean a set brush, the inside of automobile body is equipped with on -vehicle computer mainboard and vehicle control system, on -vehicle computer mainboard connection laser scanning range radar, the camera, GPS orientation module and vehicle control system, and realize data communication through wireless data transmission basic station network and human -computer interaction platform, can independently carry out path planning and navigational positioning under the unpiloted condition, really accomplish need not personnel and intervene the operation of cleaning that to accomplish the path planning road once more, be suitable for and popularize and apply on garden and public road, the labor intensity of the city sanitationman is reduced.
Description
Technical field
This utility model relates to a kind of autonomous sweeper of road based on laser and vision, belongs to intelligence environmental sanitation field of mechanical technique.
Background technology
Sweeper either indoor still avenue environmental sanitation, is substantially all and needs manual operation, and along with the development of city size, improving constantly of human cost, for the demand of intelligent unmanned autonomous traveling sweeper, manifest is the most urgent at present.At present, in terms of full-automatic unmanned driving, domestic had relevant enterprise and mechanism to be studied, and generally uses three kinds of methods to realize: (1) is based on 3G/4G or GPRS network, carried out the planning in path by terminal unit, and equipment state is monitored in real time；(2) image recognition technology based on machine vision；(3) using and lay guide rail, track on ground, vehicle travels on trapped orbit, i.e. track automatic automatic driving car.Although there has been a relevant technology in unmanned field, but technology also immaturity in terms of unmanned sweeper, the most it is not widely applied.
Such as, authorize Publication No. :/sweeper is washed in a kind of unmanned type commercialization automatically disclosed in CN204644936U, there is certain deficiency technically, after running into barrier, laser sensor, ultrasonic or anticollision strip information need to be delivered to navigation module, navigation module is as the case may be, transmission halt instruction is in control module, and needs the most again intervene, path planning again, time-consuming and can not accomplish that whole process is completely unmanned and interfere, it is unsuitable for carrying out cleaning work on large-scale road surface.
Utility model content
The purpose of this utility model is to provide a kind of autonomous sweeper of road based on laser and vision, path planning and navigator fix can be independently carried out in the case of unmanned, realize the cleaning work on road surface, reduce the labor intensity of urban sanitary workers, reduce city CO2 emission and environmental pollution, Optimization of Energy Structure.
The autonomous sweeper of road based on laser and vision described in the utility model, including car body, front outside car body is provided with laser scanning and ranging radar and photographic head, car body be arranged over GPS locating module, the lower section of car body is provided with at least one and cleans disc brush, it is respectively provided on two sides with deflecting roller and driving wheel before and after cleaning disc brush, the inside of car body is provided with vehicle mounted computer main board and whole-control system, vehicle mounted computer main board connects laser scanning and ranging radar, photographic head, GPS locating module and whole-control system, and realize data communication by wireless data transmission base station network and man-machine interactive platform.
Laser scanning and ranging radar is used for detecting curb edge, road ahead both sides, extract and the straightway of matching road edge, position offer sensing data for corresponding sweeper along the parallel advance of road and road, and utilize the laser detection data in the range of 180 degree of front, assist automatic obstacle avoiding；Photographic head is network high-definition camera, is used for gathering image information in front, in the section without curb, by image processing algorithm, completes road edge identification with laser scanning and ranging radar complementation；Vehicle mounted computer main board mainly carries host computer intelligent algorithm and processes software, by receiving the data that whole-control system is uploaded, utilize sensor fusion algorithm, image processing algorithm, automatic obstacle-avoiding algorithm, the various intelligent control algorithms such as autonomous localization and navigation algorithm, realize autonomous driving, wireless data transmission base station network is for realizing the transmission of data, there is 3G, 4G, the plurality of optional communication modes such as WIFI and private radio digital transmitting network, realize position and status data communications, man-machine interactive platform is for the information of receiving radio data transmission base station network transmission, during cleaning and moving, staff is manipulated by man-machine interactive platform reality action, and remotely monitor.
Described whole-control system includes power-supply management system, kinetic control system, ultrasound wave automatic obstacle-avoiding system, clean control system and wireless data transfer module, above-mentioned between each system and parts, carry out data communication by CAN, wireless data transfer module and remote controller realize data communication, power-supply management system is used for realizing power management, kinetic control system is used for realizing advancing, retreat, turn left, turn right, accelerate, slow down, stop, the control of the motions such as brake, ultrasound wave automatic obstacle-avoiding system is used for realizing automatic obstacle-avoiding, clean control system for realization lift put cleaning disc brush complete cleaning action.
Control model is made to be divided into Non-follow control and Autonomous Control by remote controller and man-machine interactive platform, by remote controller or smart mobile phone client software under MANUAL CONTROL mode, it is achieved advance, retreat, turn left, turn right, accelerate, slow down, stop, brake, lift and put the manipulation cleaning a series of actions such as disc brush；Under Autonomous Control pattern, utilize ultrasonic distance-measuring sensor, laser scanning and ranging radar, photographic head by intelligent control algorithm such as obstacle recognition and obstacle avoidance algorithm, automatic obstacle-avoiding algorithm, curb recognizer, cleaning path planning algorithm, realize independently positioning along application places road and unmanned cleaning, man-machine interactive platform transmits data by wireless data transmission base station network with sweeper body, monitor running status, exact position in garden in real time, and realize front video monitoring by photographic head.
Described ultrasound wave automatic obstacle-avoiding system includes that ultrasonic distance-measuring sensor, ultrasonic distance-measuring sensor include several, lays respectively at before car body and side；The ultrasonic distance-measuring sensor of the left and right sides is symmetrical, and ultrasonic distance-measuring sensor utilizes the sensor that the characteristic of ultrasound wave develops, and measures sweeper periphery obstacle distance, and according to range information make warning, dodge, the action such as parking.
Described laser scanning and ranging radar is positioned at the front of car body, laser scanning and ranging radar includes 2, one laser scanning and ranging radar is positioned at the lower end ground proximity in car body front, for detecting curb edge, road ahead both sides and shorter barrier, another laser scanning and ranging radar is positioned at the central authorities in car body front, is higher than the barrier of curb for detection.
In terms of navigator fix, two ways is used: (1) uses the mode that laser scanning and ranging radar and photographic head combine for different operating modes, in the section having curb, with laser scanning and ranging radar identification, in the section not having curb, use photographic head identification mark line, image procossing combine with GPS location, it is achieved path planning and independent navigation function.(2) utilize photographic head and terrestrial reference, in conjunction with GPS locating module, crossing is identified and positions, it is achieved crossing detection and section position, complete to clean section path planning and independent navigation.By importing garden off-line mapping, in conjunction with GPS information and the machine vision of road, determine and clean the direction of motion, movement locus and the particular location in map accordingly.
In terms of automatic obstacle-avoiding, when running into barrier, ultrasonic distance-measuring sensor and laser scanning and ranging radar is used to gather data, utilize intelligent control algorithm, realize avoidance, preceding object analyte detection distance range: 0～30m, detection angles: 0-180 degree, left and right sides detection of obstacles alarm distance scope: 0-3m, rear barrier analyte detection alarm distance scope: 0-6m, automatic obstacle-avoiding response distance freely can set in detection range, when barrier enters alarm distance region, carry out sound and light alarm, and Reduced Speed Now；When barrier enters avoidance response distance areas, carry out auto-steering, automatically detoured avoidance by left and right free time track.
The front and side of described car body is equipped with access hole, steering control device and apparatus for automatically lifting it is provided with in the access hole in front, steering control device connects whole-control system and deflecting roller, apparatus for automatically lifting connects whole-control system, cleans disc brush and laser scanning and ranging radar, is provided with charging inlet and coordinates with front access hole and overhaul the system in car body and change in the access hole of side.
When opening cleaning function, by the apparatus for automatically lifting within the access hole of front end, clean disc brush whereabouts Tong Bu with the laser scanning and ranging radar of lower end, car body front, when falling to minimum altitude, clean electric motor starting, clean disc brush and rotate, start to clean, the laser scanning and ranging radar of bottom is started working simultaneously, and when closing cleaning function, lower end laser scanning and ranging radar is risen by apparatus for automatically lifting automatically with cleaning disc brush.
Described steering control device includes steer motor and controller, and steer motor connects controller and deflecting roller, and controller connects whole-control system, and controller passes through programme-control steer motor, and about steer motor control deflecting roller realization, each 60 degree of scopes turns to.
Realize data protocol by USBCAN adapter between described vehicle mounted computer main board and whole-control system to change.
Described car body be arranged over warning lamp and access hole upper cover, warning lamp is positioned at the top of access hole upper cover, key switch, hands automatic switchover rotary switch, luminous lamp switch, watering switch, remote controller interface and voltameter it is provided with in access hole upper cover, the side of access hole upper cover is provided with radio antenna and sprinkler tank inlet, and radio antenna connects wireless data transmission base station network.
The quantity of described deflecting roller is 1, is positioned at the front end below car body, and the quantity of driving wheel is 2, is positioned at the symmetrical distribution in the rear end below car body, and the quantity cleaning disc brush is 2, symmetrical distribution between deflecting roller and driving wheel.
The rear of described car body is provided with refuse bin and the cleaning mouth baffle plate of rubbish filter element below, rubbish filter element cleaning mouth baffle plate be respectively arranged on the left side and the right side at least one brake lamp and steering indicating light, rubbish filter element cleaning mouth baffle plate be arranged over emergency stop switch, the front of car body is additionally provided with at least one steering indicating light and illuminating lamp.
Emergency stop switch is used for realizing brake hard, and illuminating lamp, when ambient light is dark at the scene, can manually or automatically be opened, illuminate road ahead, and be photographic head light filling.
This utility model compared with prior art, has the advantages that
A kind of autonomous sweeper of road based on laser and vision is provided, path planning and navigator fix can be independently carried out in the case of unmanned, it is truly realized under automatic control mode and again intervenes the cleaning work that can complete path planning road without personnel, each kinestate of sweeper body can be monitored by remote control, be suitable to popularization and application on garden and public way, reduce the labor intensity of urban sanitary workers, reduce city CO2 emission and environmental pollution, Optimization of Energy Structure, promote to build intellectual city, make wisdom garden.
Accompanying drawing explanation
Fig. 1 is the front view of this utility model embodiment；
Fig. 2 is the rearview of this utility model embodiment；
Fig. 3 is the circuit connection diagram of this utility model embodiment
In figure: 1, car body；2, access hole；3, photographic head；4, ultrasonic distance-measuring sensor；5, steering indicating light；6, laser scanning and ranging radar；7, illuminating lamp；8, deflecting roller；9, disc brush is cleaned；10, driving wheel；11, refuse bin；12, sprinkler tank inlet；13, radio antenna；14, GPS locating module；15, warning lamp；16, access hole upper cover；17, rubbish filter element cleaning mouth baffle plate；18, brake lamp；19, emergency stop switch.
Detailed description of the invention
With embodiment, this utility model is further described below in conjunction with the accompanying drawings:
Embodiment
As Figure 1-3, the autonomous sweeper of road based on laser and vision described in the utility model, including car body 1, front outside car body 1 is provided with laser scanning and ranging radar 6 and photographic head 3, car body 1 be arranged over GPS locating module 14, the lower section of car body 1 is provided with at least one and cleans disc brush 9, it is respectively provided on two sides with deflecting roller 8 and driving wheel 10 before and after cleaning disc brush 9, the inside of car body 1 is provided with vehicle mounted computer main board and whole-control system, vehicle mounted computer main board connects laser scanning and ranging radar 6, photographic head 3, GPS locating module 14 and whole-control system, and realize data communication by wireless data transmission base station network and man-machine interactive platform.
In order to further illustrate above-described embodiment, whole-control system includes power-supply management system, kinetic control system, ultrasound wave automatic obstacle-avoiding system, cleans control system and wireless data transfer module, above-mentioned carrying out data communication by CAN between each system and parts, wireless data transfer module and remote controller realize data communication.
In order to further illustrate above-described embodiment, ultrasound wave automatic obstacle-avoiding system includes that ultrasonic distance-measuring sensor 4, ultrasonic distance-measuring sensor 4 include several, lays respectively at before car body 1 and side；The ultrasonic distance-measuring sensor 4 of the left and right sides is symmetrical.
In order to further illustrate above-described embodiment, laser scanning and ranging radar 6 is positioned at the front of car body 1, laser scanning and ranging radar 6 includes 2, one laser scanning and ranging radar 6 is positioned at the lower end ground proximity in car body 1 front, for detecting curb edge, road ahead both sides and shorter barrier, another laser scanning and ranging radar 6 is positioned at the central authorities in car body 1 front, is higher than the barrier of curb for detection.
In order to further illustrate above-described embodiment, the front and side of car body 1 is equipped with access hole 2, it is provided with steering control device and apparatus for automatically lifting in the access hole 2 in front, steering control device connects whole-control system and deflecting roller 8, apparatus for automatically lifting connects whole-control system, cleans disc brush 9 and laser scanning and ranging radar 6, is provided with charging inlet and coordinates with front access hole 2 and overhaul the system in car body 1 and change in the access hole 2 of side.
In order to further illustrate above-described embodiment, steering control device includes steer motor and controller, and steer motor connects controller and deflecting roller 8, and controller connects whole-control system.
In order to further illustrate above-described embodiment, realize data protocol by USBCAN adapter between vehicle mounted computer main board and whole-control system and change.
In order to further illustrate above-described embodiment, car body 1 be arranged over warning lamp 15 and access hole upper cover 16, warning lamp 15 is positioned at the top of access hole upper cover 16, key switch, hands automatic switchover rotary switch, luminous lamp switch, watering switch, remote controller interface and voltameter it is provided with in access hole upper cover 16, the side of access hole upper cover 16 is provided with radio antenna 13 and sprinkler tank inlet 12, and radio antenna 13 connects wireless data transmission base station network.
In order to further illustrate above-described embodiment, the quantity of deflecting roller 8 is 1, is positioned at the front end below car body 1, the quantity of driving wheel 10 is 2, being positioned at the symmetrical distribution in the rear end below car body 1, the quantity cleaning disc brush 9 is 2, symmetrical distribution between deflecting roller 8 and driving wheel 10.
In order to further illustrate above-described embodiment, the rear of car body 1 is provided with refuse bin 11 and the cleaning mouth baffle plate 17 of rubbish filter element below, rubbish filter element cleaning mouth baffle plate 17 be respectively arranged on the left side and the right side at least one brake lamp 18 and steering indicating light 5, rubbish filter element cleaning mouth baffle plate 17 be arranged over emergency stop switch 19, the front of car body 1 is additionally provided with at least one steering indicating light 5 and illuminating lamp 7.
The operation principle of the present embodiment is: external staff realizes motion and the cleaning action of sweeper under MANUAL CONTROL mode by remote controller as required, under Autonomous Control pattern, open cleaning function, apparatus for automatically lifting in front access hole 2 starts, make cleaning disc brush 9 whereabouts Tong Bu with the laser scanning and ranging radar 6 of lower end, car body 1 front, when falling to minimum altitude, clean electric motor starting, clean disc brush 9 to rotate, start to clean, the laser scanning and ranging radar 6 of bottom is started working simultaneously, utilize the mode that laser scanning and ranging radar 6 and photographic head 3 combine, in the section having curb, identify with laser scanning and ranging radar 6, in the section not having curb, photographic head 3 is used to identify mark line, combined with GPS location by image procossing, realizing route planning and independent navigation；When run into turn around crossing time, utilize photographic head 3 and terrestrial reference, in conjunction with GPS locating module 14, crossing of turning around be identified and position, it is achieved turn around crossing detection and section position, complete action of turning around；By importing the off-line mapping of purging zone, the GPS in conjunction with road positions information and the image information of photographic head 3 shooting, determines the direction of motion of sweeper, movement locus and the particular location in map；When running into barrier, use ultrasonic distance-measuring sensor 4 and laser scanning and ranging radar 6 to gather data, utilize intelligent control algorithm, it is achieved the avoidance of sweeper；Sweeper preceding object analyte detection distance range: 0～30m, detection angles: 0-180 degree, left and right sides detection of obstacles alarm distance scope: 0-3m, rear barrier analyte detection alarm distance scope: 0-6m；Automatic obstacle-avoiding response distance freely can set in detection range；When barrier enters alarm distance region, warning lamp 15 sound and light alarm, and Reduced Speed Now；When barrier enters avoidance response distance areas, deflecting roller 8 auto-steering, automatically detoured avoidance by left and right free time track, avoidance goes successively to normal running mode after completing, until completing the cleaning work of all path plannings, during cleaning, staff utilizes man-machine interactive platform, data are transmitted by wireless data transmission base station network, can remotely monitor the running status of the various parameters such as the electricity of sweeper, switching information, display sweeper position on the cartographic model of backstage, and the video image information in sweeper front in real time.
Use the autonomous sweeper of road based on laser and vision of the embodiment of the present utility model described above in association with accompanying drawing, Autonomous Control path planning and navigator fix can be carried out in the case of unmanned, it is truly realized in automatic mode again to intervene without personnel and can complete cleaning work, but this utility model is not limited to described embodiment.Embodiment is carried out by these in the case of without departing from principle of the present utility model and spirit change, revise, replace and deformation still falls within protection domain of the present utility model.
Claims (10)
1. the autonomous sweeper of road based on laser and vision, including car body (1), it is characterized in that: the front of described car body (1) outside is provided with laser scanning and ranging radar (6) and photographic head (3), car body (1) be arranged over GPS locating module (14), the lower section of car body (1) is provided with at least one and cleans disc brush (9), it is respectively provided on two sides with deflecting roller (8) and driving wheel (10) before and after cleaning disc brush (9), the inside of car body (1) is provided with vehicle mounted computer main board and whole-control system, vehicle mounted computer main board connects laser scanning and ranging radar (6), photographic head (3), GPS locating module (14) and whole-control system, and realize data communication by wireless data transmission base station network and man-machine interactive platform.
The autonomous sweeper of road based on laser and vision the most according to claim 1, it is characterized in that: described whole-control system includes power-supply management system, kinetic control system, ultrasound wave automatic obstacle-avoiding system, cleans control system and wireless data transfer module, above-mentioned carrying out data communication by CAN between each system and parts, wireless data transfer module and remote controller realize data communication.
The autonomous sweeper of road based on laser and vision the most according to claim 2, it is characterized in that: described ultrasound wave automatic obstacle-avoiding system includes ultrasonic distance-measuring sensor (4), ultrasonic distance-measuring sensor (4) includes several, lays respectively at before car body (1) and side；The ultrasonic distance-measuring sensor (4) of the left and right sides is symmetrical.
The autonomous sweeper of road based on laser and vision the most according to claim 1, it is characterized in that: described laser scanning and ranging radar (6) is positioned at the front of car body (1), laser scanning and ranging radar (6) includes 2, one laser scanning and ranging radar (6) is positioned at the lower end ground proximity in car body (1) front, for detecting curb edge, road ahead both sides and shorter barrier, another laser scanning and ranging radar (6) is positioned at the central authorities in car body (1) front, is higher than the barrier of curb for detection.
The autonomous sweeper of road based on laser and vision the most according to claim 1, it is characterized in that: the front and side of described car body (1) is equipped with access hole (2), it is provided with steering control device and apparatus for automatically lifting in the access hole (2) in front, steering control device connects whole-control system and deflecting roller (8), apparatus for automatically lifting connects whole-control system, clean disc brush (9) and laser scanning and ranging radar (6), it is provided with charging inlet in the access hole (2) of side and coordinates with front access hole (2) system in car body (1) is overhauled and changed.
The autonomous sweeper of road based on laser and vision the most according to claim 5, it is characterized in that: described steering control device includes steer motor and controller, steer motor connects controller and deflecting roller (8), and controller connects whole-control system.
The autonomous sweeper of road based on laser and vision the most according to claim 1, it is characterised in that: realize data protocol by USBCAN adapter between described vehicle mounted computer main board and whole-control system and change.
The autonomous sweeper of road based on laser and vision the most according to claim 1 or 5, it is characterized in that: described car body (1) be arranged over warning lamp (15) and access hole upper cover (16), warning lamp (15) is positioned at the top of access hole upper cover (16), access hole upper cover is provided with key switch in (16), hands automatic switchover rotary switch, luminous lamp switch, watering switch, remote controller interface and voltameter, the side of access hole upper cover (16) is provided with radio antenna (13) and sprinkler tank inlet (12), radio antenna (13) connects wireless data transmission base station network.
The autonomous sweeper of road based on laser and vision the most according to claim 1, it is characterized in that: the quantity of described deflecting roller (8) is 1, it is positioned at the front end of car body (1) lower section, the quantity of driving wheel (10) is 2, it is positioned at the symmetrical distribution in rear end of car body (1) lower section, the quantity cleaning disc brush (9) is 2, is positioned at symmetrical distribution between deflecting roller (8) and driving wheel (10).
The autonomous sweeper of road based on laser and vision the most according to claim 1 or 5, it is characterized in that: the rear of described car body (1) is provided with refuse bin (11) and cleaning mouth baffle plate of rubbish filter element below (17), rubbish filter element cleaning mouth baffle plate (17) be respectively arranged on the left side and the right side at least one brake lamp (18) and steering indicating light (5), rubbish filter element cleaning mouth baffle plate (17) be arranged over emergency stop switch (19), the front of car body (1) is additionally provided with at least one steering indicating light (5) and illuminating lamp (7).
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