CN206616503U - A kind of cleaning car of automatic cleaning - Google Patents
A kind of cleaning car of automatic cleaning Download PDFInfo
- Publication number
- CN206616503U CN206616503U CN201720213664.5U CN201720213664U CN206616503U CN 206616503 U CN206616503 U CN 206616503U CN 201720213664 U CN201720213664 U CN 201720213664U CN 206616503 U CN206616503 U CN 206616503U
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- submodule
- bottom plate
- information
- dustbin
- cleaning
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Abstract
A kind of cleaning car of automatic cleaning, the top of bottom plate is provided with dustbin, and the side of bottom plate is provided with storage tank, the bottom of bottom plate is provided with drum-type broom and suspended hood, and the import of suspended hood is aligned, drum-type broom, the outlet of suspended hood is passed through the interior intracavitary of bottom plate, and the interior intracavitary of bottom plate is provided with blower fan；The outlet of suspended hood is connected by conveying device with dustbin；The bottom of storage tank, which is provided with shower nozzle, driver's cabin, is provided with central controller.Gather submodule collection vehicle state and driving-environment information, perceive identification submodule and calculate the obstacle information in front of driving and tracked mobile target information, map submodule generates local map, path planning submodule generates local paths planning, travel control submodule and control instruction is generated according to local paths planning, and according to control instruction control direction disk, throttle and gear.The utility model automatic cleaning, Self-watering, can also automatic Pilot, convenience and high-efficiency, save manpower.
Description
Technical field
The utility model is related to a kind of cleaning car of automatic cleaning.
Background technology
With the continuous improvement of people's living standards, city environmental protection consciousness increasingly strengthens, road-cleaning cleaning car
Good opportunity to develop has also been welcome as the important ring of urban sanitation work.
Road-cleaning with cleaning car appearance be urban civilization an important mark, it give people living environment and
Appearance of city brings many benefits, such as improves the operating efficiency of road cleaning, while improving working actively for operator
Property, and greatly save manpower and financial resources, it is ensured that and a good clean and tidy environment, which not only improves city image, and
And it is more beneficial for enthusiasm of construction and citizen's work of urban culture etc..
But environmental sanitation service trade exist a predicament be environmental sanitation practitioner age it is generally higher, much already exceed
Retirement age, and China is currently under the quick aging stage, the arrival of aging epoch is necessarily accompanied with labor shortage, especially
It is environmental sanitation service field, and rarely young man participates in, and is likely to result in environmental sanitation practitioner and leaves no successor, labour
Shortage is unavoidable.Environmental sanitation will keep rapid and healthy it is necessary to improve mechanical rate and percent of automatization, at utmost delay
Solve the short pressure of practitioner.
The content of the invention
The purpose of this utility model is the deficiency for overcoming prior art there is provided a kind of cleaning car of automatic cleaning.
To achieve the above object, the utility model is adopted the following technical scheme that：
A kind of cleaning car of automatic cleaning, it is characterised in that：Including car body and driver's cabin, the bottom of the car body is provided with bottom
Plate, the top of the bottom plate is provided with dustbin, and the bottom plate is provided with storage tank close to the side of the tailstock；
The bottom plate has hollow inner chamber, and the bottom of the bottom plate is rotationally swept provided with the drum-type towards ground
Broom, and the drum-type broom is connected with power set；The bottom of the bottom plate is additionally provided with for sucking the drum-type broom
The suspended hood of the dust swept up, the import of the suspended hood is directed at the drum-type broom, and the outlet of the suspended hood is passed through institute
The interior intracavitary of bottom plate is stated, and the interior intracavitary of bottom plate is provided with the blower fan for being used for that negative pressure to be provided to the inner chamber；The exit of suspended hood
Connected by conveying device with the dustbin；
The conveying device include the first delivery section and the second delivery section, first delivery section include the first driving shaft,
The first conveyer belt of driven shaft and tensioning on the first driving shaft and driven shaft, and first driving shaft is rotatably arranged in
In suspended hood, the driven shaft is rotatably arranged in dustbin, and the first conveyer belt self-priming fan housing is to dustbin introversion
Tiltedly extension；Second delivery section includes the second driving shaft and tensioning the second conveyer belt on the second driving shaft and driven shaft,
Second driving shaft is rotatably arranged in dustbin, and second conveyer belt is from the middle part of dustbin to dustbin
One end is horizontal-extending；
One end of first driving shaft is coaxially connected with the output shaft of the first motor, one end of second driving shaft with
The output shaft of second motor is coaxially connected；
The bottom of the storage tank is provided with shower nozzle vertically downward, and earthward, and shower nozzle is provided with switch for the nozzle face of shower nozzle
Valve；Be additionally provided with central controller in the driver's cabin, the central controller respectively with power set, blower fan, switch valve, first
Motor and the second motor are connected one by one.
Further, the power set are the 3rd motor, the output shaft of the 3rd motor and the rotating shaft of drum-type broom
Coaxially it is connected, and central controller is connected with the 3rd motor.
Further, there is collection for collection vehicle status information and driving-environment information in the central controller
Module, the sense for extracting obstacle information and tracked mobile target information from car status information and driving-environment information
Knowledge small pin for the case module, the map submodule based on obstacle information and tracked mobile target information drafting local map, base area
The path planning submodule and control wheel of the local map generation local paths planning of figure submodule output are according to local road
The traveling control submodule of footpath planning traveling.
Further, the collection submodule, perception identification submodule, map submodule, path planning submodule and traveling
Control submodule is sequentially connected.
The automatic Pilot method implemented using a kind of cleaning car of automatic cleaning described in the utility model, its feature is existed
In comprising the following steps：
Step 1, collection submodule collection vehicle status information and driving-environment information, and by the vehicle shape collected
State information and driving-environment information are conveyed to perception identification submodule；
Step 2, perceive identification submodule and be based on the car status information and driving-environment information, calculate driving front
Obstacle information and tracked mobile target information, and perceive identification submodule by described obstacle information and the mobile mesh of tracking
Mark information conveyance gives map submodule；
Step 3, map submodule generates local map according to the obstacle information and tracked mobile target information received,
And the local map of generation is conveyed to path planning submodule；
Step 4, path planning submodule generates road to be cleaned according to default cleaning road information and the local map
Line, and local paths planning is generated according to route to be cleaned, obstacle information, tracked mobile target information and traffic code, and
Local paths planning is conveyed to traveling control submodule by path planning submodule；
Step 5, control submodule is travelled according to the described local paths planning generation control instruction received, and according to
The control instruction control direction disk, throttle and gear.
The beneficial effects of the utility model are mainly manifested in：
1st, automatic cleaning, Self-watering, can also automatic Pilot, convenience and high-efficiency, save manpower；
2nd, rubbish self-priming fan housing is delivered in dustbin through the first delivery section, and through in the smooth dustbin of the second delivery section
Rubbish；
3rd, by the various sensors gathered in submodule can detect at any time cleaning car around closely (such as 50 meters) in
Condition of road surface, and Treatment Analysis is carried out for different sensors by different distance, the translational speed of different objects so that collection
Data it is more accurate；
4th, in the process of moving, accurate orientation where the in-car global positioning device installed will obtain cleaning car at any time, enters one
Step improves security；
5th, various traffic signs can be recognized by perceiving identification submodule, it is ensured that cleaning car is before observing traffic rules and regulations
Put safety traffic.
Brief description of the drawings
Fig. 1 is structural representation of the present utility model.
Embodiment
Referring to the drawings, the cleaning car of a kind of automatic cleaning, including car body and driver's cabin 3, the bottom of the car body are provided with bottom
Plate, the top of the bottom plate is provided with dustbin 5, and the bottom plate is provided with storage tank 7 close to the side of the tailstock；Car is additionally provided with bottom plate
Wheel 9；
The bottom plate has hollow inner chamber, and the bottom of the bottom plate is rotationally provided with the drum-type broom towards ground
12, and the drum-type broom 12 is connected with power set；The bottom of the bottom plate is additionally provided with sweeps for sucking the drum-type
The suspended hood 10 for the dust that broom 12 is swept up, the import of the suspended hood 10 is directed at the drum-type broom 12, the suspended hood 10
Outlet be passed through the interior intracavitary of the bottom plate, and the interior intracavitary of bottom plate is provided with the blower fan 11 for being used for that negative pressure to be provided to the inner chamber；
The exit of suspended hood 10 is connected by conveying device with the dustbin 5；
The conveying device includes the first delivery section and the second delivery section, and first delivery section includes the first driving shaft
63rd, the first conveyer belt 65 of driven shaft 62 and tensioning on the first driving shaft 63 and driven shaft 62, and first driving shaft 63
It is rotatably arranged in suspended hood 10, the driven shaft 62 is rotatably arranged in dustbin 5, the first conveyer belt 65
Self-priming fan housing 10 is to the tilted extension of dustbin 5；Second delivery section includes the second driving shaft 61 and tensioning in the second active
The second conveyer belt 64 on axle 61 and driven shaft 62, second driving shaft 61 is rotatably arranged in dustbin 5, and described
Second conveyer belt 64 is horizontal-extending to one end of dustbin 5 from the middle part of dustbin 5；
One end of first driving shaft 63 is coaxially connected with the output shaft of the first motor, and the one of second driving shaft 61
End is coaxially connected with the output shaft of the second motor；
The bottom of the storage tank 7 is provided with shower nozzle vertically downward, and earthward, and shower nozzle is provided with switch for the nozzle face of shower nozzle
Valve 8；Be additionally provided with central controller 13 in the driver's cabin 3, the central controller 13 respectively with power set, blower fan 11, open
Valve 8, the first motor and the second motor is closed one by one to be connected.
The power set are the 3rd motor, the output shaft of the 3rd motor and the coaxial phase of rotating shaft of drum-type broom 12
Even.
The front of the driver's cabin 3 is provided with the laser radar 1 and camera 2 for being used for detecting front road conditions, the driver's cabin 3
Top be provided with gps satellite positioner 4；
Be additionally provided with central controller 13 and vehicle speed sensor 14 in the driver's cabin 3, the central controller 13 respectively with
First motor, the second motor, blower fan, switch valve, laser radar, camera, vehicle speed sensor and gps satellite positioner are one by one
It is connected.
The central controller 13 is by controlling the 3rd motor action and then controlling drum-type broom 12 to act, and drum-type is swept
Dust and rubbish that broom 12 is swept up, the import of self-priming fan housing 10 is sucked simultaneously to be delivered in dustbin 5 through the first defeated portion, is deposited in the
Rubbish near one defeated portion is delivered to other positions of dustbin through the second delivery section, with smooth rubbish.
The controlling switch valve 8 of central controller 13 is acted, and is sprinkled water with controlling to sprinkle water or stopping.
The central controller 13 controls the first motor, the second motor action, to control conveying device to act or stop dynamic
Make.
The automatic Pilot method implemented using a kind of cleaning car of automatic cleaning described in the utility model, its feature is existed
In comprising the following steps：
Step 1, collection submodule collection vehicle status information and driving-environment information, and by the vehicle shape collected
State information and driving-environment information are conveyed to perception identification submodule；
Step 2, perceive identification submodule and be based on the car status information and driving-environment information, calculate this practicality new
The obstacle information and tracked mobile target information on type periphery, and identification submodule is perceived by described obstacle information and tracking
Moving target information is conveyed to map submodule；
Step 3, map submodule generates local map according to the obstacle information and tracked mobile target information received,
And the local map of generation is conveyed to path planning submodule；
Step 4, path planning submodule generates road to be cleaned according to default cleaning road information and the local map
Line, and local paths planning is generated according to route to be cleaned, obstacle information, tracked mobile target information and traffic code, and
Local paths planning is conveyed to traveling control submodule by path planning submodule；
Step 5, control submodule is travelled according to the described local paths planning generation control instruction received, and according to
The control instruction control direction disk, throttle and gear.
Collection submodule is provided with central controller of the present utility model, identification submodule, map submodule, road is perceived
Plan submodule and traveling control submodule in footpath.
The collection submodule, is used to gather car status information of the present utility model based on laser radar 1 and camera 2
And driving-environment information.
It is described to perceive identification submodule, car status information and driving environment letter for analyzing collection submodule collection
Breath, to extract obstacle information and tracked mobile target information.
The map submodule recognizes that obstacle information and tracked mobile target that submodule is exported are believed according to described perceive
Breath, the local map set up centered on the utility model.
The path planning submodule, according to default cleaning road information (can be by navigation map) and ground dsp subsystem
The local map of output generates route to be cleaned, and according to the route to be cleaned, the obstacle information and tracking target letter
Breath and traffic code generate local paths planning.
The local paths planning that the traveling control submodule is exported according to path planning submodule controls the utility model
Traveling.
The collection submodule is needed by multiple different types of sensors, such as camera 2, laser radar 1, ultrasonic wave
Radar and millimetre-wave radar etc..Gather submodule and the camera 2 on the utility model, laser radar 1, ultrasonic wave thunder
Connected up to millimetre-wave radar.Collection submodule can gather vehicle of the present utility model respectively according to the characteristics of different sensors
Status information and driving-environment information.For example, collection submodule can obtain the ring within 50 meters of the utility model using camera 2
Environment information, obtains the elevation information within 20 meters of the utility model using laser radar, is obtained using ultrasonic sensor
The vehicle traveling information of surrounding multilane, the high-speed motion thing within 10 millimeters of the utility model is obtained using millimetre-wave radar
The information of body.Front-end and back-end of the present utility model are equipped with camera 2, laser radar 1, ultrasonic radar and millimetre-wave radar
Including being arranged on front bumper for front end is popped one's head in and radiated with about 45 degree of angles, searching target, can be explored up and down
To the barrier less than bumper, such as flower bed, the child played.The setting of front end is arranged on rear bumper, works as shift rod
It is linked into when reversing gear, automatically begins to work, cleaning car will no longer moves backward when probe detects rear object.
Perceive car status information and driving-environment information (such as motive objects of the identification submodule based on collection submodule collection
Speed, surface evenness, the aberration of quiet dynamic object, heat distribution, characteristic temperature of body etc.), calculate thing, people, the shape on road surface
State, and the Various types of data by counting and some analysis of optimization calculating are collected, recognize and extract the identification information after processing,
External environmental information (i.e. obstacle information and tracked mobile target information etc.) i.e. of the present utility model.These external environmental informations
It is the significant data source for setting up local map submodule.Perceiving identification submodule can also be by the optimized algorithm of self-defined establishment
Analyze the data of each sensor collection.Outside vehicle environmental information may also include stone, roadblock, puddle, vehicle, pedestrian etc..
Local map submodule draws different characteristics maps according to external environmental information of the present utility model, set up with
(such as laser radar local map, visual optics local map, radar are perceived partly local map centered on the utility model
Figure etc.).Local map submodule can be also overlapped with GPS information and known road information can be directly perceived there is provided one kind
Solve the Real-time Two-dimensional and three-dimensional integrated digital map of the various information processing results of environment.
The need that path planning submodule is set according to local map (or integrated digital map) and driver clean road
Navigation map analyze the road scope and speed, road complexity that are available for cleaning so as to generating a feasible road to be cleaned
Line, and local paths planning is generated according to route to be cleaned, vehicle external information and traffic code, the local paths planning is direct
Control the trend of vehicle traveling.
Travel control submodule and control instruction is generated according to above-mentioned local paths planning, to perform to shelves of the present utility model
Position (such as R N P D grades), throttle (such as 0%~100%), the control of direction (such as left and right turn), to keep the utility model
It is steady run at high speed, realize unmanned function.
Communication submodule is additionally provided with central controller, communication submodule can be used for setting up collection submodule and perceiving recognizing
The communication connection of submodule makes collection submodule by communicating to connect the vehicle-state that will be collected to provide real-time communication service
Information and driving-environment information are delivered in perception identification submodule.Meanwhile, state estimation submodule is may also include, the module bag
Include global positioning module (the running environment information for gathering the cleaning car), Inertial Measurement Unit and (measure the vehicle appearance of the cleaning car
State) and speedometer (present speed for measuring the cleaning car).Submodule communicate according to driving-environment information, vehicle attitude and current
Speed obtains current state estimation information of the present utility model, and is communicated by the submodule that communicates with the foundation of path planning submodule
Connection, by state estimation information transmission to path planning submodule, so that path planning submodule is believed according to the state estimation
Breath generation local paths planning.
Assistant service submodule is additionally provided with central controller, assistant service submodule can be used for collection submodule, sense
Real time high-speed communication between knowledge small pin for the case module, local map submodule, path planning submodule and traveling control submodule
And data and order transmission carry out assistant service, also the state of module can be carried out the various assistant services such as detecting, so that this reality
Safety traffic is better able to new.
The utility model gathers the row around the utility model by laser radar, millimetre-wave radar, vision sensor etc.
Environment is sailed, perception identification submodule can be delivered to respectively by real-time communication service afterwards, identification submodule is perceived according to the row
Sail environment and vehicle-state extracts vehicle running environment (static-obstacle thing table, dynamic barrier table and the identification of road scope) etc.
Information, local map submodule can set up laser radar local map centered on the utility model according to these information, regard
Feel that optics local map, radar perceive local map etc..GPS, IMU and speedometer gather running environment of the present utility model respectively
The state estimation information such as information, vehicle attitude and present speed, path planning submodule, road are transferred to by real-time communication service
Planning submodule in footpath can generate local paths planning according to above-mentioned local map, known map and the state estimation information.Traveling
Control submodule generates control instruction according to the local paths planning, to realize gear control, Throttle Opening Control, direction controlling etc..
Finally the data command generated between each submodule is recorded to the control platform of central controller, and can be adjusted by off-line simulation
Examination is debugged to these data commands, so that the utility model is safer, relatively reliable.
The utility model is set up according to obstacle information and the tracked mobile target information that identification submodule is perceived is perceived
Local map centered on the utility model, the need that path planning submodule is set according to driver clean road and partly
Figure generation route to be cleaned, and local road is generated according to route to be cleaned, obstacle information, tracking target information and traffic code
Footpath plans that traveling control submodule generates control instruction according to described local paths planning, and according to the control instruction to nothing
People drives cleaning car and is controlled.
Content described in this specification embodiment is only enumerating to the way of realization of utility model design, and this practicality is new
The protection domain of type is not construed as being only limitted to the concrete form that embodiment is stated, protection domain of the present utility model also and
In those skilled in the art according to the utility model conceive it is conceivable that equivalent technologies mean.
Claims (4)
1. a kind of cleaning car of automatic cleaning, it is characterised in that：Including car body and driver's cabin, the bottom of the car body is provided with bottom
Plate, the top of the bottom plate is provided with dustbin, and the bottom plate is provided with storage tank close to the side of the tailstock；
The bottom plate has hollow inner chamber, and the bottom of the bottom plate is rotationally provided with the drum-type broom towards ground, and
The drum-type broom is connected with power set；The bottom of the bottom plate is additionally provided with what is swept up for sucking the drum-type broom
The suspended hood of dust, the import of the suspended hood is directed at the drum-type broom, and the outlet of the suspended hood is passed through the bottom plate
Interior intracavitary, and bottom plate interior intracavitary be provided be used for the inner chamber provide negative pressure blower fan；The exit of suspended hood passes through defeated
Device is sent to be connected with the dustbin；
The conveying device includes the first delivery section and the second delivery section, and first delivery section includes the first driving shaft, driven
The first conveyer belt of axle and tensioning on the first driving shaft and driven shaft, and first driving shaft is rotatably arranged in air draught
In cover, the driven shaft is rotatably arranged in dustbin, and the first conveyer belt self-priming fan housing prolongs to dustbin is tilted
Stretch；Second delivery section includes the second driving shaft and tensioning the second conveyer belt on the second driving shaft and driven shaft, described
Second driving shaft is rotatably arranged in dustbin, and the one end of second conveyer belt from the middle part of dustbin to dustbin
It is horizontal-extending；
One end of first driving shaft is coaxially connected with the output shaft of the first motor, one end and second of second driving shaft
The output shaft of motor is coaxially connected；
The bottom of the storage tank is provided with shower nozzle vertically downward, and earthward, and shower nozzle is provided with switch valve to the nozzle face of shower nozzle；Institute
State and central controller be additionally provided with driver's cabin, the central controller respectively with power set, blower fan, switch valve, the first motor
It is connected one by one with the second motor.
2. a kind of cleaning car of automatic cleaning as claimed in claim 1, it is characterised in that：The power set are the 3rd electricity
Machine, the output shaft of the 3rd motor is coaxially connected with the rotating shaft of drum-type broom, and central controller is connected with the 3rd motor.
3. a kind of cleaning car of automatic cleaning as claimed in claim 2, it is characterised in that：Have in the central controller and use
Collection submodule in collection vehicle status information and driving-environment information, for from car status information and driving-environment information
In extract the perception identification submodule of obstacle information and tracked mobile target information, based on obstacle information and tracking movement
Target information draws the map submodule of local map, the local map generation local paths planning of submodule output according to the map
Path planning submodule and the traveling control submodule that is travelled according to local paths planning of control wheel.
4. a kind of cleaning car of automatic cleaning as claimed in claim 3, it is characterised in that：The collection submodule, perception are known
Small pin for the case module, map submodule, path planning submodule and traveling control submodule are sequentially connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720213664.5U CN206616503U (en) | 2017-03-07 | 2017-03-07 | A kind of cleaning car of automatic cleaning |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720213664.5U CN206616503U (en) | 2017-03-07 | 2017-03-07 | A kind of cleaning car of automatic cleaning |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206616503U true CN206616503U (en) | 2017-11-07 |
Family
ID=60231870
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720213664.5U Expired - Fee Related CN206616503U (en) | 2017-03-07 | 2017-03-07 | A kind of cleaning car of automatic cleaning |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206616503U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106702937A (en) * | 2017-03-07 | 2017-05-24 | 浙江工业大学 | Sanitation vehicle with automatic sweeping function and automatic driving method thereof |
| CN109137801A (en) * | 2018-08-22 | 2019-01-04 | 佛山铮荣科技有限公司 | A kind of urban road cleaning device |
-
2017
- 2017-03-07 CN CN201720213664.5U patent/CN206616503U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106702937A (en) * | 2017-03-07 | 2017-05-24 | 浙江工业大学 | Sanitation vehicle with automatic sweeping function and automatic driving method thereof |
| CN109137801A (en) * | 2018-08-22 | 2019-01-04 | 佛山铮荣科技有限公司 | A kind of urban road cleaning device |
| CN109137801B (en) * | 2018-08-22 | 2020-04-07 | 萧县亿达信息科技有限公司 | Urban road cleaning device |
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Granted publication date: 20171107 Termination date: 20200307 |