CN207067800U - Pure electric sanitation sweeper and its automated driving system - Google Patents
Pure electric sanitation sweeper and its automated driving system Download PDFInfo
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- CN207067800U CN207067800U CN201720929489.XU CN201720929489U CN207067800U CN 207067800 U CN207067800 U CN 207067800U CN 201720929489 U CN201720929489 U CN 201720929489U CN 207067800 U CN207067800 U CN 207067800U
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Abstract
Pure electric sanitation sweeper and its automated driving system are the utility model is related to, automated driving system includes electrokinetic cell, control module, vehicle body surrounding obstacles analyte detection subsystem, roadside distance detection subsystem, automatically controlled steering subsystem and brake subsystem.Barrier situation around vehicle body is detected by vehicle body surrounding obstacles analyte detection subsystem, the distance in vehicle and roadside is detected by roadside distance detection subsystem, during automatic Pilot, vehicle traveling is automatically controlled according to the barrier situation around vehicle body and the distance in vehicle and roadside, when there is barrier to influence normal vehicle operation, or vehicle distances roadside it is excessively near when, by controlling Vehicular turn subsystem or brake subsystem to realize the steering of vehicle, slow down, and then avoiding obstacles or increase and the distance in roadside, realize the safe and reliable operation of automatic Pilot.So the automatic Pilot that can realize pure electric sanitation sweeper by the system controls.
Description
Technical field
Pure electric sanitation sweeper and its automated driving system are the utility model is related to, belongs to pure electric sanitation sweeper
Automatic Pilot technical field.
Background technology
As Development of Urbanization, the continuous lifting of the market demand and national policy guide, the new energy ring of in the market application
Cleaning vehicle is defended, i.e., it is more and more that pure electric sanitation cleans vehicle.Compared with traditional Environmental sanitation cleaning vehicle and hand sweeping, new energy
The feature of environmental protection, sweeping efficiency and the security of Environmental sanitation cleaning vehicle are all significantly improved.Moreover, with the development of city size, manpower
The continuous lifting of cost, for the demand of the sweeper of intelligent unmanned automatic running, what is shown is particularly urgent.Although nothing
People, which drives field, the technology of correlation, and still, pure electric sanitation sweeper is unmanned still without excessive at present
It is related to, pure electric sanitation sweeper still needs to pilot steering vehicle and carries out cleaning, and human cost is larger.
Utility model content
The purpose of this utility model is to provide a kind of pure electric sanitation sweeper automated driving system, pure electronic to realize
The automatic Pilot control of Environmental sanitation cleaning vehicle.The utility model provides a kind of pure electric sanitation sweeper simultaneously.
To achieve the above object, scheme of the present utility model includes a kind of pure electric sanitation sweeper automated driving system,
Including the power plant module for providing vehicle energy for Environmental sanitation cleaning vehicle, and control module, for detecting vehicle and vehicle body week
The vehicle body surrounding obstacles analyte detection subsystem of obstacle distance is enclosed, for detecting vehicle and roadside distance detection of roadside distance
System, automatically controlled steering subsystem and brake subsystem, the power plant module are electrokinetic cells, the control module sampling connection institute
State vehicle body surrounding obstacles analyte detection subsystem and roadside distance detection subsystem, the control connection automatically controlled steering subsystem and system
Subsystem.
The vehicle body surrounding obstacles analyte detection subsystem includes four groups of ultrasonic radars and popped one's head in, for being separately positioned on vehicle body
Front, rear, left and right side；The roadside distance detection subsystem includes two groups of range laser radars, for being separately positioned on headstock
Both sides.
The automated driving system also includes locating module and walking subsystem, and the control module sampling connection is described fixed
Position module, control connect the walking subsystem.
The automated driving system also includes being used to obtain traffic light status information at the crossing that vehicle needs pass through
Data obtaining module, control module sampling connection described information acquisition module.
The automated driving system also includes being used for the residual capacity measurement module for detecting electrokinetic cell dump energy, described
Control module sampling connects the residual capacity measurement module.
A kind of pure electric sanitation sweeper, including pure electric sanitation sweeper automated driving system and cleaning agency, it is described
Automated driving system includes being used for the power plant module for providing vehicle energy for Environmental sanitation cleaning vehicle, and control module, for detecting
Vehicle and the vehicle body surrounding obstacles analyte detection subsystem of vehicle body peripheral obstacle distance, for detecting the road of vehicle and roadside distance
Back gauge detects subsystem, and automatically controlled steering subsystem and brake subsystem, the power plant module are electrokinetic cells, the control mould
Block sampling connects the vehicle body surrounding obstacles analyte detection subsystem and roadside distance detection subsystem, described automatically controlled turn of control connection
To subsystem and brake subsystem.
The vehicle body surrounding obstacles analyte detection subsystem includes four groups of ultrasonic radars and popped one's head in, for being separately positioned on vehicle body
Front, rear, left and right side；The roadside distance detection subsystem includes two groups of range laser radars, for being separately positioned on headstock
Both sides.
The automated driving system also includes locating module and walking subsystem, and the control module sampling connection is described fixed
Position module, control connect the walking subsystem.
The automated driving system also includes being used to obtain traffic light status information at the crossing that vehicle needs pass through
Data obtaining module, control module sampling connection described information acquisition module.
The automated driving system also includes being used for the residual capacity measurement module for detecting electrokinetic cell dump energy, described
Control module sampling connects the residual capacity measurement module.
Barrier situation around vehicle body is detected by vehicle body surrounding obstacles analyte detection subsystem, detected by roadside distance
Subsystem detects the distance in vehicle and roadside, during automatic Pilot, according to the barrier situation and vehicle around vehicle body
Vehicle traveling is automatically controlled with the distance in roadside, when there is barrier to influence normal vehicle operation, or vehicle distances roadside mistake
When near, by controlling Vehicular turn subsystem or brake subsystem is realized the steering of vehicle, slowed down, and then avoiding obstacles or
Person increases the distance with roadside, realizes the safe and reliable operation of automatic Pilot.Moreover, can be pure electronic ring by electrokinetic cell
Defend sweeper and reliable power source is provided, ensure the reliability service of automatic Pilot control.Therefore, it is clear by the pure electric sanitation
The automatic Pilot control of pure electric sanitation sweeper can be realized by sweeping car automated driving system.
Brief description of the drawings
Fig. 1 is the theory of constitution figure of pure electric sanitation sweeper automated driving system；
Fig. 2 is the position schematic diagram of ultrasonic radar probe.
Embodiment
Pure electric sanitation sweeper embodiment
The present embodiment provides a kind of pure electric sanitation sweeper, including cleaning agency and a kind of pure electric sanitation sweeper
Automated driving system, wherein, cleaning agency belongs to routine techniques, at present either the Environmental sanitation cleaning vehicle of pilot steering or other
All refer in the automatic Pilot Environmental sanitation cleaning vehicle of type, just no longer illustrate here.Moreover, except above-mentioned two parts it
Outside, there are other parts in Environmental sanitation cleaning vehicle, because other parts are not the utility model points of the application, this
In just no longer specifically describe.
Pure electric sanitation sweeper automated driving system includes electrokinetic cell, control module, vehicle body surrounding obstacles analyte detection
Subsystem, roadside distance detection subsystem, automatically controlled steering subsystem and brake subsystem, wherein, vehicle body surrounding obstacles analyte detection
Subsystem is used for the distance for detecting vehicle and vehicle body peripheral obstacle, and roadside distance detection subsystem is used to detect vehicle and roadside
Distance, specifically headstock distance roadside distance, emphasis is vehicle and road curb or flower bed etc. can touch with vehicle
The distance of the roadside thing hit.Control module sampling connection vehicle body surrounding obstacles analyte detection subsystem and roadside distance detection subsystem
System, the automatically controlled steering subsystem of control connection and brake subsystem.In addition, the walking subsystem of vehicle, such as：Motor, can
To be a part for automated driving system, it is, of course, also possible to be the part of vehicle in itself, automated driving system is not belonging to.Control
Molding block also controls connection cleaning agency.
For the composition of above-mentioned pure electric sanitation sweeper automated driving system, the present embodiment provides a kind of tool of the system
Body embodiment, wherein, as shown in figure 1, control module is by taking entire car controller 1 as an example；Vehicle body surrounding obstacles analyte detection subsystem
Detected using ultrasonic wave, i.e., vehicle body surrounding obstacles analyte detection subsystem is by taking 360 ° of ultrasonic radar detection subsystems 2 as an example；
Roadside distance detection subsystem is by taking range laser radar detection subsystem 3 as an example；And for automatically controlled steering 4 and brakes
5, it can use conventional system.Using ultrasonic radar detection subsystem, compared to first-class vision system is imaged, price is more
It is low, less than 1/10th of vision system, moreover, it is more reliable compared to vision system, light is not required, can be made with 24 hours
Industry.Further, 360 ° of ultrasonic radar detection subsystems 2 include four groups of ultrasonic radars and popped one's head in, the front side of vehicle body, rear side,
Left side and right side respectively set one group of ultrasonic radar probe, and the number of each group ultrasonic radar probe is according to being actually needed progress
Set, in the present embodiment, every group of number is four, then, just there are 16 probes altogether, as shown in Figure 2.Under normal circumstances,
The detection range of ultrasonic radar probe is 5 meters or so, then, it can detect vehicle body all around 5 by this four groups of probes
Barrier in the range of rice, realize that 360 ° omni-directional detects.
Range laser radar detection subsystem 3 includes two groups of range laser radars, and headstock both sides respectively set one group, i.e. environmental sanitation
Sweeper both sides are each at the place of headstock to set one group, and every group includes three range laser radars.As shown in Fig. 2 from
The left side of figure is defined as vehicle heading to right side, then, the arrow of the headstock both sides in Fig. 2 represents range laser radar.
Entire car controller 1 passes through with 360 ° of ultrasonic radar detection subsystems 2 and range laser radar detection subsystem 3
CAN network is communicated.Entire car controller 1 is connected with automatically controlled steering 4 or brakes 5 by low-pressure electric controlled line.
During Environmental sanitation cleaning vehicle operation, run according to pre-determined route, speed is limited within 5Km/h by entire car controller 1.
The letter such as position of barrier will occur in 360 ° of ultrasonic radar detection subsystems 2 in the range of the vehicle body detected all around 5 meters
Breath passes to entire car controller 1 by CAN network, and range laser radar detection subsystem 3 is by headstock away from road curb or flower bed
Real-time range passes to entire car controller 1 by CAN network, and entire car controller 1 is by controlling automatically controlled steering 4 or braking system
System 5 is realized the steering of vehicle, slowed down, and then avoiding obstacles；Entire car controller 1 realizes car by controlling automatically controlled steering 4
Steering, and then avoid bumping against road curb or flower bed, realize that the automatic safe of Environmental sanitation cleaning vehicle drives.
Moreover, automated driving system also includes bus or train route cooperative module 8, the module includes two parts, is locating module respectively
And data obtaining module, wherein, the position that locating module is used for where positioning vehicle, such as GPS module；Data obtaining module is used
The status information of traffic light at the crossing that acquisition vehicle needs pass through.The sampling connection bus or train route collaboration of entire car controller 1
Module 8, the information of the transmission of real-time reception bus or train route cooperative module 8, is communicated with signal lamp by bus or train route cooperative module 8, determines car
Exact position, and by the communication with signal lamp, reasonable regulation speed, avoid vehicle from frequently waiting red light, improve efficiency of operation.
Automated driving system also includes residual capacity measurement module, for detecting the dump energy of electrokinetic cell, i.e. SOC letters
Breath, the sampling connection residual capacity measurement module of entire car controller 1.In the present embodiment, residual capacity measurement module is electrokinetic cell
Battery management system 9, the information of the electrokinetic cell that entire car controller 1 transmits according to battery management system 9 judges vehicle residue
Electricity, and the remaining continual mileage corresponding to dump energy, following control is carried out with reference to locating module：When remaining continual mileage
When being reduced to only than current vehicle position and big some distances in charging place, represent that the dump energy of vehicle is few, if not
Charged, vehicle may cast anchor because of not enough power supply, then, control module control vehicle according to from current vehicle position to
The travel route in charging place drives towards charging place and charged.
In addition, automated driving system also includes remote monitoring system 6, remote monitoring system 6 reads vehicle by CAN network
The information such as position, electricity, operation conditions, fault message, power consumption, and after these information are sent into monitoring in real time by 4G networks
Platform 7.Monitoring backstage 7 can send to vehicle and order, control vehicle depot repair by analyzing information of vehicles, return factory's charging, and certainly
It is dynamic to arrange charge position.Moreover, monitoring backstage 7 can monitor and manipulate simultaneously all Environmental sanitation cleaning vehicles of whole fleet.
It is presented above the embodiment of pure electric sanitation sweeper automated driving system, but the utility model not office
It is limited to described embodiment.Basic ideas of the present utility model are the base of pure electric sanitation sweeper automated driving system
This structure, do not limited for the specific implementation means of each part in system.
Pure electric sanitation sweeper automated driving system embodiment
The present embodiment provides a kind of pure electric sanitation sweeper automated driving system, due to the system in the above-described embodiments
It has been made that and has described in detail, has just no longer illustrated here.
Claims (10)
1. a kind of pure electric sanitation sweeper automated driving system, it is characterised in that including whole for being provided for Environmental sanitation cleaning vehicle
The power plant module of car energy, and control module, for detecting the vehicle body surrounding obstacles of vehicle and vehicle body peripheral obstacle distance
Analyte detection subsystem, for detecting vehicle and the roadside distance detection subsystem of roadside distance, automatically controlled steering subsystem and braking
Subsystem, the power plant module are electrokinetic cells, and the control module sampling connects the vehicle body surrounding obstacles analyte detection subsystem
System and roadside distance detection subsystem, the control connection automatically controlled steering subsystem and brake subsystem.
2. pure electric sanitation sweeper automated driving system according to claim 1, it is characterised in that around the vehicle body
Detection of obstacles subsystem includes four groups of ultrasonic radars and popped one's head in, for being separately positioned on the front, rear, left and right side of vehicle body；It is described
Roadside distance detection subsystem includes two groups of range laser radars, for being separately positioned on headstock both sides.
3. pure electric sanitation sweeper automated driving system according to claim 1 or 2, it is characterised in that described automatic
Control loop also includes locating module and walking subsystem, and the control module sampling connects the locating module, control connection
The walking subsystem.
4. pure electric sanitation sweeper automated driving system according to claim 3, it is characterised in that the automatic Pilot
System also includes being used for the data obtaining module for obtaining traffic light status information at the crossing that vehicle needs pass through, the control
Module samples processed connect described information acquisition module.
5. pure electric sanitation sweeper automated driving system according to claim 3, it is characterised in that the automatic Pilot
System also includes being used for the residual capacity measurement module for detecting electrokinetic cell dump energy, and the control module is sampled described in connection
Residual capacity measurement module.
6. a kind of pure electric sanitation sweeper, it is characterised in that including pure electric sanitation sweeper automated driving system and cleaning
Mechanism, the automated driving system include being used for the power plant module for providing vehicle energy for Environmental sanitation cleaning vehicle, and control module,
For detecting the vehicle body surrounding obstacles analyte detection subsystem of vehicle and vehicle body peripheral obstacle distance, for detecting vehicle and roadside
The roadside distance detection subsystem of distance, automatically controlled steering subsystem and brake subsystem, the power plant module are electrokinetic cells, institute
State control module sampling and connect the vehicle body surrounding obstacles analyte detection subsystem and roadside distance detection subsystem, control connection institute
State automatically controlled steering subsystem and brake subsystem.
7. pure electric sanitation sweeper according to claim 6, it is characterised in that vehicle body surrounding obstacles analyte detection
System includes four groups of ultrasonic radars and popped one's head in, for being separately positioned on the front, rear, left and right side of vehicle body；The roadside distance detection
Subsystem includes two groups of range laser radars, for being separately positioned on headstock both sides.
8. the pure electric sanitation sweeper according to claim 6 or 7, it is characterised in that the automated driving system is also wrapped
Locating module and walking subsystem are included, the control module sampling connects the locating module, and control connects the walking subsystem
System.
9. pure electric sanitation sweeper according to claim 8, it is characterised in that the automated driving system also includes using
The data obtaining module of traffic light status information, the control module sampling connect at the crossing that acquisition vehicle needs pass through
Connect described information acquisition module.
10. pure electric sanitation sweeper according to claim 8, it is characterised in that the automated driving system also includes
For detecting the residual capacity measurement module of electrokinetic cell dump energy, the control module sampling connects the dump energy inspection
Survey module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720929489.XU CN207067800U (en) | 2017-07-27 | 2017-07-27 | Pure electric sanitation sweeper and its automated driving system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720929489.XU CN207067800U (en) | 2017-07-27 | 2017-07-27 | Pure electric sanitation sweeper and its automated driving system |
Publications (1)
| Publication Number | Publication Date |
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| CN207067800U true CN207067800U (en) | 2018-03-02 |
Family
ID=61516869
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201720929489.XU Active CN207067800U (en) | 2017-07-27 | 2017-07-27 | Pure electric sanitation sweeper and its automated driving system |
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| CN (1) | CN207067800U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108345296A (en) * | 2018-05-04 | 2018-07-31 | 青岛慧伦科技有限公司 | Intelligent automatic sweeping machine |
| CN108717296A (en) * | 2018-06-05 | 2018-10-30 | 北京智行者科技有限公司 | Control method for vehicle |
| CN109308070A (en) * | 2017-07-27 | 2019-02-05 | 郑州宇通客车股份有限公司 | A kind of pure electric vehicle Environmental sanitation cleaning vehicle and its automated driving system |
-
2017
- 2017-07-27 CN CN201720929489.XU patent/CN207067800U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109308070A (en) * | 2017-07-27 | 2019-02-05 | 郑州宇通客车股份有限公司 | A kind of pure electric vehicle Environmental sanitation cleaning vehicle and its automated driving system |
| CN108345296A (en) * | 2018-05-04 | 2018-07-31 | 青岛慧伦科技有限公司 | Intelligent automatic sweeping machine |
| CN108717296A (en) * | 2018-06-05 | 2018-10-30 | 北京智行者科技有限公司 | Control method for vehicle |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: 450061 Yudao Road, Guancheng District, Zhengzhou City, Henan Province Patentee after: Yutong Bus Co.,Ltd. Address before: 450016 Yutong Industrial Zone, eighteen Li River, Henan, Zhengzhou Patentee before: ZHENGZHOU YUTONG BUS Co.,Ltd. |
|
| CP03 | Change of name, title or address |