CN209048037U - Unmanned dirt cart - Google Patents
Unmanned dirt cart Download PDFInfo
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- CN209048037U CN209048037U CN201821069611.1U CN201821069611U CN209048037U CN 209048037 U CN209048037 U CN 209048037U CN 201821069611 U CN201821069611 U CN 201821069611U CN 209048037 U CN209048037 U CN 209048037U
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- dirt
- unmanned
- cart
- dirt cart
- sensor
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Abstract
The utility model discloses a kind of unmanned dirt carts, including car body, dirt pushing device, circuit system, the car body includes vehicle frame, shell, driving wheel, universal wheel and knob, the dirt pushing device include dirt push away, damper rod and connecting rod, the circuit system includes power supply, power management module, master controller, touch screen, sensor signal processor, WIFI router, it further include driving device, obstacle avoidance apparatus, the driving device includes hub motor, lifting motor, hub motor control device, lifting motor controller.The application method of unmanned dirt cart is divided into two steps in the utility model: path record and automated cleaning for the first time.The utility model uses unmanned technology, operator is freed, while can improve sweeping efficiency from repetition scissors and paste, reduces cost of labor, be highly suitable for Ground and need clean place.
Description
Technical field
The utility model relates to ground clean facilities field more particularly to a kind of unmanned dirt cart and its operation sides
Method.
Background technique
Currently, dirt cart needs clean place in Ground, such as station, square, market are widely used.Now
The dirt cart used is to be driven by electricity, and operator, which sits on, to be grasped direction and can clean up ground, compared to more traditional
It manually mops floor, alleviates the labor intensity of Cleaner, improve cleaning efficiency, but the running route of dirt cart substantially repeats
, operator carries out repeating driving daily, and Comparision is uninteresting, and with the continuous improvement of recruitment cost, user's recruitment
It is difficult, the problems such as personal management is difficult, human cost is high, is also more and more prominent.
Existing publication file CN205379274 discloses a kind of electric dust cart, increases on the basis of carriage
Front and back dirt evades handle, connects lifting motor by lifting linking member, adjusts dirt and evades the lifting of handle, while increasing on mop
The water tank and water adjusting valve of water meet the demand of keeping a public place clean in the uncertain public domain of larger area and water source, in certain journey
It is improved work efficiency on degree, but this dirt cart is operated there is still a need for personnel and is driven, control direction, in operator's work
Hold uninteresting, human cost height.
Utility model content
The utility model provides a kind of unmanned dirt cart, overcomes and pilot steering operation dirt is needed to push away in the prior art
Vehicle, operator work problem uninteresting, that human cost is high.
To achieve the above object, the utility model uses following technical scheme.
A kind of unmanned dirt cart, including car body, dirt pushing device, circuit system, the car body include vehicle frame, shell,
Universal wheel, driving wheel and knob；The dirt pushing device include dirt push away, damper rod and connector, the circuit system include power supply,
Power management module, master controller, characterized in that further include driving device, obstacle avoidance apparatus, the driving device includes wheel hub electricity
Machine, lifting motor, electric machine controller, the obstacle avoidance apparatus include laser radar sensor, ultrasonic sensor, angular transducer,
Safe touch side sensor.
Preferably, hub motor is arranged in the driving wheel, the hub motor of left side drive wheel and it is mounted in car body
The electric machine controller in left side connects, and the hub motor of right side drive wheel is connect with the electric machine controller for being mounted on right side in car body,
Lifting motor connects lifting motor controller, and motor driver receives the signal that control system issues, and adjusts motor speed, works as a left side
When right wheel hub motor speed is not identical, dirt cart auto-steering.
Preferably, the laser radar sensor is used to detect the barrier in front of dirt cart in 270 degree of angular ranges；
The ultrasonic sensor is used to detect the object of dirt cart periphery different height；The angular transducer is gyroscope, is used for
The steering angle for measuring dirt cart, determines the position of dirt cart；Safe touch side sensor is for detecting perception dirt cart and obstacle
Object touches, and adjusts dirt cart direction in time.
Preferably, the power supply can automatic charging, the master controller be separately connected laser radar sensor, touch
Screen, sensor signal processor, WIFI router, the sensor signal processor is separately connected ultrasonic sensor, angle passes
Sensor, safe touch side sensor, hand/automatic switchover device.
Preferably, the unmanned dirt cart has manual operation mode and automated cleaning mode.
Preferably, the operation mode of the unmanned dirt cart can pass through the physical button or APP on dirt cart
Client switches over.
Preferably, there is a touch display screen inside the dirt cart, touch display screen is connected with master controller.
Preferably, the push rod includes damper rod and connecting rod, damper rod one end connects lifting motor, and other end is logical
It crosses connecting rod connection dirt to push away, damper rod can more stably go up and down dirt and push away, and pushing away dirt can restore to stablize shape when being contacted with ground quickly
State, and noise when lifting can also be reduced.
The utility model has incorporated unmanned technology on the basis of traditional dedusting car, uses comprehensive obstacle avoidance apparatus,
It is turned to using two wheel guide robot control dirt cart, in combination with the software installed in master controller, the fortune of intelligentized control method dirt cart
Walking along the street line is realized unattended, automated cleaning, operator is freed from uninteresting repeated labor, while more
Efficient quick, human cost reduce.
Detailed description of the invention
Fig. 1 is the unmanned dirt cart structure schematic diagram of the utility model.
Fig. 2 is the unmanned dirt cart schematic diagram of internal structure of the utility model.
Fig. 3 is the unmanned dirt cart circuit system schematic diagram of the utility model.
Fig. 4 is the flow chart of the application method of unmanned dirt cart of the invention.
Fig. 5 is the second flow chart of the application method of unmanned dirt cart of the invention.
In figure: 1, car body 2, dirt push away 3, driving wheel
4, universal wheel 5, warning lamp 6, knob
7, master controller 8, laser radar sensor 9, power supply
10, safe touch side sensor 11, power management module 12, anticollision strip
13, hub motor control device 14, lifting motor 15, damper rod
16, connecting rod
Specific embodiment
The utility model is described further with reference to the accompanying drawings and detailed description.
As shown in Figure 1 and Figure 2, a kind of unmanned dirt cart, including car body 1, dirt pushing device, the car body 1 include vehicle
Frame, shell, driving wheel 3, universal wheel 4 and knob 6；The dirt pushing device includes that dirt pushes away 2, damper rod 15 and connecting rod 16, described
Circuit system includes power supply 9, power management module 11, master controller 7, touch screen, sensor signal processor, WIFI routing
Device, characterized in that further include driving device, obstacle avoidance apparatus, the driving device includes hub motor, lifting motor 14, wheel hub
Electric machine controller 13, lifting motor controller, the obstacle avoidance apparatus include laser radar sensor 8, ultrasonic sensor, angle biography
Sensor, safe touch side sensor 10.
Hub motor, the hub motor of left side drive wheel 3 and the wheel hub for being mounted on left side in car body 1 are set in driving wheel 3
Electric machine controller 13 connects, and the hub motor of right side drive wheel 3 connects with the hub motor control device 13 for being mounted on right side in car body 1
It connects, left and right wheel hub electric machine controller receives the electric signal of the sending of master controller 7 respectively, the revolving speed of hub motor is adjusted, when left and right
When side wheel hub motor speed is inconsistent, dirt cart changes direction of travel；Lifting motor 14 connects lifting motor controller, lifting electricity
Machine driver receives the signal that master controller 7 issues, and adjusts the lifting of lifting motor, and dirt pushes away 2 height according to lifting motor
Lifting and change, when ground proximity, completes cleaning.Dirt is pushed away and is connected between 2 and lifting motor with damper rod, when motor is gone up and down
When, damper rod plays the role of a buffering to lift action power, so that dirt is pushed away 2 liftings more steady, warmer when being contacted with ground
With, while reducing noise when lifting.
Laser radar sensor 8 is mounted on the bottom of 1 front end of car body, and protrudes the bottom surface of car body 1, apart from ground 100mm,
Detecting head detects 15 meters in front of dirt cart of condition of road surface towards front, for detecting 270 degree of angular ranges in front of dirt cart
Interior barrier；Supplement of the ultrasonic sensor as laser radar sensor 8, front center outside car body 1 it is upper, in,
Upper, middle and lower position in the middle part of lower position and rear end respectively installs one, and the upper, middle and lower position of two sides front and rear is respectively arranged
One, to detect the object of dirt cart periphery different height, dirt cart is avoided to collide in turning, avoidance with barrier；Angle
Sensor is gyroscope, for measuring the steering angle of dirt cart, determines the position of dirt cart；Safe touch side sensor 10 is used for
Detection perception dirt cart is touched with barrier, adjusts dirt cart direction in time.
As shown in figure 3, master controller 7 be separately connected laser radar sensor 8, touch screen, sensor signal processor,
WIFI router, sensor signal processor be separately connected ultrasonic sensor, angular transducer, safe touch side sensor, hand/from
Dynamic switch, the signal of receiving sensor and switch pass the signal to master controller 7.
Unmanned dirt cart in the utility model has manual operation mode and automated cleaning mode, can pass through object
Reason key or APP client switch over.Under manual operation mode, operator sends fortune by the touch screen being arranged in car body 1
Row instruction, instruction is transferred to master controller 7, or sends instruction by APP client, is wirelessly passed signal by WIFI router
It is defeated by master controller 7, after master controller 7 is connected to instruction, the internal algorithm software installed, map structuring software, path planning
Software, navigation software are calculated and are compared to instruction, and control instruction is sent to lifting motor controller and hub motor control
Device 13 processed, lifting motor controller control dirt push away 2 lifting, and hub motor control device 13 controls the speed of two driving wheels 3, when two
When the speed of driving wheel 3 is inconsistent, the going direction changing of dirt cart.
As shown in figure 3, the utility model provides a kind of specifically used method of unmanned dirt cart simultaneously, including following
Step:
Step 1, clean sector scanning: dirt cart for the first time in new cleaning region in use, manual operation dirt cart along
Cleaning region edge lines are sailed, and the object information in front of dirt cart within the scope of 270 degree are scanned by laser radar sensor, according to institute
The object information stated generates the cleaning area map in corresponding current cleaning region；
Step 2, cleaning path is planned: according to the Path Planning prestored, generating the cleaning of current cleaning area map
Path；
Step 3, automated cleaning: dirt cart is automatically performed ground in place and cleans, by avoidance according to the cleaning path
Device detects ambient enviroment, and the signal detected is transmitted to master controller, information analysis of the master controller (7) to receiving
After processing, control delivering is instructed to lifting motor controller and hub motor control device, the operation of dirt cart is controlled.
As shown in figure 4, the step 3, the step of step of automated cleaning, includes:
Step 301: the object information in front of laser radar scanning dirt cart ontology in two-dimensional surface, scanning result and cleaning
Area map compares, and calculates the current location of dirt cart in the environment；
Step 302: starting point of the dirt cart in cleaning path being determined according to the current location of dirt cart, dirt cart is from described
Starting point starts to run the cleaning for completing whole cleaning paths along cleaning path；
Step 303: when laser sensor, ultrasonic sensor, angular transducer, safe touch side sensor detect cleaning road
When barrier on diameter, control driving wheel is turned to, and avoids barrier automatically, when can not cut-through object situation when issue alarm
Information；
Step 304: in real time by the object information in two-dimensional surface in front of laser radar scanning dirt cart ontology, calculating
The current location of dirt cart in the environment, when dirt cart deviates cleaning path, by gyroscope and driving wheel to dirt cart into
Row navigation amendment, quickly corrects route and travels along cleaning path after so that dirt cart is avoided barrier.
Dirt cart, which encounters, cut-through object or to break down when can not advance, and obstacle avoidance apparatus transmits information to master
Controller 7, master controller 7 communicate information to the sound equipment and attention device installed in dirt cart, issue sound-light alarm, pass through simultaneously
Message is wirelessly transmitted in APP client by WIFI router, and operator's dirt cart is prompted to break down.Dirt cart car body
Outer edge is coated with one layer of anticollision strip, when dirt cart collides with barrier, damage of the reducing collisions to car body and barrier
Wound.
Dirt cart can update the software installed in master controller 7, acquiring technology branch by wifi connection cloud server
It holds, timely update software.
Claims (8)
1. a kind of unmanned dirt cart, including car body (1), dirt pushing device, circuit system, the car body (1) includes vehicle frame, outer
Shell, driving wheel (3), universal wheel (4) and knob (6), the dirt pushing device includes that dirt pushes away (2), damper rod (15) and connecting rod
(16), the circuit system include power supply (9), power management module (11), master controller (7), touch screen, at sensor signal
Manage device, WIFI router, characterized in that further include driving device and obstacle avoidance apparatus, the driving device includes hub motor, rises
Motor (14), hub motor control device (13), lifting motor controller drop, and the obstacle avoidance apparatus includes laser radar sensor
(8), ultrasonic sensor, angular transducer, safe touch side sensor (10).
2. unmanned dirt cart according to claim 1, characterized in that hub motor is set in the driving wheel (3),
The hub motor of left side drive wheel is connect with the hub motor control device (13) for being mounted on left side in car body, the wheel of right side drive wheel
Hub motor is connect with the hub motor control device (13) for being mounted on right side in car body, and lifting motor (14) connects lifting motor control
Device, motor driver receive the signal that master controller (7) issue, and adjust motor speed, when left and right wheel hub motor speed difference,
Dirt cart auto-steering.
3. unmanned dirt cart according to claim 1, characterized in that the laser radar sensor (8) is for visiting
Barrier in front of dust measuring cart in 270 degree of angular ranges；The ultrasonic sensor is for detecting dirt cart periphery different height
Object；The angular transducer determines the position of dirt cart for measuring the steering angle of dirt cart for gyroscope；Safety
Touching side sensor (10) is used to detect touching for perception dirt cart and barrier, in time adjustment dirt cart direction.
4. unmanned dirt cart according to claim 1, characterized in that the master controller (7) is separately connected laser
Radar sensor (8), touch screen, sensor signal processor, WIFI router, the sensor signal processor are separately connected
Ultrasonic sensor, angular transducer, safe touch side sensor, hand/automatic switchover device.
5. unmanned dirt cart according to claim 1, characterized in that the unmanned dirt cart has artificial behaviour
Operation mode and automated cleaning mode.
6. unmanned dirt cart according to claim 5, characterized in that the operation mode of the unmanned dirt cart
It can be switched over by physical button on dirt cart or APP client.
7. unmanned dirt cart according to claim 1, characterized in that there is a touch display inside the dirt cart
Screen, touch display screen are connected with master controller (7).
8. unmanned dirt cart according to claim 1, the WIFI router is wirelessly connected master controller (7) and uses
Family cell phone application.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821069611.1U CN209048037U (en) | 2018-07-06 | 2018-07-06 | Unmanned dirt cart |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821069611.1U CN209048037U (en) | 2018-07-06 | 2018-07-06 | Unmanned dirt cart |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209048037U true CN209048037U (en) | 2019-07-02 |
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ID=67046482
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821069611.1U Active CN209048037U (en) | 2018-07-06 | 2018-07-06 | Unmanned dirt cart |
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| CN (1) | CN209048037U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108814446A (en) * | 2018-07-06 | 2018-11-16 | 杭州它人机器人技术有限公司 | Unmanned dirt cart and its operation method |
| CN110984040A (en) * | 2019-11-19 | 2020-04-10 | 广州赛特智能科技有限公司 | Side-touching safety detection system and method for unmanned sweeper |
-
2018
- 2018-07-06 CN CN201821069611.1U patent/CN209048037U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108814446A (en) * | 2018-07-06 | 2018-11-16 | 杭州它人机器人技术有限公司 | Unmanned dirt cart and its operation method |
| CN110984040A (en) * | 2019-11-19 | 2020-04-10 | 广州赛特智能科技有限公司 | Side-touching safety detection system and method for unmanned sweeper |
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