CN209570854U - A kind of Multimode Intelligent electric cleaning car with automated driving system - Google Patents
A kind of Multimode Intelligent electric cleaning car with automated driving system Download PDFInfo
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- CN209570854U CN209570854U CN201920249583.XU CN201920249583U CN209570854U CN 209570854 U CN209570854 U CN 209570854U CN 201920249583 U CN201920249583 U CN 201920249583U CN 209570854 U CN209570854 U CN 209570854U
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Abstract
The utility model relates to a kind of Multimode Intelligent electric cleaning car with automated driving system, including car body, set on the wheel of vehicle bottom, the front end clearing apparatus of sensing device on car body and the front side lower position set on car body, the front end clearing apparatus includes the anti-impact bracket being erected at below the front side of car body, the bottom of anti-impact bracket is equipped with round brush, the sensing device setting is on the car body, the sensing device includes laser radar, monocular camera, GPS antenna and ultrasonic radar, automated driving system is equipped in the car body, the automated driving system includes intelligent driving brain system, the bottom drive-by-wire chassis system being separately connected with intelligent driving brain system, line traffic control purging system and remote monitoring system.Compared with prior art, the utility model can guarantee the Function for Automatic Pilot and unmanned cleaning function of sweeper simultaneously, securely and reliably, can greatly reduce the labor intensity of sanitationman.
Description
Technical field
The utility model relates to automatic cleaning equipment technical fields, more particularly, to a kind of with the more of automated driving system
Mode intelligent electric sweeper.
Background technique
With the rapid development of our country's economy, the raising year by year of the cost of manual labor, environmental sanitation cleaning work continue to use
Largely human resources are unpractical, also do not meet the big policy of urbanization process and the strategy of sustainable development, so, environmental sanitation is clear
The development trend for sweeping work is with the very high cleaning equipment substitution hand sweeping of intelligence degree.Existing Automatic vehicle for cleaning road can
Realize automatic cleaning function, but there is still a need for manual operation driving, still need to the labor intensity of certain sanitationman, and automatic cleaning
Vehicle is unable to satisfy a variety of demands for cleaning scene, and sweeping efficiency is not high.
Utility model content
The purpose of this utility model is exactly to provide a kind of with automatic to overcome the problems of the above-mentioned prior art
The Multimode Intelligent electric cleaning car of control loop.
The purpose of this utility model can be achieved through the following technical solutions:
A kind of Multimode Intelligent electric cleaning car with automated driving system, including car body, set on the vehicle of vehicle body
The front end clearing apparatus of set controller and the front side lower position set on car body, the car body are equipped with automated driving system,
The automated driving system is connect with Vehicle Controller, and front end clearing apparatus is connect with Vehicle Controller, the automatic Pilot system
System includes intelligent driving brain system, the drive-by-wire chassis system being separately connected with intelligent driving brain system, line traffic control purging system and remote
Range monitoring system, the intelligent driving brain system include high accuracy positioning navigation subsystem and with high accuracy positioning navigate subsystem
The purging zone being separately connected of uniting builds dsp subsystem, Intellisense and control subsystem, multi-layer anticollision control subsystem, cleans
Dsp subsystem, multi-layer anticollision control subsystem and Intellisense are built in region and control subsystem is separately connected, and described is high-precision
Degree location navigation subsystem includes GPS antenna, Inertial Measurement Unit and differential signal receiver, and the GPS antenna is set to vehicle
The top of body, the Inertial Measurement Unit and differential signal receiver are set to vehicle body, and connect respectively with GPS antenna,
The Intellisense and control subsystem includes laser radar, monocular camera and ultrasonic radar, and the laser radar is set
In the both ends of anti-impact bracket, the monocular camera is set to the front of car body, and car body is arranged in the ultrasonic radar
Surrounding.
Preferably, the remote monitoring system includes long-range monitoring computer, 4G module and solid-state memory.
Preferably, the drive-by-wire chassis system includes steering-by-wire subsystem, the line suitable for intelligent electric sweeper
Control driving and brake subsystem, the line traffic control purging system include that line traffic control cleans executive subsystem, line traffic control watering executes subsystem
System and line traffic control are dumped rubbish subsystem.
Preferably, the Intellisense and control subsystem include the laser radar, the ultrasonic radar,
The monocular camera and the Vehicle Controller for merging perception information.
Preferably, it includes the laser radar and for obtaining to laser radar that the purging zone, which builds dsp subsystem,
The information taken carries out the internal computer for building figure positioning.
Preferably, the multi-layer anticollision control subsystem includes the monocular camera and the ultrasonic wave thunder
It reaches, monocular camera, ultrasonic radar and Vehicle Controller are separately connected.
Preferably, the front end clearing apparatus includes the anti-impact bracket being erected at below the front side of car body, anti-impact bracket
Bottom be equipped with round brush.
Preferably, the steering-by-wire subsystem includes steering motor, the steering motor control for controlling steering motor
Device and car body processed steering mechanism, steering motor are connect with car body steering mechanism, and the drive-by-wire and brake subsystem include
Driving motor, transmission mechanism and brake fluid pressure mechanism.
Preferably, the line traffic control cleans executive subsystem and includes the main brush set on vehicle bottom, side brush and clean motor,
The line traffic control watering executive subsystem includes set on water pump vehicle intracorporal water tank and connect with water tank, and the line traffic control is toppled over
Rubbish subsystem includes the dustbin set on car body rear, cleans motor, water pump is connect with Vehicle Controller respectively.
Compared with prior art, the utility model has the advantage that
(1) Tthe utility model system combines automatic Pilot the relevant technologies with sweeper, provides a kind of with automatic
The Multimode Intelligent electric cleaning car of control loop can guarantee the Function for Automatic Pilot and unmanned cleaning function of sweeper simultaneously
Can, securely and reliably, it can greatly reduce the labor intensity of sanitationman；
(2) Tthe utility model system designs a kind of Multimode Intelligent electric cleaning car for scene and user demand is cleaned,
Cleaning works mode division is automatic tracking cleaning modes, curb cleaning modes, square cleaning modes and lane cleaning modes, energy
It is enough to cover all cleaning scenes substantially, effectively improve sweeping efficiency；
(3) front of the utility model car body is equipped with monocular camera, and the both ends of the anti-impact bracket on car body are equipped with laser
Radar, and car body is surrounded by ultrasonic radar, passes through the Information Number of fusion laser radar, ultrasonic radar and monocular camera
According to, can other traffic participants in real-time detection ambient enviroment, the key roads information such as lane line and curb, generation can be clear
Region is swept, and carries out cleaning trajectory planning in real time, line traffic control chassis system is controlled and line traffic control purging system realizes automatic cleaning.
Detailed description of the invention
Fig. 1 is the external structure schematic diagram of the utility model Multimode Intelligent electric cleaning car；
Fig. 2 is the composition block diagram of the automated driving system of the utility model Multimode Intelligent electric cleaning car；
Shown in figure label:
1, car body, 2, wheel, 3, front end clearing apparatus, 4, laser radar, 5, monocular camera, 6, GPS antenna, 7, ultrasonic wave
Radar.
Specific embodiment
The utility model is described in detail in the following with reference to the drawings and specific embodiments.Obviously, described embodiment
It is a part of the embodiment of the utility model, rather than whole embodiments.Based on the embodiments of the present invention, this field is general
It is practical new all to should belong to this for logical technical staff every other embodiment obtained without making creative work
The range of type protection.
The utility model relates to a kind of Multimode Intelligent electric cleaning car with automated driving system, as shown in Figure 1, electric
Dynamic sweeper includes car body 1, chassis, wheel 2, front end clearing apparatus 3 and sensing device, and front end clearing apparatus 3 is fixed on vehicle
The front side lower position of body 1, front end clearing apparatus 3 include the anti-impact bracket 301 being erected at below the front side of car body 1, anticollision support
The bottom of frame 301 is fixed with round brush (being not shown).Sensing device is arranged on car body 1, including laser radar 4, monocular
Camera 5, GPS antenna 6 and ultrasonic radar 7.The both ends of anti-impact bracket 301 are arranged in laser radar 4, for perceiving front lower
Barrier.The front of car body 1 is arranged in monocular camera 5, for obtaining front traffic information.GPS antenna 6 is arranged in car body 1
Top electric cleaning car is positioned or is navigated for receiving satellite-signal.The four of car body 1 are arranged in ultrasonic radar 7
Week, for perceiving peripheral obstacle.
Car body 1 is equipped with automated driving system, which includes intelligent driving brain system, bottom drive-by-wire chassis system
System, line traffic control purging system and remote monitoring system.Whole system framework is as shown in Fig. 2, bottom drive-by-wire chassis system, line traffic control clean
System, remote monitoring system and intelligent driving brain system are separately connected.
Intelligent driving brain system includes that Intellisense is separately connected with control subsystem, with Intellisense and control subsystem
High accuracy positioning navigation subsystem, multi-layer anticollision control subsystem, purging zone build dsp subsystem.High accuracy positioning navigation
Subsystem, multi-layer anticollision control subsystem, purging zone are built dsp subsystem and are sequentially connected.
High accuracy positioning navigation subsystem is separately connected with other 3 subsystems, by GPS antenna 6, Inertial Measurement Unit,
The composition such as differential signal receiver；Purging zone builds dsp subsystem and high accuracy positioning navigation subsystem, Intellisense and control
Subsystem is separately connected.Intellisense is separately connected with control subsystem and other 3 subsystems, multi-layer anticollision control
Subsystem is separately connected with high accuracy positioning navigation subsystem, Intellisense and control subsystem system.
Intellisense includes laser radar 4, ultrasonic radar 7, monocular camera 5 with control subsystem and is used to merge perception
The Vehicle Controller of information is carried out real-time by fusion laser radar 4, the perception information of ultrasonic radar 7 and monocular camera 5
The obstacle information around sweeper in certain area is perceived, mainly includes the information such as pedestrian and vehicle, while identifying that road is believed
Breath includes the information such as lane line, curb boundary, traffic lights, provides cleanable area for sweeper, is carried out in the area real-time
Cleaning trajectory planning behavior pattern decision is carried out to sweeper, passes through control chassis and executes and according to different mission mode
Device and cleaning actuator carry out tracking and clean track, complete automatic cleaning job task.
Preferably, two laser radars 4 are located at two sides in front of sweeper, using the mechanical laser radar of 16 lines, measurement
Range be 0.02m~100m, vertical angle of view ± 15 °, 2 ° of vertical angle of view resolution ratio, 360 ° of horizontal view angle, horizontal angular resolution
0.4°。
Monocular camera 5 is located at middle position in front of sweeper, using 1080P, 150 degree of wide-angle Light deformation cameras.
Ultrasonic radar 7 is located at quantity at least 12, investigative range 0.3m-3m, field angle ± 40 degree around sweeper.
Preferably, GPS antenna 6 uses double antenna, and positioning accuracy is within 10cm.
It includes that the laser radar 4 and the information for obtaining to laser radar 4 carry out that purging zone, which builds dsp subsystem,
The computer of figure positioning is built in inside, and computer is by the information of 4 clouds of laser radar obtained, to the road roadside in purging zone
Boundary carries out building figure, and saves the local map in purging zone, is transformed into the local map in conjunction with real-time perception information, real
Shi Shengcheng can sweeper region.
Multi-layer anticollision subsystem includes the ultrasonic radar 7, monocular camera 5 and the vehicle for obtaining perception information
Set controller, multi-layer anticollision subsystem have merged the obstacle information within the scope of sweeper close-distance safety, when judgement safety
When barrier in region is less than a certain distance threshold with a distance from sweeper, then stops in emergency, avoid close to sweeper
Barrier in distance range is collided.
Remote monitoring system then monitors and records the whole vehicle state information of sweeper in real time, comprising in operation speed of machine, continuation of the journey
The information such as journey, vehicle location, fault message, cleaning work Percent Complete, for different cleaning tasks, long-range monitoring can lead to
It crosses network transmission and issues cleaning mission mode and a plurality of cleaning path to sweeper, while under special status, can also issue
Sweeper remote control commands.Remote monitoring system includes long-range monitoring computer, 4G module and solid-state memory.
Tthe utility model system is respectively as follows: automatic tracking cleaning modes, curb cleaning modes, wide there are four operating mode
Field cleaning modes and lane cleaning modes.The cleaning work of different mode is carried out according to the scene of cleaning and user demand.
(1) automatic tracking cleaning modes
Under the mode, it is arranged according to user demand with reference to path is cleaned, intelligent electric sweeper can be along reference path
Cleaning work is carried out, while passing through the pose of other traffic participants in Intellisense and control subsystem real-time perception environment,
Cleanable area is established using Vehicle Controller, and cleaning track is planned in real time, prevents from colliding, realizes that automatic tracking is clear
Sweep operation.
(2) curb cleaning modes
Under the mode, cleaning work is carried out for the more scene of curb edge rubbish, curb is arranged according to user demand
Cleaning modes, intelligent electric sweeper by curb on the right side of Intellisense and control subsystem real-time perception, calculate sweeper and
The distance of curb carries out the motion profile for correcting sweeper in real time, while also to prevent to the barrier on the curb side
The operation of curb cleaning modes is realized in collision.
(3) square cleaning modes
Under the mode, for the cleaning scene on large area depletion region such as square, square is arranged according to user demand and is cleaned
Mode, intelligent electric sweeper builds dsp subsystem perception information according to purging zone and establishes square purging zone map, on square
It carries out cleaning track Global motion planning in purging zone map, meanwhile, progress is clear in real time after Vehicle Controller obtains program results
Sweeping track sector planning prevents other barriers in impact environment, realizes the operation of square cleaning modes.
(4) lane cleaning modes
Under the mode, for the scene in lane there are rubbish, according to cleaning works mode in lane set by user, intelligence
Electric cleaning car obtains lane line posture information, while real-time detection lane according to multi-layer anticollision control subsystem perception information
Interior barrier completes lane to assist Vehicle Controller clean the planning of track under the premise of not colliding
It cleans, realizes the operation of lane cleaning modes.
Above description is only a specific implementation of the present invention, but the protection scope of the utility model is not limited to
In this, any staff for being familiar with the art within the technical scope disclosed by the utility model, can be readily occurred in various
Equivalent modifications or substitutions, these modifications or substitutions should be covered within the scope of the utility model.Therefore, this is practical
Novel protection scope should be subject to the protection scope in claims.
Claims (9)
1. a kind of Multimode Intelligent electric cleaning car with automated driving system, which is characterized in that including car body (1), be set to
The front end clearing apparatus (3) of the internal Vehicle Controller of car body (1) and the front side lower position set on car body (1), the vehicle
Body (1) is equipped with automated driving system, which connect with Vehicle Controller, front end clearing apparatus (3) with it is vehicle-mounted
Controller connection, the automated driving system include the line that intelligent driving brain system and intelligent driving brain system are separately connected
Chassis system, line traffic control purging system and remote monitoring system are controlled, the intelligent driving brain system includes high accuracy positioning navigation
Subsystem and the purging zone being separately connected with high accuracy positioning navigation subsystem build dsp subsystem, Intellisense and control subsystem
System, multi-layer anticollision control subsystem, purging zone build dsp subsystem, multi-layer anticollision control subsystem and Intellisense and control
Subsystem is separately connected, and the high accuracy positioning navigation subsystem includes GPS antenna (6), Inertial Measurement Unit and difference
Signal receiver, the GPS antenna (6) are set to the top of car body (1), and the Inertial Measurement Unit and differential signal receive
It is internal that device is set to car body (1), and connect respectively with GPS antenna (6), and the Intellisense and control subsystem include laser thunder
Up to (4), monocular camera (5) and ultrasonic radar (7), the laser radar (4) is set to the both ends of anti-impact bracket (301), institute
The monocular camera (5) stated is set to the front of car body (1), and the surrounding in car body (1) is arranged in the ultrasonic radar (7).
2. a kind of Multimode Intelligent electric cleaning car with automated driving system according to claim 1, feature exist
In the remote monitoring system includes long-range monitoring computer, 4G module and solid-state memory.
3. a kind of Multimode Intelligent electric cleaning car with automated driving system according to claim 1, feature exist
In the drive-by-wire chassis system includes steering-by-wire subsystem, drive-by-wire and the braking suitable for intelligent electric sweeper
Subsystem, the line traffic control purging system include that line traffic control cleaning executive subsystem, line traffic control watering executive subsystem and line traffic control are toppled over
Rubbish subsystem.
4. a kind of Multimode Intelligent electric cleaning car with automated driving system according to claim 1, feature exist
In, the Intellisense and control subsystem include the laser radar (4), it is the ultrasonic radar (7), described
Monocular camera (5) and the Vehicle Controller for merging perception information.
5. a kind of Multimode Intelligent electric cleaning car with automated driving system according to claim 1, feature exist
In the purging zone builds the letter that dsp subsystem includes the laser radar (4) and is used to obtain laser radar (4)
Breath carries out the internal computer for building figure positioning.
6. a kind of Multimode Intelligent electric cleaning car with automated driving system according to claim 1, feature exist
In the multi-layer anticollision control subsystem includes the monocular camera (5) and the ultrasonic radar (7), list
Mesh camera (5), ultrasonic radar (7) are separately connected with Vehicle Controller.
7. a kind of Multimode Intelligent electric cleaning car with automated driving system according to claim 1, feature exist
In the front end clearing apparatus (3) includes the anti-impact bracket (301) being erected at below the front side of car body (1), anti-impact bracket
(301) bottom is equipped with round brush.
8. a kind of Multimode Intelligent electric cleaning car with automated driving system according to claim 3, feature exist
In the steering-by-wire subsystem includes that steering motor, the steering motor controller for controlling steering motor and car body turn
To mechanism, steering motor is connect with car body steering mechanism, and the drive-by-wire and brake subsystem include driving motor, transmission
Mechanism and brake fluid pressure mechanism.
9. a kind of Multimode Intelligent electric cleaning car with automated driving system according to claim 3, feature exist
In the line traffic control cleans executive subsystem and includes the main brush set on car body (1) bottom, side brush and clean motor, the line
Control watering executive subsystem includes that the water tank being set in car body (1) and the water pump connecting with water tank, the line traffic control are dumped rubbish
Subsystem includes the dustbin set on car body (1) rear, cleans motor, water pump is connect with Vehicle Controller respectively.
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| CN201920249583.XU CN209570854U (en) | 2019-02-27 | 2019-02-27 | A kind of Multimode Intelligent electric cleaning car with automated driving system |
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| CN201920249583.XU CN209570854U (en) | 2019-02-27 | 2019-02-27 | A kind of Multimode Intelligent electric cleaning car with automated driving system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109828581A (en) * | 2019-02-27 | 2019-05-31 | 同济大学 | A kind of Multimode Intelligent electric cleaning car with automated driving system |
| CN111119114A (en) * | 2019-12-31 | 2020-05-08 | 合肥移顺信息技术有限公司 | Sprinkling control method and electronic equipment |
| CN112506153A (en) * | 2020-12-04 | 2021-03-16 | 南理工泰兴智能制造研究院有限公司 | Regionalized city environment-friendly vehicle management control platform |
-
2019
- 2019-02-27 CN CN201920249583.XU patent/CN209570854U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109828581A (en) * | 2019-02-27 | 2019-05-31 | 同济大学 | A kind of Multimode Intelligent electric cleaning car with automated driving system |
| CN111119114A (en) * | 2019-12-31 | 2020-05-08 | 合肥移顺信息技术有限公司 | Sprinkling control method and electronic equipment |
| CN112506153A (en) * | 2020-12-04 | 2021-03-16 | 南理工泰兴智能制造研究院有限公司 | Regionalized city environment-friendly vehicle management control platform |
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