CN212294476U - Unmanned small-sized sweeping machine - Google Patents
Unmanned small-sized sweeping machine Download PDFInfo
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- CN212294476U CN212294476U CN201922487327.7U CN201922487327U CN212294476U CN 212294476 U CN212294476 U CN 212294476U CN 201922487327 U CN201922487327 U CN 201922487327U CN 212294476 U CN212294476 U CN 212294476U
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Abstract
The utility model relates to a small-size sweeping machine of unmanned. The foremost end of the sweeping machine is provided with an operation device which is arranged on the sweeping machine through a frame assembly; the front end of the road sweeper is provided with a laser radar for identifying the operation environment and related obstacles, and a corner sensor for measuring the deflection angle of a tire is arranged at the tire of the road sweeper; the system is provided with an information acquisition system for receiving information detected by a laser radar and a corner sensor; the sweeping machine is also provided with a control system, the control system realizes communication through the communication system and the information acquisition system and receives information collected by the information acquisition system, and the control system realizes communication with the operation device, the brake system and the steering system which are arranged on the sweeping machine. The utility model discloses automatic objects such as peripheral pedestrian, vehicle, animal are perceived, according to ground rubbish kind and load, the adjustment operation speed of a motor vehicle, sweep operation parameters such as set rotational speed, fan power, realize energy-conserving cleaning.
Description
Technical Field
The utility model belongs to the technical field of sanitation special-purpose vehicle intelligent control, especially, relate to unmanned small-size sweeping machine.
Background
The existing sweeping machine is basically operated manually no matter in-house or city street sanitation operation, the problems of labor cost and safety of operators become serious day by day along with the rapid development of roads and the increase of road vehicles, and the requirement of the intelligent unmanned autonomous-driving sweeping machine is particularly urgent.
At present, related enterprises and institutions have been researched in China in the aspect of unmanned road sweeping vehicles, and test prototypes are also published. For an unmanned sweeping vehicle, the vehicle needs to sense and identify a working environment and obstacles therein, classify the working environment and the obstacles, track and predict the movement track of the obstacles, and make some intelligent strategies, so that a reasonable local path is planned.
Describe a road autonomous sweeper based on laser and vision in the patent that application number is CN 205530067U, the outside place ahead of automobile body is equipped with laser scanning range radar and camera, the top of automobile body is equipped with GPS orientation module, the inside of automobile body is equipped with on-vehicle computer mainboard and whole car control system, on-vehicle computer mainboard connection laser scanning range radar, the camera, GPS orientation module and whole car control system, and realize data communication through wireless data transmission basic station network and man-machine interaction platform, can independently carry out path planning and navigation positioning under unmanned driving's the condition, accomplish the operation of cleaning of path planning road. This patent only describes the general approach of unmanned driving macroscopically, and is practically difficult to implement.
Patent application No. CN 108755530 a describes an unmanned sweeper, which includes a chassis assembly, a frame assembly and a body assembly; the chassis assembly comprises a chassis body, front wheels, rear wheels, wheel speed devices and a steering control system; the frame assembly comprises an equipment mounting frame assembly, a front frame assembly, a rear frame assembly and a top plate supporting assembly; the equipment mounting frame assembly comprises an equipment mounting bracket and an equipment mounting plate; the front frame assembly comprises a front frame support, an LED screen support, a first GPS antenna support and a second GPS antenna support; the rear frame assembly comprises a rear frame bracket and a hinge bracket; the top plate supporting assembly comprises a top plate bracket and a locking device; the vehicle body assembly comprises a side wall assembly and a vehicle roof assembly; the front end of the side wall assembly is fixedly connected with the front frame assembly, and the rear end of the side wall assembly is fixedly connected with the rear frame assembly and the equipment mounting frame assembly; the roof assembly is fixedly connected with the roof support assembly and buckled at the top end of the side wall assembly. There is essentially no specific unmanned implementation of this patent.
The patent with the application number of CN 109235332A describes and provides an unmanned multifunctional road sweeper, which comprises a scheme planning system, an environment detection system, a warning system, a watering system, an ice and snow system, a sweeping system and a garden system; the environment investigation system can acquire surrounding environment information in real time; the scheme planning system is a general system and is used for planning and making specific driving and road cleaning schemes of the sweeper and monitoring the condition of the sweeper; according to the collected environmental information and the task information issued by the road administration department, different systems are started, and the functions of sprinkling water, sweeping snow, melting ice, cleaning roads, irrigating trees and the like can be realized; the warning system can send out warning reminding to surrounding vehicles, pedestrians and the like. The multifunctional road sweeper is a multifunctional road sweeper driven by people, and the vehicle can manually select an operation mode.
Aiming at the problems, the patent provides an unmanned small-sized sweeping machine aiming at the specific occasions of urban streets and large public places, so that the full-working-condition unmanned sweeping machine is realized, peripheral objects such as pedestrians, vehicles and animals are automatically sensed, the working parameters such as the working speed, the rotating speed of a sweeping disc and the power of a fan are adjusted according to the types and loads of ground garbage, and the energy-saving sweeping is realized. Can be used for cleaning outdoor pavements in squares, parks, industrial parks, sidewalks, blocks, living quarters, airports, high-speed rails and other places.
Disclosure of Invention
The utility model aims at obtaining a small-size sweeping machine of unmanned, it can the perception and discern operation environment and barrier wherein, tracks and predicts the removal orbit of barrier, realizes intelligent control according to control strategy to plan reasonable local route.
Therefore, the utility model adopts the technical scheme that: a small unmanned sweeping machine is characterized in that an operation device (1) is arranged at the foremost end of the sweeping machine, and the operation device (1) is arranged on the sweeping machine through a frame assembly (3);
the front end of the road sweeper is provided with a laser radar (11) for identifying a working environment and related obstacles, and a corner sensor (14) for measuring the deflection angle of a tire is arranged at the tire of the road sweeper;
an information acquisition system (6) is arranged for receiving information detected by the laser radar (11) and the corner sensor (14);
still be provided with control system (7) on the sweeping machine, control system (7) realize the communication and receive the information that information acquisition system (6) collected through communication system (10) and information acquisition system (6), control system (7) and setting are in communication is realized to operation device (1), braking system (4), a steering system (9) on the sweeping machine.
Furthermore, a GPS module (2) is arranged on the sweeping machine.
Furthermore, an electric drive power assembly (4) is used as a power device to drive the sweeping machine.
Furthermore, the sweeping machine is also provided with an inertial navigation module (12) for measuring the three-axis angular velocity and the three-axis acceleration of the sweeping machine, and the sweeping machine is also provided with an odometer (13) for measuring the vehicle speed and the running distance.
The utility model has the advantages that: the unmanned small-sized sweeping machine can realize unmanned driving under all working conditions, automatically sense objects such as surrounding pedestrians, vehicles, animals and the like, adjust operation parameters such as operation speed, sweeping disc rotating speed, fan power and the like according to the types and loads of ground garbage, and realize energy-saving sweeping.
Drawings
The schematic diagram of the present invention is shown in the drawings.
Figure 1 shows a schematic structural view of the overall solution of the invention
Fig. 2 is a top view of fig. 1.
Detailed Description
A small unmanned sweeping vehicle is characterized in that an operation device 1 is arranged at the foremost end of the sweeping vehicle, and the operation device 1 is arranged on the sweeping vehicle through a vehicle frame assembly 3;
the front end of the road sweeper is provided with a laser radar 11 for identifying a working environment and related obstacles, and a corner sensor 14 for measuring the deflection angle of a tire is arranged at the tire of the road sweeper;
the road sweeper is characterized in that the road sweeper is further provided with a control system 7, the control system 7 is used for achieving communication through a communication system 10 and an information acquisition system 6 and receiving information collected by the information acquisition system 6, and the control system 7 is used for achieving communication with an operation device 1, a brake system 4 and a steering system 9 which are arranged on the road sweeper.
Furthermore, a GPS module 2 is arranged on the sweeping machine.
Furthermore, an electric drive power assembly 4 is used as a power device to drive the sweeping machine.
Further, the sweeping machine is also provided with an inertial navigation module 12 for measuring the three-axis angular velocity and the three-axis acceleration of the sweeping machine, and the sweeping machine is also provided with an odometer 13 for measuring the vehicle speed and the running distance.
The utility model relates to a small-size sweeping machine of unmanned, it mainly includes: the device comprises an electric drive power assembly 4, a frame assembly 3, an operation working device 1, a braking system 4, a steering system 9, an electrical system 8, a communication system 10, a GPS module 2, an information acquisition system 6, a control system 7 and the like.
The utility model discloses power assembly adopts pure electric drive, and the vehicle passes through the coordinated operation of three major systems of motor, battery, automatically controlled, under the normal operation and the safe prerequisite of guaranteeing the vehicle, the energy saving.
The utility model is used for control motor, reduction gear and steering mechanism integrated as an organic whole assembly structure draws the deflection angle of wheel through sensor 14, realizes that the vehicle accomplishes according to the route of regulation and turns to.
The utility model discloses integrated assembly of integrated control motor of traveling system and reduction gear as an organic whole. The odometer 13 transmits the vehicle speed signal to the arithmetic module.
The laser scanning range radar 11 of the utility model is used for detecting the border stone edges on the two sides of the road in front, extracting and fitting the straight line segment of the road border, the sweeping machine advances in parallel along the road, and the road positioning provides sensing data; the camera is a network high-definition camera and is used for collecting front image information, and road edge recognition is completed by complementing the camera with a laser scanning range radar through an image processing algorithm on a road section without a road edge stone.
The utility model discloses inertial navigation module 12 is used for measuring whole car triaxial angular velocity and triaxial acceleration, provides the support for control vehicle operating condition.
The utility model discloses install information acquisition system, communication system and control system additional, reform transform it into unmanned small-size sweeping machine. The information acquisition system, the communication system and the control system realize the unmanned function. Unmanned small-size sweeping machine mainly includes: the system comprises an electric drive power assembly, a frame assembly, an operation working device, a braking system, a steering system, an electric appliance system, a communication system, a GPS module, an information acquisition system, a control system and the like. The communication system mainly comprises a vehicle-mounted wireless AP, a network switch, a remote control device receiver and the like; the information acquisition system comprises a laser radar, a positioning camera, a milemeter, a GPS module, an inertial navigation module, a corner sensor and the like; the control system comprises a main controller, a signal acquisition controller, an execution controller and the like.
The following is taken in conjunction with the accompanying drawings:
fig. 1 shows a schematic view of the overall solution of a small sweeping vehicle, in which: the device comprises an electric drive power assembly 4, a frame assembly 3, an operation working device 1, a braking system 4, a steering system 9, an electrical system 8, a communication system 10, a GPS module 2, an information acquisition system 6, a control system 7 and the like.
Fig. 2 shows the top view of fig. 2 as fig. 1. The laser radar 11 has a small laser beam angle, high directivity, and high measurement accuracy, and can identify the working environment and obstacles therein. The odometer 13 is used to measure the vehicle speed and the travel distance of the vehicle, and serves as an auxiliary sensor. The rotation angle sensor 14 is used to measure the deflection angle of the tire. The inertial navigation module 12 is used for measuring the three-axis angular velocity and the three-axis acceleration of the whole vehicle and is used as an auxiliary sensor.
Claims (4)
1. An unmanned small-sized sweeping machine is characterized in that an operation device (1) is arranged at the foremost end of the sweeping machine, and the operation device (1) is arranged on the sweeping machine through a frame assembly (3);
the front end of the road sweeper is provided with a laser radar (11) for identifying a working environment and related obstacles, and a corner sensor (14) for measuring the deflection angle of a tire is arranged at the tire of the road sweeper;
an information acquisition system (6) is arranged for receiving information detected by the laser radar (11) and the corner sensor (14);
still be provided with control system (7) on the sweeping machine, control system (7) realize the communication and receive the information that information acquisition system (6) collected through communication system (10) and information acquisition system (6), control system (7) and setting are in communication is realized to operation device (1), braking system (4), a steering system (9) on the sweeping machine.
2. An unmanned small sweeping vehicle according to claim 1, wherein a GPS module (2) is provided on the sweeping vehicle.
3. An unmanned small sweeping vehicle according to claim 1, wherein the sweeping vehicle is driven by an electrically driven power unit (5) as a power unit.
4. The unmanned small-sized sweeping machine according to claim 1, wherein an inertial navigation module (12) for measuring three-axis angular velocity and three-axis acceleration of the sweeping machine is further arranged on the sweeping machine, and an odometer (13) for measuring vehicle speed and driving distance is arranged on the sweeping machine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922487327.7U CN212294476U (en) | 2019-12-31 | 2019-12-31 | Unmanned small-sized sweeping machine |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922487327.7U CN212294476U (en) | 2019-12-31 | 2019-12-31 | Unmanned small-sized sweeping machine |
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| Publication Number | Publication Date |
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| CN212294476U true CN212294476U (en) | 2021-01-05 |
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| CN201922487327.7U Active CN212294476U (en) | 2019-12-31 | 2019-12-31 | Unmanned small-sized sweeping machine |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114637302A (en) * | 2022-04-15 | 2022-06-17 | 安徽农业大学 | Automatic advancing obstacle avoidance method and system based on computer vision |
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2019
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114637302A (en) * | 2022-04-15 | 2022-06-17 | 安徽农业大学 | Automatic advancing obstacle avoidance method and system based on computer vision |
| CN114637302B (en) * | 2022-04-15 | 2022-10-18 | 安徽农业大学 | Automatic advancing obstacle avoidance method and system based on computer vision |
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