CN112227283A - Fall-proof unmanned sweeper - Google Patents
Fall-proof unmanned sweeper Download PDFInfo
- Publication number
- CN112227283A CN112227283A CN202011012132.8A CN202011012132A CN112227283A CN 112227283 A CN112227283 A CN 112227283A CN 202011012132 A CN202011012132 A CN 202011012132A CN 112227283 A CN112227283 A CN 112227283A
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- China
- Prior art keywords
- distance sensor
- driving wheel
- frame
- hub motor
- unmanned
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 241001417527 Pempheridae Species 0.000 title claims abstract description 46
- 238000010408 sweeping Methods 0.000 claims abstract description 15
- 238000000034 method Methods 0.000 claims abstract description 14
- 238000001514 detection method Methods 0.000 claims abstract description 6
- 238000009434 installation Methods 0.000 claims abstract description 5
- 230000007547 defect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
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Classifications
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
- E01H1/00—Removing undesirable matter from roads or like surfaces, with or without moistening of the surface
- E01H1/02—Brushing apparatus, e.g. with auxiliary instruments for mechanically loosening dirt
- E01H1/05—Brushing apparatus, e.g. with auxiliary instruments for mechanically loosening dirt with driven brushes
- E01H1/053—Brushing apparatus, e.g. with auxiliary instruments for mechanically loosening dirt with driven brushes having vertical axes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a fall-proof unmanned sweeper, wherein a left driving wheel carrier and a right driving wheel carrier are screwed at the rear end part of a frame, and hub motors are respectively arranged at the lower end parts of the left driving wheel carrier and the right driving wheel carrier; distance sensors are respectively arranged at the front part and the rear part of the frame, the distance sensors are obliquely arranged, and the included angle alpha between each distance sensor and the vertical plane is 30-45 degrees; the anti-falling unmanned sweeper further comprises a controller, wherein each hub motor and each distance sensor are electrically connected with the controller respectively; the anti-falling unmanned sweeping vehicle adopts the following method to realize anti-falling: a. the distance sensor feeds back a distance value AC from the distance sensor to a detection point to the controller in real time; b. calculating a distance value AB according to the formula AB = AD/cos (alpha); wherein AD is the installation height value of the distance sensor; c. when AC-AB > L, it means that a pit is detected. The invention has the advantages of novel design, simple structure, low cost and simple programming.
Description
Technical Field
The invention relates to the technical field of unmanned sweeping vehicles, in particular to a falling-proof unmanned sweeping vehicle.
Background
The sweeper generally refers to a driving type commercial sweeper, and the electric sweeper is the most common sweeper, and the sweeper on a municipal road is generally gasoline or diesel; the electric sweeper is mainly used for occasions such as property districts, factory workshops, hotel cleaning, municipal sanitation and the like. Along with the continuous development and progress of the automatic driving technology, the unmanned sweeper comes along, and various unmanned sweeper products exist in the prior art.
For the existing unmanned sweeping vehicle, the existing unmanned sweeping vehicle generally has a corresponding anti-falling structure; when the unmanned sweeper travels to clean, the falling-preventing structure is used for preventing the unmanned sweeper from avoiding pot holes. However, for the existing unmanned sweeping vehicle, the anti-falling design thereof generally has the defects of high cost and complicated programming.
Disclosure of Invention
The invention aims to provide a fall-proof unmanned sweeper aiming at the defects of the prior art, and the fall-proof unmanned sweeper is novel in design, simple in structure, low in cost and simple in programming.
In order to achieve the above object, the present invention is achieved by the following technical solutions.
A falling-proof unmanned sweeper comprises a frame, wherein a left driving wheel frame and a right driving wheel frame are screwed at the rear end of the frame, the left driving wheel frame is positioned at the left end side of the right driving wheel frame, the left driving wheel frame and the right driving wheel frame are oppositely arranged at intervals, a left hub motor is arranged at the lower end part of the left driving wheel frame, and a right hub motor is arranged at the lower end part of the right driving wheel frame;
distance sensors are respectively arranged at the front part and the rear part of the frame, the distance sensors are respectively installed in an inclined mode, and the included angle alpha between each distance sensor and the vertical plane is 30-45 degrees;
the anti-falling unmanned sweeper further comprises a controller, wherein the left hub motor, the right hub motor and each distance sensor are electrically connected with the controller respectively;
the anti-falling unmanned sweeping vehicle adopts the following method to realize anti-falling, specifically:
a. the distance sensor feeds back a distance value AC from the distance sensor to a detection point to the controller in real time;
b. calculating a distance value AB according to the formula AB = AD/cos (alpha); wherein AD is the installation height value of the distance sensor;
c. when AC-AB is more than L, indicating that the pit is detected; when AC-AB is less than L, no pit is formed and the unmanned sweeping vehicle can pass;
when the distance sensor at the front part detects a pot hole in the forward traveling process of the unmanned sweeper, the controller controls the left hub motor and the right hub motor to rotate in the reverse direction, and the unmanned sweeper backs to avoid the pot hole; in the process of retreating and advancing of the unmanned sweeper, when the distance sensor at the rear part detects a pot hole, the controller controls the left hub motor and the right hub motor to rotate in the reverse direction, and the unmanned sweeper advances forwards to avoid the pot hole.
Wherein, the front part of the frame is provided with at least two distance sensors which are sequentially arranged at intervals along the horizontal direction.
Wherein, the rear portion of frame is equipped with at least two distance sensor along horizontal direction interval arrangement in proper order.
Wherein, each distance sensor is respectively a laser ranging sensor.
Wherein, the front end of the frame is screwed with a universal wheel frame, and the lower end of the universal wheel frame is provided with a movable universal wheel.
The invention has the beneficial effects that: the invention relates to a fall-proof unmanned sweeper, wherein a left driving wheel carrier and a right driving wheel carrier are screwed at the rear end part of a frame, the left driving wheel carrier is positioned at the left end side of the right driving wheel carrier, the left driving wheel carrier and the right driving wheel carrier are arranged in a left-right opposite and spaced mode, a left hub motor is arranged at the lower end part of the left driving wheel carrier, and a right hub motor is arranged at the lower end part of the right driving wheel carrier; distance sensors are respectively arranged at the front part and the rear part of the frame, the distance sensors are respectively installed in an inclined mode, and the included angle alpha between each distance sensor and the vertical plane is 30-45 degrees; the anti-falling unmanned sweeper further comprises a controller, wherein the left hub motor, the right hub motor and each distance sensor are electrically connected with the controller respectively; the anti-falling unmanned sweeping vehicle adopts the following method to realize anti-falling, specifically: a. the distance sensor feeds back a distance value AC from the distance sensor to a detection point to the controller in real time; b. calculating a distance value AB according to the formula AB = AD/cos (alpha); wherein AD is the installation height value of the distance sensor; c. when AC-AB is more than L, indicating that the pit is detected; when AC-AB is less than L, no pit is formed and the unmanned sweeping vehicle can pass; when the distance sensor at the front part detects a pot hole in the forward traveling process of the unmanned sweeper, the controller controls the left hub motor and the right hub motor to rotate in the reverse direction, and the unmanned sweeper backs to avoid the pot hole; in the process of retreating and advancing of the unmanned sweeper, when the distance sensor at the rear part detects a pot hole, the controller controls the left hub motor and the right hub motor to rotate in the reverse direction, and the unmanned sweeper advances forwards to avoid the pot hole. Through the design, the invention has the advantages of novel design, simple structure, low cost and simple programming.
Drawings
The invention will be further described with reference to the drawings to which, however, the embodiments shown in the drawings do not constitute any limitation.
FIG. 1 is a schematic structural diagram of the present invention.
FIG. 2 is a schematic view of another embodiment of the present invention.
FIG. 3 is a schematic view of another embodiment of the present invention.
Fig. 4 is a schematic diagram of the present invention.
Fig. 1 to 4 include:
1-frame 211-left-side drive wheel carrier
212-left side in-wheel Motor 221-Right side Driving wheel frame
222-right hub motor 3-distance sensor
41-universal wheel frame 42-movable universal wheel.
Detailed Description
The present invention will be described below with reference to specific embodiments.
As shown in fig. 1 to 4, a fall-proof unmanned sweeping vehicle comprises a vehicle frame 1, wherein a left driving wheel frame 211 and a right driving wheel frame 221 are screwed on the rear end portion of the vehicle frame 1, the left driving wheel frame 211 is positioned on the left end side of the right driving wheel frame 221, the left driving wheel frame 211 and the right driving wheel frame 221 are oppositely arranged at an interval, a left hub motor 212 is mounted on the lower end portion of the left driving wheel frame 211, and a right hub motor 222 is mounted on the lower end portion of the right driving wheel frame 221. As shown in fig. 3, a universal wheel frame 41 is screwed to the front end of the vehicle body frame 1, and a movable universal wheel 42 is mounted to the lower end of the universal wheel frame 41.
Wherein, the front part and the rear part of the frame 1 are respectively provided with a distance sensor 3, each distance sensor 3 is respectively installed in an inclined way, and the included angle alpha between each distance sensor 3 and the vertical plane is 30-45 degrees. Preferably, each of the distance sensors 3 is a laser distance measuring sensor.
Further, the dropproof unmanned sweeper further comprises a controller, and the left hub motor 212, the right hub motor 222 and each distance sensor 3 are electrically connected with the controller respectively.
It should be noted that the falling-proof unmanned sweeping vehicle adopts the following method to realize falling prevention, specifically:
a. the distance sensor 3 feeds back a distance value AC from the distance sensor 3 to a detection point to the controller in real time;
b. calculating a distance value AB according to the formula AB = AD/cos (alpha); wherein AD is the installation height value of the distance sensor 3;
c. when AC-AB is more than L, indicating that the pit is detected; when AC-AB is less than L, no pit is formed and the unmanned sweeping vehicle can pass;
when the distance sensor 3 in the front of the unmanned sweeper detects a pot hole in the forward traveling process of the unmanned sweeper, the controller controls the left hub motor 212 and the right hub motor 222 to rotate in opposite directions, and the unmanned sweeper backs to avoid the pot hole; in the process of backward moving of the unmanned sweeper, when the distance sensor 3 at the rear part detects a pot hole, the controller controls the left hub motor 212 and the right hub motor 222 to rotate in reverse, and the unmanned sweeper moves forward to avoid the pot hole.
In order to enlarge the detection range, the front part of the frame 1 is provided with at least two distance sensors 3 which are sequentially arranged at intervals along the horizontal direction; similarly, at least two distance sensors 3 are installed at the rear of the frame 1 and are sequentially spaced along the horizontal direction. When one distance sensor 3 is triggered, the position of the distance sensor 3 is considered to detect the pothole.
In the working process of the invention, the controller controls the left hub motor 212 and the right hub motor 222 to act, and the left hub motor 212 and the right hub motor 222 are used as driving wheel structures and are used for driving the whole unmanned sweeper to walk; during operation, the controller can control forward and backward movement and steering through the rotation direction and the rotation speed of the left hub motor 212 and the right hub motor 222.
In conclusion, the invention has the advantages of novel design, simple structure, low cost and simple programming through the design.
The above description is only a preferred embodiment of the present invention, and for those skilled in the art, the present invention should not be limited by the description of the present invention, which should be interpreted as a limitation.
Claims (5)
1. The utility model provides a dropproof unmanned street sweeper which characterized in that: the rear end of the frame (1) is provided with a left driving wheel frame (211) and a right driving wheel frame (221) in a threaded manner, the left driving wheel frame (211) is positioned at the left end side of the right driving wheel frame (221), the left driving wheel frame (211) and the right driving wheel frame (221) are arranged in a left-right opposite and spaced manner, the lower end part of the left driving wheel frame (211) is provided with a left hub motor (212), and the lower end part of the right driving wheel frame (221) is provided with a right hub motor (222);
distance sensors (3) are respectively arranged at the front part and the rear part of the frame (1), each distance sensor (3) is respectively installed in an inclined way, and the included angle alpha between each distance sensor (3) and the vertical plane is 30-45 degrees;
the anti-falling unmanned sweeper further comprises a controller, wherein the left hub motor (212), the right hub motor (222) and each distance sensor (3) are electrically connected with the controller respectively;
the anti-falling unmanned sweeping vehicle adopts the following method to realize anti-falling, specifically:
a. the distance sensor (3) feeds back a distance value AC from the distance sensor (3) to a detection point to the controller in real time;
b. calculating a distance value AB according to the formula AB = AD/cos (alpha); wherein AD is the installation height value of the distance sensor (3);
c. when AC-AB is more than L, indicating that the pit is detected; when AC-AB is less than L, no pit is formed and the unmanned sweeping vehicle can pass;
when the distance sensor (3) in the front of the unmanned sweeper detects a pot hole in the forward traveling process of the unmanned sweeper, the controller controls the left hub motor (212) and the right hub motor (222) to rotate in opposite directions, and the unmanned sweeper backs to avoid the pot hole; in the process of backward moving of the unmanned sweeper, when the distance sensor (3) at the rear part detects a pot hole, the controller controls the left hub motor (212) and the right hub motor (222) to rotate in the reverse direction, and the unmanned sweeper moves forwards to avoid the pot hole.
2. The fall-prevention unmanned sweeper of claim 1, wherein: the front part of the frame (1) is provided with at least two distance sensors (3) which are sequentially arranged at intervals along the horizontal direction.
3. The fall-prevention unmanned sweeper of claim 1, wherein: the rear part of the frame (1) is provided with at least two distance sensors (3) which are sequentially arranged at intervals along the horizontal direction.
4. The fall-prevention unmanned sweeper of claim 1, wherein: each distance sensor (3) is a laser ranging sensor.
5. The fall-prevention unmanned sweeper of claim 1, wherein: the front end part of the frame (1) is provided with a universal wheel frame (41) in a screw mode, and the lower end part of the universal wheel frame (41) is provided with a movable universal wheel (42).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011012132.8A CN112227283A (en) | 2020-09-24 | 2020-09-24 | Fall-proof unmanned sweeper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011012132.8A CN112227283A (en) | 2020-09-24 | 2020-09-24 | Fall-proof unmanned sweeper |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112227283A true CN112227283A (en) | 2021-01-15 |
Family
ID=74107854
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011012132.8A Pending CN112227283A (en) | 2020-09-24 | 2020-09-24 | Fall-proof unmanned sweeper |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112227283A (en) |
Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07129239A (en) * | 1993-11-08 | 1995-05-19 | Matsushita Electric Ind Co Ltd | Mobile working robot |
| JP2003323214A (en) * | 2002-04-26 | 2003-11-14 | Matsushita Electric Ind Co Ltd | Moving device |
| CN103950482A (en) * | 2014-05-07 | 2014-07-30 | 南通大学 | Handling method for preventing stair cleaning robot from falling off and collision during moving on step |
| KR20150139732A (en) * | 2014-06-03 | 2015-12-14 | 주식회사 히타치엘지 데이터 스토리지 코리아 | Robot cleaner |
| CN105974916A (en) * | 2016-05-10 | 2016-09-28 | 广西升禾环保科技股份有限公司 | Floor-sweeping robot control system capable of real-time road detection |
| CN206110040U (en) * | 2016-10-08 | 2017-04-19 | 广州麦饭石化工技术有限公司 | Robot of incomplete stain of ground gum is clear away to square type |
| CN107028559A (en) * | 2017-04-25 | 2017-08-11 | 湖南格兰博智能科技有限责任公司 | A kind of sweeper and its anti-fall method |
| CN108677829A (en) * | 2018-06-27 | 2018-10-19 | 江苏呈达智能科技有限公司 | A kind of control method of unmanned formula automation road sweeper |
| CN109186463A (en) * | 2018-09-04 | 2019-01-11 | 浙江梧斯源通信科技股份有限公司 | Anti-fall method applied to mobile robot |
| CN110499727A (en) * | 2019-08-14 | 2019-11-26 | 北京智行者科技有限公司 | A kind of welt cleaning method and sweeper based on multisensor |
| CN209712763U (en) * | 2018-12-28 | 2019-12-03 | 广东宝乐机器人股份有限公司 | A kind of sweeping robot |
| CN210031639U (en) * | 2019-01-29 | 2020-02-07 | 浙江联运知慧科技有限公司 | Unmanned sweeper |
| CN211466373U (en) * | 2019-08-14 | 2020-09-11 | 深圳市优必选科技股份有限公司 | Three-wheeled robot |
-
2020
- 2020-09-24 CN CN202011012132.8A patent/CN112227283A/en active Pending
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07129239A (en) * | 1993-11-08 | 1995-05-19 | Matsushita Electric Ind Co Ltd | Mobile working robot |
| JP2003323214A (en) * | 2002-04-26 | 2003-11-14 | Matsushita Electric Ind Co Ltd | Moving device |
| CN103950482A (en) * | 2014-05-07 | 2014-07-30 | 南通大学 | Handling method for preventing stair cleaning robot from falling off and collision during moving on step |
| KR20150139732A (en) * | 2014-06-03 | 2015-12-14 | 주식회사 히타치엘지 데이터 스토리지 코리아 | Robot cleaner |
| CN105974916A (en) * | 2016-05-10 | 2016-09-28 | 广西升禾环保科技股份有限公司 | Floor-sweeping robot control system capable of real-time road detection |
| CN206110040U (en) * | 2016-10-08 | 2017-04-19 | 广州麦饭石化工技术有限公司 | Robot of incomplete stain of ground gum is clear away to square type |
| CN107028559A (en) * | 2017-04-25 | 2017-08-11 | 湖南格兰博智能科技有限责任公司 | A kind of sweeper and its anti-fall method |
| CN108677829A (en) * | 2018-06-27 | 2018-10-19 | 江苏呈达智能科技有限公司 | A kind of control method of unmanned formula automation road sweeper |
| CN109186463A (en) * | 2018-09-04 | 2019-01-11 | 浙江梧斯源通信科技股份有限公司 | Anti-fall method applied to mobile robot |
| CN209712763U (en) * | 2018-12-28 | 2019-12-03 | 广东宝乐机器人股份有限公司 | A kind of sweeping robot |
| CN210031639U (en) * | 2019-01-29 | 2020-02-07 | 浙江联运知慧科技有限公司 | Unmanned sweeper |
| CN110499727A (en) * | 2019-08-14 | 2019-11-26 | 北京智行者科技有限公司 | A kind of welt cleaning method and sweeper based on multisensor |
| CN211466373U (en) * | 2019-08-14 | 2020-09-11 | 深圳市优必选科技股份有限公司 | Three-wheeled robot |
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Application publication date: 20210115 |