CN112267407A

CN112267407A - Intelligent sweeper device based on radar technology

Info

Publication number: CN112267407A
Application number: CN202011097828.5A
Authority: CN
Inventors: 盛鹏程
Original assignee: Xingtai Polytechnic College
Current assignee: Xingtai Polytechnic College
Priority date: 2020-10-14
Filing date: 2020-10-14
Publication date: 2021-01-26

Abstract

The invention discloses an intelligent sweeper device based on a radar technology, and belongs to the technical field of sweepers. An intelligent sweeper device based on a radar technology comprises a box body, wherein a first working bin, a second working bin and a third working bin are respectively chiseled in an inner cavity of the box body, a sliding block is arranged in the inner cavity of the first working bin, a fixed rod is arranged on the left side of the sliding block, a frame is arranged in the inner cavity of the second working bin, the left side of the frame penetrates through the second working bin and is connected to the outer side wall of the sliding block, a motor is fixedly connected to the top wall of the second working bin, and a first rotating rod is fixedly connected to the output end of the motor; the device can remove sticky objects on the ground, avoids manual secondary cleaning, and can realize automatic cleaning and capture of motion information, thereby improving navigation precision.

Description

Intelligent sweeper device based on radar technology

Technical Field

The invention relates to the technical field of motor sweeper, in particular to an intelligent motor sweeper device based on a radar technology.

Background

The sweeper industry in China has been developed for decades, products are developed from a single pure sweeping type to various types, the product performance and the product quality are rapidly improved, and the product performance and the reliability of the sweeper are greatly improved by importing key outsourcing parts. However, the level of the road sweeper in China still has a certain margin compared with that in foreign developed countries, particularly in the aspect of product reliability. In order to improve the level of the sweeper truck in China as soon as possible, reduce the difference with the level of the sweeper truck in advanced China and meet the requirements of environmental sanitation departments in China on road surface cleaning operation, a sweeper truck production enterprise needs to select a proper sweeper truck research direction. With the development and progress of society, the dust collection vehicle can not be satisfied in a simple sense any more, more requirements can be provided from the aspects of multifunction, environmental protection, economy and the like, and the market calls the dust collection vehicle capable of satisfying various requirements. Under the circumstances, a brand new multifunctional sweeping and sucking type electric sweeper with independent intellectual property rights, which is developed by limited science and technology companies of Xingjie in Beijing, is put on the market formally. The novel vehicle type can complete the work of ground cleaning and the like at one time, is suitable for cleaning operation in various climates and different dry road surfaces, and is more suitable for cleaning and dedusting places such as squares, highways, residential quarters, parking lots, docks, airports, vehicle stations, cement plants, power plants and the like.

Present indoor motor sweeper clears up ground through rotatory clearance brush, glues some stickies as subaerial, and it is relatively poor only to carry out rotatory clearance effect through the clearance brush, leads to some stickies on ground to clear up and does not fall and need artifical secondary to clear up, for solving this problem I provide an intelligent motor sweeper device based on radar technology.

Disclosure of Invention

The invention aims to solve the problem that in the prior art, all indoor sweeper trucks clean the ground through rotating cleaning brushes, when sticky objects are stuck on the ground, the rotating cleaning effect is poor only through the cleaning brushes, so that the sticky objects on the ground are not cleaned and do not need to be cleaned manually for the second time, and provides an intelligent sweeper truck device based on a radar technology.

In order to achieve the purpose, the invention adopts the following technical scheme:

an intelligent sweeper device based on radar technology comprises a box body, wherein a first working bin, a second working bin and a third working bin are respectively arranged in an inner cavity of the box body in a chiseled mode, a sliding block is arranged in the inner cavity of the first working bin, a fixing rod is arranged on the left side of the sliding block, a frame is arranged in the inner cavity of the second working bin, the left side of the frame penetrates through the second working bin and is connected to the outer side wall of the sliding block, a motor is fixedly connected to the top wall of the second working bin, a first rotating rod is fixedly connected to the output end of the motor, the bottom of the first rotating rod is rotatably connected to the bottom of the second working bin, a cam is fixedly connected to the outer wall of the first rotating rod, a supporting rod is fixedly connected to the bottom of the sliding block, a cleaning friction block is mounted at the bottom of the supporting rod, and a cleaning mechanism is, the sweeper body is provided with a GPS positioning module, an automatic induction module, a CPU, a data processing module and a control terminal respectively, and the GPS positioning module, the automatic induction module, the CPU, the data processing module and the control terminal are electrically connected.

Preferably, the other end of the fixed rod is fixedly connected to the inner side wall of the first working bin, a sliding groove is formed in the left side of the sliding block, the fixed rod is inserted into the sliding groove, a spring is arranged in an inner cavity of the sliding groove, and two sides of the spring are connected to the inner side wall of the sliding groove and the fixed rod respectively.

Preferably, the cleaning device comprises a second rotating rod, the second rotating rod is rotatably connected to two sides of the third working bin, a second gear is fixedly connected to the outer wall of the second rotating rod, a second gear belt is sleeved on the outer wall of the second gear, and the bottom wall of the second rotating rod penetrates through the third working bin and is connected with a cleaning brush.

Preferably, the outer wall of the first rotating rod is fixedly connected with a first gear, the first gear is located at the bottom of the cam, the outer wall of the second rotating rod is fixedly connected with a third gear on the right side, the outer walls of the first gear and the third gear are sleeved with a first gear belt, and the third gear is located at the bottom of the second gear.

Preferably, the outer side wall of the frame is fixedly connected with a semicircular fixing block, and the fixing block corresponds to the cam.

Preferably, the cleaning brush is made of polyethylene material, and the cleaning friction block is made of memory cotton.

Preferably, the auto-induction module includes a 3D recognition module and a biometric recognition module.

Preferably, the CPU includes an indoor navigation module, a map engine module, and a visual navigation module.

Compared with the prior art, the invention provides an intelligent sweeper device based on a radar technology, which has the following beneficial effects:

1. the intelligent sweeper device based on the radar technology has the advantages that the cleaning friction block moves left and right to clean some sticky objects on the ground, the first gear arranged on the first rotating rod drives the third gear to rotate through the first gear belt, the third gear drives the second rotating rod to rotate in the rotating process, the second rotating rod drives two groups of second gears to rotate simultaneously through the second gear belt in the rotating process, so that the cleaning brush is driven to rotate to clean the ground, the GPS positioning module sends the current position information and the information obtained by the automatic sensing module to the CPU, and the current working state of a sweeper vehicle is displayed on the CPU, so that all working states of the sweeper vehicle can be monitored in real time on a control terminal platform through a data processing module transmission belt control terminal during operation, and if the sweeper vehicle is not in a formulated area or does not start cleaning work during operation, the alarm information can be directly output at the control terminal.

2. According to the intelligent sweeper device based on the radar technology, the 3D recognition module has the characteristics of posture and muscle movement for accurate tracking and recognition, active defense early warning and real-time alarming based on events and semantics are realized, in addition, the technology can also carry out non-contact measurement on biological characteristics of recognized targets, such as body temperature, heartbeat, respiration, weight and the like, and therefore high-accuracy recognition and prejudgment on individual behaviors and group behaviors are ensured in multiple dimensions.

3. According to the intelligent sweeper device based on the radar technology, the biological identification module has the unique characteristic that a human body cannot be copied and stolen or forgotten according to the characteristics of the human body, the identity is identified by using the biological identification technology, and the intelligent sweeper device is safe, reliable and accurate, and various adverse factors such as loss, forgetting, copying and theft exist in common passwords, IC cards, bar codes, magnetic cards or keys.

4. This intelligence motor sweeper device based on radar technology, indoor navigation module utilize Wi-Fi focus to indoor location and navigation, and interactive map application can be established fast to map engine module, relies on the real-time information that vision provided to merge with inertial navigation and GPS information and intervenes, makes up back two defects, and the camera is more good at catching motion information to improve the navigation precision.

Drawings

Fig. 1 is a schematic structural diagram of an intelligent sweeper device based on radar technology according to the present invention;

FIG. 2 is a cross-sectional view of an intelligent sweeper truck apparatus based on radar technology in accordance with the present invention;

FIG. 3 is a cross-sectional view A-A of FIG. 2 of an intelligent sweeper based on radar technology in accordance with the present invention;

fig. 4 is a schematic structural diagram of a second rotating rod of the intelligent sweeper device based on the radar technology, which is provided by the invention;

FIG. 5 is an enlarged view of part A of FIG. 2 of an intelligent sweeper truck apparatus based on radar technology according to the present invention;

FIG. 6 is a circuit diagram of an intelligent sweeper truck apparatus based on radar technology in accordance with the present invention;

FIG. 7 is a circuit diagram of an auto-induction module of an intelligent sweeper device based on radar technology;

fig. 8 is a circuit diagram of a CPU of an intelligent sweeper based on radar technology.

In the figure: 100. a box body; 200. a first working bin; 210. a slider; 211. a fixed rod; 212. a chute; 213. a spring; 220. a support bar; 221. cleaning the friction block; 230. a frame; 300. a second working bin; 310. a motor; 320. a first rotating lever; 321. a cam; 322. A first gear; 323. a first gear belt; 400. a third working bin; 410. a second rotating rod; 411. a second gear; 412. a third gear; 413. cleaning the brush; 420. a second gear belt; 500. a GPS positioning module; 510. an automatic induction module; 511. a 3D identification module; 512. a biometric identification module; 520. a CPU; 521. an indoor navigation module; 522. a map engine module; 523. a visual navigation module; 530. a data processing module; 540. and controlling the terminal.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.

Example 1:

referring to fig. 1 to 8, an intelligent sweeper device based on radar technology comprises a box body 100, a first working chamber 200, a second working chamber 300 and a third working chamber 400 are respectively chiseled in an inner cavity of the box body 100, a sliding block 210 is arranged in the inner cavity of the first working chamber 200, a fixing rod 211 is arranged on the left side of the sliding block 210, a frame 230 is arranged in the inner cavity of the second working chamber 300, the left side of the frame 230 penetrates through the second working chamber 300 and is connected to the outer side wall of the sliding block 210, a motor 310 is fixedly connected to the top wall of the second working chamber 300, a first rotating rod 320 is fixedly connected to the output end of the motor 310, the bottom of the first rotating rod 320 is rotatably connected to the bottom of the second working chamber 300, a cam 321 is fixedly connected to the outer wall of the first rotating rod 320, a supporting rod 220 is fixedly connected to the bottom of the sliding block 210, and, the inner cavity of the third working bin 400 is provided with a cleaning mechanism, the sweeper body is respectively provided with a GPS positioning module 500, an automatic induction module 510, a CPU520, a data processing module 530 and a control terminal 540, the GPS positioning module 500, the automatic induction module 510, the CPU520, the data processing module 530 and the control terminal 540 are electrically connected, the other end of a fixing rod 211 is fixedly connected with the inner side wall of the first working bin 200, the left side of a sliding block 210 is provided with a sliding groove 212, the fixing rod 211 is inserted in the sliding groove 212, the inner cavity of the sliding groove 212 is provided with a spring 213, the two sides of the spring 213 are respectively connected with the inner side wall of the sliding groove 212 and the fixing rod 211, the cleaning device comprises a second rotating rod 410, the second rotating rod 410 is rotatably connected with the two sides of the third working bin 400, the outer wall of the second rotating rod 410 is fixedly connected with a second gear 411, the outer walls of, the bottom wall of the second rotating rod 410 penetrates through the third working bin 400 to be connected with a cleaning brush 413, the outer wall of the first rotating rod 320 is fixedly connected with a first gear 322, the first gear 322 is located at the bottom of the cam 321, the outer wall of the right second rotating rod 410 is fixedly connected with a third gear 412, the outer walls of the first gear 322 and the third gear 412 are sleeved with a first gear belt 323, the third gear 412 is located at the bottom of the second gear 411, the outer side wall of the frame 230 is fixedly connected with a semicircular fixing block, the fixing block corresponds to the cam 321, the cleaning brush 413 is made of polyethylene materials, and the cleaning friction block 221 is made of memory cotton.

The box body 100 is put into the inner cavity of the sweeper, when the ground needs to be cleaned, the motor 310 is started in the second working bin 300, the motor 310 drives the cam 321 to rotate in the rotating process, the cam 321 dials the semicircular fixed block in the rotating process, the semicircular fixed block is stressed to drive the frame 230 to move leftwards, the frame 230 drives the sliding block 210 to move leftwards in the leftward moving process, the sliding block 210 moves leftwards to drive the supporting rod 220 and the cleaning friction block 221 to move leftwards, the sliding block 210 is pushed to move rightwards under the action of the fixed rod 211 and the spring 213, the reciprocating motion drives the supporting rod 220 and the cleaning friction block 221 to move leftwards and rightwards so as to clean some sticky objects on the ground, the first gear 322 arranged on the first rotating rod 320 drives the third gear 412 to rotate through the first gear belt 323, and the third gear 412 drives the second rotating rod 410 to rotate in the rotating process, the second rotating rod 410 drives two sets of second gears 411 to rotate simultaneously through the second gear belt 420 in the rotating process, thereby driving the cleaning brush 413 to rotate to clean the ground, the GPS positioning module 500 sends the current position information and the information obtained by the automatic sensing module 510 to the CPU520, and displays the current working state of the vehicle on the CPU500, therefore, when the vehicle works, all the working states transmit the belt control terminal 540 through the data processing module 530, the monitoring can be carried out in real time on the platform of the control terminal 540, and if the vehicle does not work in a formulated area or does not start cleaning work in the working time, the alarm information can be directly output at the control terminal 540.

Example 2:

referring to fig. 6, an intelligent sweeper device based on radar technology is substantially the same as that of embodiment 1, and further, an automatic sensing module 510 includes a 3D recognition module 511 and a biometric recognition module 512.

The 3D recognition module 511 performs three-dimensional space reduction on the observed real world with millimeter-scale precision by using a large number of parallel computations based on the GPU520 using algorithms of riemann geometry and deep learning, accurately separates the environment, objects and characters, and realizes real-time observation and understanding, and the technology can segment people into independent human bodies in a 3D space according to bone structure, 3D facial features, and other features such as: the body posture and muscle movement characteristics are accurately tracked and identified, active defense early warning and real-time warning based on events and semantics are realized, in addition, the technology can also carry out non-contact measurement on biological characteristics of the identified target, such as body temperature, heartbeat, respiration, weight and the like, so that high-precision identification and prejudgment on individual behaviors and group behaviors are ensured in multiple dimensions, the biological identification module 512 has the unique property of non-duplicability inherent to a human body according to the human body characteristics, the biological key cannot be duplicated, stolen or forgotten, identity identification is carried out by utilizing the biological identification technology, safety, reliability and accuracy are realized, and many adverse factors such as loss, forgetting, duplication and theft exist in common passwords, IC cards, bar codes, magnetic cards or keys, so that a biological 'key' is adopted, a user can not carry a large string of keys, the system administrator does not need to worry about remembering or changing the password, and the system administrator does not need to tie up the hands of the administrator because of forgetting the password, and the biological identification technical products are realized by means of the modern computer technology, so that the system is easy to be integrated with a computer and a safety, monitoring and management system, and the automatic management is realized.

Example 3:

referring to fig. 8, an intelligent sweeper device based on radar technology is basically the same as that of embodiment 1, and further, a CPU520 includes an indoor navigation module 521, a map engine module 522 and a visual navigation module 523.

The indoor navigation module 521 positions and navigates indoors by utilizing Wi-Fi hotspots, and the map engine module 522 can quickly create interactive map applications, support the development of three-screen map applications of a large screen end, a desktop end and a mobile end, and support grid slices and a new generation of vector slice maps; the method provides services such as map rendering, map operation, space search, forward and reverse geocoding and the like, map position data are transmitted into a control terminal 540 through a data processing module 530, the control terminal 540 is convenient to control the sweeper, a visual navigation module 523 comprises problems of visual image preprocessing, target extraction, target tracking, data fusion and the like, wherein a moving target can be detected by adopting a background difference method, a frame difference method, an optical flow method and the like, fixed marker detection can be realized by using corner point extraction, edge extraction, small moment variation, Hough transformation, a greedy algorithm and the like, target tracking can analyze characteristics to carry out state estimation and is fused with other sensors, the used methods comprise Kalman filtering, particle filters, artificial neural networks and the like, and a plurality of methods such as analysis of panoramic image geometric deformation or detection of a horizon and the like do not carry out characteristic extraction, and a certain variable of the image is added into the control by self-connection, the real-time information provided by the vision can be integrated with inertial navigation and GPS information, the defects of the inertial navigation and the GPS information are overcome, and the camera is better in capturing motion information, so that the navigation precision is improved.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and equivalent alternatives or modifications according to the technical solution and the inventive concept of the present invention should be covered by the scope of the present invention.

Claims

1. The utility model provides an intelligence motor sweeper device based on radar technology, includes box body (100), its characterized in that: the inner cavity of the box body (100) is respectively provided with a first working chamber (200), a second working chamber (300) and a third working chamber (400), the inner cavity of the first working chamber (200) is provided with a sliding block (210), the left side of the sliding block (210) is provided with a fixing rod (211), the inner cavity of the second working chamber (300) is provided with a frame (230), the left side of the frame (230) penetrates through the second working chamber (300) and is connected onto the outer side wall of the sliding block (210), the top wall of the second working chamber (300) is fixedly connected with a motor (310), the output end of the motor (310) is fixedly connected with a first rotating rod (320), the bottom of the first rotating rod (320) is rotatably connected to the bottom of the second working chamber (300), the outer wall of the first rotating rod (320) is fixedly connected with a cam (321), the bottom of the sliding block (210) is fixedly connected with a supporting rod (220), clearance clutch blocks (221) are installed to the bottom of bracing piece (220), the inner chamber of third working bin (400) is provided with cleans the mechanism, be provided with GPS orientation module (500), auto-induction module (510), CPU (520), data processing module (530) and control terminal (540) on the motor sweeper body respectively, GPS orientation module (500), auto-induction module (510), CPU (520), data processing module (530) and control terminal (540) electric connection.

2. The intelligent sweeper device based on radar technology as claimed in claim 1, wherein the other end of the fixing rod (211) is fixedly connected to the inner side wall of the first working chamber (200), a sliding slot (212) is drilled on the left side of the sliding block (210), the fixing rod (211) is inserted into the sliding slot (212), a spring (213) is arranged in the inner cavity of the sliding slot (212), and two sides of the spring (213) are respectively connected to the inner side wall of the sliding slot (212) and the fixing rod (211).

3. The intelligent sweeper device based on the radar technology is characterized in that the sweeping device comprises a second rotating rod (410), the second rotating rod (410) is rotatably connected to two sides of a third working bin (400), a second gear (411) is fixedly connected to the outer wall of the second rotating rod (410), second gear belts (420) are sleeved on the outer walls of two groups of the second gears (411), and a sweeping brush (413) penetrates through the bottom wall of the second rotating rod (410) and is connected to the third working bin (400).

4. An intelligent sweeper device based on radar technology according to claims 1 and 3, characterized in that a first gear (322) is fixedly connected to the outer wall of the first rotating rod (320), the first gear (322) is located at the bottom of the cam (321), a third gear (412) is fixedly connected to the outer wall of the second rotating rod (410) on the right side, a first gear belt (323) is sleeved on the outer walls of the first gear (322) and the third gear (412), and the third gear (412) is located at the bottom of the second gear (411).

5. The intelligent sweeper device based on radar technology as claimed in claim 1, wherein a semicircular fixing block is fixedly connected to the outer side wall of the frame (230), and the fixing block corresponds to the cam (321).

6. An intelligent sweeper device based on radar technology as claimed in claims 1 and 3, characterized in that the cleaning brush (413) is made of polyethylene material and the cleaning friction block (221) is made of memory cotton.

7. An intelligent sweeper truck apparatus based on radar technology, as claimed in claim 1, characterized in that the auto-induction module (510) comprises a 3D identification module (511) and a biometric identification module (512).

8. An intelligent sweeper truck assembly based on radar technology, as claimed in claim 1, characterized in that the CPU (520) includes an indoor navigation module (521), a map engine module (522) and a visual navigation module (523).