CN113186858A - Intelligent cleaning robot for playground - Google Patents
Intelligent cleaning robot for playground Download PDFInfo
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- CN113186858A CN113186858A CN202010890150.XA CN202010890150A CN113186858A CN 113186858 A CN113186858 A CN 113186858A CN 202010890150 A CN202010890150 A CN 202010890150A CN 113186858 A CN113186858 A CN 113186858A
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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
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Abstract
The invention provides an intelligent cleaning robot for a playground, which comprises: the device comprises a frame with traveling wheels, a primary sweeper, an air draft dust collector, a water sprayer, a secondary sweeper, a controller, a garbage can, a water tank, a storage box and a power supply; wherein, the primary sweeper is arranged at the front end side of the bottom of the frame, the air draft dust collector and the water sprayer are sequentially arranged at the middle position of the bottom of the frame, and the secondary sweeper is arranged at the rear end of the bottom of the frame; the garbage can is arranged on the frame at a position close to the front in the middle, the water tank is arranged on the frame and positioned at the rear part, and the containing box is arranged outside the rear end of the frame; the controller is installed in the stadium intelligence cleans machine people front end intermediate position. The intelligent cleaning robot for the playground has the characteristics of low labor intensity, high efficiency, low cost and the like, and can be widely applied to the field of garbage cleaning.
Description
Technical Field
The invention relates to a cleaning technology, in particular to an intelligent cleaning robot for a playground.
Background
Along with the improvement of the living standard of people, the health consciousness of people is also greatly improved. To meet the current demand, the number and frequency of use of outdoor sports fields has increased year by year. Fig. 1 is a schematic diagram of a composition structure of a sports field in the prior art. As shown in fig. 1, the sports field is generally divided into a square lawn area 103, a circular runway area 101, and 2 semicircular sports areas 102, wherein the 2 sports areas 102 are respectively located at two ends of the lawn area 103, and the diameter of the sports area 102 is equal to the width of the lawn area 103; the annular runway area 101 is located at the periphery of the lawn area 103 and the 2 movement areas 102, and both end sides of the runway area 101 are also semicircular. It is known that the area of the playing field is relatively large. According to the statistics of the sixth general survey data of the sports grounds in China, 169.46 ten thousand sports grounds are shared in the whole country, and the area of the ground is 39.82 hundred million square meters. In the face of a large-quantity and large-area sports ground, the cleaning of the sports ground becomes an important content. In fact, 8-10 workers are needed to clean a standard sports field for about 2-3 hours, and the water consumption reaches 200 cubic meters. Meanwhile, the ground of the sports ground is paved by plastic, elastic acrylic acid, lawn and other materials, so that the cleaning difficulty is high.
Therefore, in the prior art, the problems of high labor intensity, low efficiency, high cost and the like exist in the cleaning of the playground.
Disclosure of Invention
In view of the above, the main object of the present invention is to provide an intelligent cleaning robot for a sports ground, which has low labor intensity, high efficiency and low cost.
In order to achieve the purpose, the technical scheme provided by the invention is as follows:
a playground intelligent cleaning robot, comprising: the garbage cleaning machine comprises a frame with 4 traveling wheels, a primary sweeper for carrying out primary sweeping to remove scraps and dust, an air suction dust collector for sucking the scraps and the dust, a water sprayer for spraying water mist to inhibit the dust, a secondary sweeper for carrying out secondary sweeping on target garbage, a controller, a garbage can, a water tank, a storage box and a power supply for supplying electric energy to the primary sweeper, the air suction dust collector, the water sprayer, the secondary sweeper and the controller; wherein, according to the sequence from front to back, the primary sweeper is arranged at the front end side of the bottom of the frame, the air draft dust collector and the water sprayer are sequentially arranged at the middle position of the bottom of the frame, and the secondary sweeper is arranged at the rear end of the bottom of the frame; the garbage can is arranged on the frame at a position close to the front in the middle, the water tank is arranged on the frame and positioned at the rear part, and the containing box is arranged outside the rear end of the frame; the controller is arranged in the middle of the front end of the intelligent playground cleaning robot;
the controller is used for pre-storing various garbage characteristic information and facility characteristic information, storing a playground map, a cruising route, a planning route, a target garbage set volume, a set distance and a set radius; setting and storing an initial working point; constructing a stadium map according to information acquired by a laser radar, determining the pose of the intelligent stadium cleaning robot according to the stadium map and gyroscope detection information, generating a cruising route according to classification planning in the stadium, and determining target rubbish information and sports facility information according to barrier information, rubbish characteristic information and facility characteristic information acquired by a camera; determining a target garbage cleaning path and a bypassing path, and adjusting the pose of the intelligent cleaning robot for the sports field in real time; according to the electric signal from the power supply, a first cleaning driving signal is sent to the primary cleaner, a suction driving signal is sent to the air draft dust collector, and a jet driving signal is sent to the water sprayer; and sending a secondary cleaning driving signal to a secondary cleaner according to the distance between the intelligent cleaning robot for the sports field and the target garbage information.
In summary, existing sports fields are often cleaned after various sports meetings, competitions, or after the sports field is used for a long time, for example, 15 days or 20 days, so as to facilitate the subsequent use. Before the intelligent cleaning robot for the playground cleans the playground, the intelligent cleaning robot walks to an initial working point for standby according to the shortest distance from the position where the intelligent cleaning robot is located. Turning on a power switch, according to a pre-constructed map of the playground, the intelligent playground cleaning robot starts cruising operation along a cruising route, the primary cleaner, the air suction dust collector and the water sprayer also start to work, the primary cleaner gathers the scraps and the dust on the cruising route, and the air suction dust collector sucks the gathered scraps and the dust into a dustbin in an air suction mode; in order to prevent dust from flying when cleaning up debris and dust, a water sprayer sucks water in a water tank and sprays the water to suppress the dust. The intelligent cleaning robot for the sports ground compares the obstacle information acquired by the camera with various pre-stored garbage characteristic information and facility characteristic information in the cruising process along the cruising route, determines whether the obstacle is target garbage or sports facilities, and determines the size of the real-time volume of the target garbage. When the obstacle is the target rubbish, the obstacle is close to the target rubbish through the determined target rubbish cleaning path, when the distance between the intelligent cleaning robot for the playground and the target rubbish is not less than the set distance, if the real-time volume of the target rubbish is not less than the set volume of the target rubbish, a secondary cleaner is started, and the target rubbish with larger volume, such as mineral water bottles and the like, is cleaned into the containing box; if the real-time volume of the target garbage is smaller than the set volume of the target garbage, the secondary sweeper does not need to be started, and the secondary sweeper only needs to be swept into the garbage can by the running primary sweeper. When the obstacle is a moving facility, it is determined whether the moving facility is on the cruising route. If the movement facility is on the movement route, the movement facility is bypassed through the determined bypass path, and the cruising on the cruising route is continued. In fact, in the process of cleaning target garbage and bypassing the sports facility, the pose of the intelligent sports field cleaning robot needs to be adjusted in real time according to actual conditions. The intelligent cleaning robot for the playground only needs a small amount of maintenance workers during operation, so that the number of cleaning workers can be greatly reduced, and the working cost is reduced; furthermore, the intelligent cleaning robot for the playground can automatically operate to automatically clean target garbage and debris and dust of the playground, so that the working efficiency is improved to a great extent; meanwhile, a large amount of water is not needed to be consumed by cleaning workers to clean the playground every time, and resources are saved.
Drawings
Fig. 1 is a schematic diagram of a composition structure of a sports field in the prior art.
Fig. 2 is a top view of the overall composition structure of the intelligent cleaning robot for sports ground.
Fig. 3 is a front view of the overall composition structure of the intelligent cleaning robot for sports ground according to the present invention.
Fig. 4 is a schematic structural diagram of the controller according to the present invention.
Fig. 5 is a schematic structural diagram of a planned field of operation according to the present invention.
Fig. 6 is a bottom view of the constituent structure of the disposable cleaner according to the present invention.
FIG. 7 is a front view showing the constitution of the disposable sweeper of the present invention.
FIG. 8 is a plan view showing the constitution of the disposable cleaner of the present invention.
FIG. 9 is an enlarged view showing a partial structure of the disposable sweeper of the present invention.
FIG. 10 is a front view of the structure of the suction cleaner of the present invention.
FIG. 11 is a bottom view of the structure of the extractor hood cleaner of the present invention.
FIG. 12 is an enlarged view of a portion of the suction cleaner according to the present invention.
Fig. 13 is a top view of the sprinkler assembly of the present invention.
Fig. 14 is a bottom view of the sprinkler assembly of the present invention.
Fig. 15 is a front view of the water sprayer assembly of the present invention.
FIG. 16 is a front view showing the constitution of the secondary sweeper of the present invention.
Fig. 17 is a bottom view of the constituent structure of the secondary sweeper of the present invention.
Fig. 18 is a schematic structural diagram of a joint portion of the universal joint according to the present invention.
FIG. 19 is a plan view showing the constitution of the secondary sweeper of the present invention.
Fig. 20 is a schematic structural diagram of the transmission component of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Fig. 2 is a top view of the overall composition structure of the intelligent cleaning robot for sports ground. Fig. 3 is a front view of the overall composition structure of the intelligent cleaning robot for sports ground according to the present invention. As shown in fig. 2 and 3, the intelligent cleaning robot for a sports field according to the present invention includes: a frame 8 with 4 traveling wheels, a primary sweeper 1 for performing primary sweeping to remove debris and dust, an air suction cleaner 2 for sucking the debris and dust, a water sprayer 3 for spraying water mist to suppress dust, a secondary sweeper 4 for performing secondary sweeping on target garbage, a controller 9, a garbage can 5, a water tank 6, a storage box 7, and a power supply for supplying electric energy to the primary sweeper 1, the air suction cleaner 2, the water sprayer 3, the secondary sweeper 4 and the controller 9; wherein, according to the sequence from front to back, the primary sweeper 1 is arranged at the front end side of the bottom of the frame 8, the air draft dust collector 2 and the water sprayer 3 are sequentially arranged at the middle position of the bottom of the frame 8, and the secondary sweeper 4 is arranged at the rear end of the bottom of the frame 8; the garbage can 5 is arranged on the frame 8 at a position close to the front in the middle, the water tank 6 is arranged on the frame 8 and positioned at the rear part, and the containing box 7 is arranged outside the rear end of the frame 8; the controller 9 is installed in the middle of the front end of the intelligent cleaning robot for the playground.
The controller 9 is used for storing various garbage characteristic information and facility characteristic information in advance, storing a playground map, a cruising route, a planned route, a target garbage set volume, a set distance and a set radius; setting and storing an initial working point; constructing a stadium map according to information acquired by a laser radar, determining the pose of the intelligent stadium cleaning robot according to the stadium map and gyroscope detection information, generating a cruising route according to classification planning in the stadium, and determining target rubbish information and sports facility information according to barrier information, rubbish characteristic information and facility characteristic information acquired by a camera; determining a target garbage cleaning path and a bypassing path, and adjusting the pose of the intelligent cleaning robot for the sports field in real time; according to the electric signal from the power supply, a first cleaning driving signal is sent to the primary cleaner 1, a suction driving signal is sent to the air draft dust collector 2, and an injection driving signal is sent to the water sprayer 3; and sending a secondary cleaning driving signal to the secondary cleaner 4 according to the distance between the intelligent cleaning robot for the sports ground and the target garbage information.
In practical application, pedestrians on a sports ground belong to one type of obstacles and can be distinguished by the camera, so that the intelligent cleaning robot for the sports ground can detour around the obstacle in a certain radius.
In summary, existing sports fields are often required to be cleaned after various sports meetings, competitions, or after extended periods of use, for example, 15 or 20 days, for subsequent use. Before the intelligent cleaning robot for the playground cleans the playground, the intelligent cleaning robot walks to an initial working point for standby according to the shortest distance from the position where the intelligent cleaning robot is located. Turning on a power switch, according to a pre-constructed map of the playground, the intelligent playground cleaning robot starts cruising operation along a cruising route, the primary cleaner, the air suction dust collector and the water sprayer also start to work, the primary cleaner gathers the scraps and the dust on the cruising route, and the air suction dust collector sucks the gathered scraps and the dust into a dustbin in an air suction mode; in order to prevent dust from flying when cleaning up debris and dust, a water sprayer sucks water in a water tank and sprays the water to suppress the dust. The intelligent cleaning robot for the sports ground compares the obstacle information acquired by the camera with various pre-stored garbage characteristic information and facility characteristic information in the cruising process along the cruising route, determines whether the obstacle is target garbage or sports facilities, and determines the size of the real-time volume of the target garbage. When the obstacle is the target rubbish, the obstacle is close to the target rubbish through the determined target rubbish cleaning path, when the distance between the intelligent cleaning robot for the playground and the target rubbish is not less than the set distance, if the real-time volume of the target rubbish is not less than the set volume of the target rubbish, a secondary cleaner is started, and the target rubbish with larger volume, such as mineral water bottles and the like, is cleaned into the containing box; if the real-time volume of the target garbage is smaller than the set volume of the target garbage, the secondary sweeper does not need to be started, and the secondary sweeper only needs to be swept into the garbage can by the running primary sweeper. When the obstacle is a moving facility, it is determined whether the moving facility is on the cruising route. If the movement facility is on the movement route, the movement facility is bypassed through the determined bypass path, and the cruising on the cruising route is continued. In fact, in the process of cleaning target garbage and bypassing the sports facility, the pose of the intelligent sports field cleaning robot needs to be adjusted in real time according to actual conditions. The intelligent cleaning robot for the playground only needs a small amount of maintenance workers during operation, so that the number of cleaning workers can be greatly reduced, and the working cost is reduced; furthermore, the intelligent cleaning robot for the playground can automatically operate to automatically clean target garbage and debris and dust of the playground, so that the working efficiency is improved to a great extent; meanwhile, a large amount of water is not needed to be consumed by cleaning workers to clean the playground every time, and resources are saved.
Fig. 4 is a schematic structural diagram of the controller according to the present invention. Fig. 5 is a schematic view of the planned playground structure of the present invention. As shown in fig. 4 and 5, the controller 9 of the present invention includes: the system comprises a storage unit 90, an image acquisition unit 91, a scene acquisition unit 92, an information processing unit 93, a cruise planning unit 94, a path planning unit 95 and a driving unit 96; wherein the content of the first and second substances,
the storage unit 90 is used for storing various garbage characteristic information, facility characteristic information, target garbage set volume, set distance and set radius in advance, and storing a playground map, a cruising route, a planned route and an initial working point.
And the image acquisition unit 91 is used for sending the acquired infrared image, binocular correction image and depth image to the information processing unit 93.
In practical application, the infrared camera can effectively capture images even at night, and meanwhile, the infrared camera can detect heat sources to effectively distinguish characteristics of life bodies and garbage; the binocular camera can perform three-dimensional acquisition; the depth camera can extract image depth feature points in a short distance, and further complement and perfect the contour features constructed by the infrared camera and the binocular camera.
The scene acquisition unit 92 is configured to send direction information and distance information acquired by the laser radar to the information processing unit 93; and sending the attitude information of the intelligent cleaning robot for the sports field, which is detected by the gyroscope, to the information processing unit 93.
The information processing unit 93 is configured to send the stadium map constructed according to the direction information and the distance information sent by the scene acquisition unit 92 to the cruise planning unit 94, and send a walking driving signal to the driving unit 96 according to the cruise route from the cruise planning unit 94; comparing the obstacle information determined by the infrared image, the binocular correction image and the depth image sent by the image acquisition unit 91 with various garbage characteristic information and facility characteristic information to determine target garbage and moving facilities, and sending the target garbage information and the moving facility information to the path planning unit 95; judging whether the sports facility is positioned on the cruising route according to the sports facility information: if yes, a detour instruction is sent to the path planning unit 95; determining the pose of the intelligent playground cleaning robot according to the pose of the intelligent playground cleaning robot sent by the playground map and scene acquisition unit 92, and adjusting the pose of the intelligent playground cleaning robot in real time according to the target garbage cleaning path or the detour path from the path planning unit 95; transmitting the stadium map to the storage unit 90; a primary control signal, a suction control signal, and an ejection control signal are transmitted to the driving unit 96 in accordance with an electric signal from the power supply; and sending a secondary control signal to a driving unit 96 according to the distance between the intelligent cleaning machine for the sports field and the target garbage information.
A cruise planning unit 94, configured to use the track area semicircle part and the sports area at each end of the lawn area as an integral semicircle according to the sports field map from the information processing unit 93, and form a circle center O of 4 tracks and the integral semicircle inside each integral semicircle1Or O2Identical concentric semi-circular lines
Or
Dividing according to the same radial interval; in each integral semicircle, according to the sequence from outside to inside, 4 concentric semicircle lines are respectively taken as the first compasses for scribing
Or
Second semicircular gauge line
Or
Third semicircular compass line
Or
Fourth semicircular compass line
Or
Moreover, for 2 overall semicircles, 2 first compass rulings correspond, 2 second compass rulings correspond, 2 third compass rulings correspond, and 2 fourth compass rulings correspond; the 2 first compasses marking lines intersect with the corresponding overall semicircle diameter extension lines at 4 first intersection points A, B, C, D respectively, and 2 first parallel compasses marking lines AD and BC parallel to the long side of the lawn area are generated between the 4 first intersection points; 2 second semicircular ruling lines are respectively intersected with the corresponding integral semicircular diameters at 4 second intersection points A1、B1、C1、D12 second parallel rule marking lines A parallel to the long side of the lawn area are generated among the 4 second intersection points1D1、B1C1(ii) a 2 third semicircular ruling lines are respectively intersected with the corresponding overall semicircular diameters at 4 third intersection points A2、B2、C2、D22 third parallel ruled lines A parallel to the long side of the lawn area are generated among the 4 third intersection points2D2、B2C2(ii) a 2 fourth semicircular ruling lines are respectively intersected with the corresponding integral semicircular diameters at 4 fourth intersection points A3、B3、C3、D32 fourth parallel rule marking lines A parallel to the long side of the lawn area are generated among the 4 fourth intersection points3D3、B3C3(ii) a The fifth parallel is generated between the circle centers of the 2 integral semicirclesRule line O1O2(ii) a 2 vertical marking lines AB and CD which are superposed with the broadsides of the lawn areas or the extended lines of the broadsides are also generated among the 4 first intersection points; the first compasses are scribed by taking the same central angle as an angle interval
Or
Second semicircular gauge line
Or
Third semicircular compass line
Or
Fourth semicircular compass line
Or
Evenly dividing the mixture into 10 equal parts; each first pair of compasses marks, except for the end points
Or
Each second semicircular gauge line
Or
Each third semicircular gauge line
Or
Each fourth semicircular gauge line
Or
Generating 9 dividing points; 2 first parallel gauge scribing lines AD and BC and 2 second parallel gauge scribing lines A1D1And B1C12 third parallel-gauge marking lines A2D2And B2C2And 2 fourth parallel gauge marking lines A3D3And B3C3A fifth parallel gauge line O1O2Equal m parts; each first parallel gauge line AD or BC, each second parallel gauge line A except for the end points1D1Or B1C1Each third parallel scribing line A2D2Or B2C2And each fourth parallel gauge scribing line A3D3Or B3C3A fifth parallel gauge line O1O2Generating (m-1) division points; each first half compasses marking line
Or
Each second semicircular gauge line
Or
Each third semicircular gauge line
Or
Each fourth semicircular gauge line
Or
At each division point, each first parallel gauge scribing line AD or BC and each second parallel gauge scribing line A1D1Or B1C1Each third parallel scribing line A2D2Or B2C2And each fourth parallel gauge scribing line A3D3Or B3C3A fifth parallel gauge line O1O2The upper division point, and 4 first intersection points A, B, C, D, 4 second intersection points a1、B1、C1、D14 third intersection points A2、B2、C2、D24 fourth intersections A3、B3、C3、D32 central points of the whole semicircle1、O2All as planning points; the first closed circuit is formed by 2 first compasses lineation and 2 first parallel compasses lineation
The 2 second semicircular gauge scribing lines and the 2 second parallel gauge scribing lines form a second closed circuit
A third closed circuit is formed by 2 third semicircular ruled lines and 2 third parallel ruled lines
2 fourth semicircular compass lines
2 fourth parallel scribing lines form a fourth closed circuit
First closed circuit
Second closed circuit
Third closed circuit
Fourth closed circuit
Fifth parallel gauge line O1O2The two parts are communicated through 2 vertical gauge lines; first closed circuit
Second closed circuit
Third closed circuit
Fourth closed circuit
Fifth parallel gauge line O1O2The 2 vertical gauge lines AB and CD and all the planning points form a cruising route together, and the cruising route is sent to the information processing unit 93 and the storage unit 90; any one of the 4 first intersection points A, B, C or D is taken as a start operating point, and the start operating point is sent to the storage unit 90; wherein m is a natural number.
A path planning unit 95, configured to determine, according to the target garbage information sent by the information processing unit 93, a planning point closest to the target garbage as a path starting point, take a next planning point of the planning point closest to the target garbage along the cruise direction as a path recovery point, take the path starting point, the target garbage position point, and the path recovery point as a target garbage cleaning path, and send the target garbage cleaning path to the information processing unit 93; according to the exercise facility information, the detour instruction and the set radius sent by the information processing unit 93, the detour semicircular line is determined, two intersection points of the detour semicircular line and the circulation route are sequentially used as a detour starting point and a detour recovery point according to the cruising direction, the detour starting point, the detour semicircular line and the detour recovery point are used as a detour path, and the detour path is sent to the information processing unit 93.
The driving unit 96 is configured to drive the intelligent playground cleaning robot to cruise through the walking motor according to the walking driving signal sent by the information processing unit 93; the primary sweeper 1 is driven to carry out primary sweeping according to a primary control signal sent by the information processing unit 93, the air draft dust collector 2 is driven to carry out dust collection according to a suction control signal sent by the information processing unit 93, and the water sprayer 3 is driven to spray water and suppress dust according to an injection control signal sent by the information processing unit 93; the secondary cleaner 4 is driven to perform the second cleaning based on the secondary control signal sent from the information processing unit 93.
In the present invention, the spam includes: garbage position and garbage characteristic points; the facility characteristic information includes: the position of the sports facility and the characteristic points of the sports facility; the target spam includes: target garbage position and target garbage real-time volume.
In the present invention, the comparison between the obstacle information determined by the infrared image, the binocular correction image, and the depth image sent by the image acquisition unit 91 and the various garbage feature information and facility feature information is performed to determine the target garbage and the moving facility, and specifically: when the obstacle feature point contained in the obstacle information is consistent with a garbage feature point, the obstacle is target garbage; and when the obstacle characteristic point contained in the obstacle information is consistent with a motion facility characteristic point, the obstacle is a motion facility.
In the present invention, the determining, according to the target spam information sent by the information processing unit 93, a planning point closest to the target spam as a path starting point specifically includes: and determining a planning point closest to the target garbage as a path starting point according to the position of the target garbage sent by the information processing unit 93.
In the present invention, the determining whether the sports facility is located on the cruising route according to the sports facility information specifically includes: and judging whether the sports facility is positioned on the cruising route or not according to the position of the sports facility.
In the present invention, the sending of the secondary control signal to the driving unit 96 according to the distance between the intelligent cleaning machine for the sports field and the target garbage information specifically includes: when the distance between the intelligent cleaning machine and the target garbage according to the motion field is equal to the set distance and the real-time volume of the target garbage is not less than the set volume of the target garbage, the information processing unit 93 sends a secondary control signal to the driving unit 96.
Fig. 6 is a bottom view of the constituent structure of the disposable cleaner according to the present invention. FIG. 7 is a front view showing the constitution of the disposable sweeper of the present invention. FIG. 8 is a plan view showing the constitution of the disposable cleaner of the present invention. FIG. 9 is an enlarged view showing a partial structure of the disposable sweeper of the present invention. As shown in fig. 6, 7, 8, and 9, the primary cleaner 1 of the present invention includes: 2 chains of a first chain accessory 102, 2 couplings 103, 2 second chains accessory 104, 2 gear shafts 105, 2 first bearings, 2 fasteners 108, 2 first driving gears 101, 2 first driven gears 114, 2 second driving gears 119, 2 second driven gears 120, 2 first annular limiting grooves 106, 2 second annular limiting grooves 107, 2 arc-shaped racks 121, 2 swing fixing pieces 113, 2 swing connecting pieces 115, 2 bottom plate isolating pieces 117, a motor fixing piece 110, a first motor 111, a coupling 112, an upper clamping groove 116, a motor isolating piece 118, a motor fixing piece 109, a second motor 122, a flange 123, a second bearing 124, and 2 first strip brushes; the first chain accessory 102 and the second chain accessory 104 are both strip-shaped and arc-shaped annular structures at two ends;
a first chain attachment 102, a second chain attachment 104, a coupler 103, a gear shaft 105, a first bearing, a fastener 108, a first driving gear 101, a first driven gear 114, a second driving gear 119, a second driven gear 120, a first annular limiting groove 106, a second annular limiting groove 107, a segment of arc-shaped rack 121, a swing fixing member 113, a swing connecting member 115, and a bottom plate spacer 117 form a first cleaning unit, another first chain attachment 102, another second chain attachment 104, another coupler 103, another gear shaft 105, another first bearing, another fastener 108, another first driving gear 101, another first driven gear 114, another second driving gear 119, another second driven gear 120, another first annular limiting groove 106, A second cleaning unit is formed by another second annular limiting groove 107, another arc-shaped rack 121, another swing fixing piece 113, another swing connecting piece 115 and another bottom plate isolating piece 117; the first cleaning unit and the second cleaning unit are symmetrically distributed on two sides of a longitudinal shaft of the frame 8 and are positioned on the front end side of the frame 8; the first chain is according to annex 102, the second chain is according to annex 104, shaft coupling 103, gear shaft 105, first bearing, fastener 108, first driving gear 101, first driven gear 114, swing mounting 113, swing connecting piece 115, bottom plate isolating piece 117 all are located the frame 8 bottom, second driving gear 119 second driven gear 120, arc rack 121 all are located frame 8 upper surface, first annular spacing groove 106, second annular spacing groove 107 all inlay on the frame 8 body.
In the first cleaning unit and the second cleaning unit, one end of a first chain accessory 102 is connected with one end of a corresponding second chain accessory 104 through a corresponding coupler 103 in a cross sleeving manner, and the coupler 103 is fixed at the bottom of the frame 8 by a corresponding fastener 108; the corresponding first driving gear 101 is rotatably fixed at the bottom of the frame 8 and is close to the air draft dust collector 2, the other end of the first chain is sleeved outside the first driving gear 101 according to the accessory 102, and the other end of the first chain is fixed at the bottom of the frame 8 through the corresponding bottom plate separator 117 according to the accessory 102; the corresponding first bearing is arranged at the foremost end of the bottom of the frame 8, the corresponding gear shaft 105 is arranged on the first bearing, the corresponding first driven gear 114 is arranged on the gear shaft 105, and the second chain is sleeved outside the first driven gear 114 according to the other end of the accessory 104; the corresponding first chain accessory 102 and the second chain accessory 104 are provided with 1 chain with a hairbrush; in the first cleaning unit and the second cleaning unit, according to the sequence from front to back, the frame 8 is sequentially provided with a corresponding arc-shaped rack 121, a second annular limiting groove 107 and a first annular limiting groove 106, a corresponding second driving gear 119 and a corresponding second driven gear 120 are respectively limited in the corresponding first annular limiting groove 106 and the second annular limiting groove 107, the corresponding second driving gear 119 is engaged with the second driven gear 120, and meanwhile, the corresponding second driven gear 120 is also engaged with the arc-shaped rack 121; the other end of the second chain is connected with a corresponding second driven gear 120 through a corresponding swing connecting piece 115 and a corresponding swing fixing piece 113 in sequence according to the other end of the accessory 104.
The motor steady piece 110, the first motor 111 and the coupling 112 are positioned on the front end side of the upper part of the frame 8; first motor 111 is fixed in above the frame 8 through motor steadying member 110, and first motor 111 output shaft and shaft coupling 112 input fixed connection, 1 second driving gear 119 is connected respectively to 2 output of shaft coupling 112.
The motor fixing piece 109, the second motor 122, the upper clamping groove 116, the motor isolating piece 118, the flange 123 and the second bearing 124 are all located on the frame 8, the upper portion of the second motor 122 is fixed to the bottom of the garbage can 5 through the motor fixing piece 109, the output shaft of the second motor 122 is connected to one end of the flange 123 through the motor isolating piece 118, the flange 123 is installed in the upper clamping groove 116, the upper clamping groove 116 is fixed to the upper portion of the frame 8, the other end of the flange 123 penetrates through the upper clamping groove 116 to be connected to one end of the second bearing 124, and the other end of the second bearing 124 penetrates through the frame 8 to be connected to the bottom plate isolating piece 117.
In the invention, the included angle between the 2 symmetrically arranged first chains and the accessories 102 is 20-30 degrees, and the included angle between the 2 symmetrically arranged second chains and the accessories 104 is 115-130 degrees.
In the present invention, in the first cleaning unit and the second cleaning unit, the corresponding arc-shaped rack 121, the second annular limiting groove 107, and the first annular limiting groove 106 have the same circle center, and the circle center is located on the axis center of the corresponding coupling 103.
In practical application, the first motor 111 and the second motor 122 work under the driving of drivers corresponding to the first motor 111 and the second motor 122 in the primary control signal control driving unit 96 sent by the information processing unit 93, so as to drive other components in the primary cleaner to operate, thereby realizing the cleaning function of the primary cleaner 1.
FIG. 10 is a front view of the structure of the suction cleaner of the present invention. FIG. 11 is a bottom view of the structure of the extractor hood cleaner of the present invention. FIG. 12 is an enlarged view of a portion of the suction cleaner according to the present invention. As shown in fig. 10, 11, and 12, the suction cleaner 2 of the present invention includes: a third motor, a dust suction fan 201, a dust filter cup 203, a pipe interface 205, a dust suction pipe 206, a second strip brush 207, 2 nozzle fasteners 208, a nozzle 210, a nozzle hose 212, a hose connector 213, a nozzle connector ring 214, and 2 fixing rods 215; wherein, the lower part of the dust absorption fan 201 is arranged at the exhaust port 204; the third motor, the dust collection fan 201 and the dust filter cup 203 are arranged in the dustbin 5 on the frame 8, and the second strip brush 207, the 2 suction nozzle fasteners 208, the suction nozzle 210, the hose connector 213, the suction nozzle connecting ring 214 and the 2 fixing rods 215 are all positioned at the bottom of the frame 8;
the third motor output shaft is connected with the rotating shaft of the dust collection fan 201, the dust collection fan 201 is arranged at the top end of the dust filter cup 203, and the bottom end of the dust filter cup 203 is fixed at the middle position of the bottom of the garbage can 5. Two ends of the suction nozzle 210 are respectively fixed with 1 fixing rod 215, 2 fixing rods 215 are respectively fixed at the bottom of the frame 8 by 2 suction nozzle fastening pieces 208, a second strip brush 207 is further installed at the position of the front side of the suction nozzle 210, and the suction nozzle 210 and the second strip brush 207 are located at the middle position of the bottom of the frame 8.
The suction nozzle 210 is communicated with the dustbin 5 through a suction nozzle connecting ring 214, a hose connecting piece 213, a suction nozzle hose 212, a dust suction pipe 206 and a pipeline interface 205 in sequence from bottom to top; the suction pipe 206 is also connected to the dust cup 203 via a pipe in the dustbin 5.
In the present invention, the suction nozzle 210 has a wide flat opening shape.
In the present invention, the suction cleaner 2 further includes: 2 auxiliary wheels 209 for providing support and power for the intelligent playground cleaning robot; the 2 auxiliary wheels 209 are respectively installed at both sides of the suction nozzle 210.
In practical application, the third motor works under the drive of the driver corresponding to the third motor in the suction control signal control driving unit 96 sent by the information processing unit 93, so as to drive the operation of other components in the air draft dust collector 2, and realize the air draft dust collection function of the air draft dust collector 2.
Fig. 13 is a top view of the sprinkler assembly of the present invention. Fig. 14 is a bottom view of the sprinkler assembly of the present invention. Fig. 15 is a front view of the water sprayer assembly of the present invention. As shown in fig. 13, 14 and 15, the sprinkler 3 of the present invention includes: a water pump 303, a fourth motor 307, 8 rotatable nozzles 308, a water pump switch 302, a first pipeline connector 310 and a second pipeline connector 313; wherein the content of the first and second substances,
the fourth motor 307 is connected with the water pump 303 through an output shaft 305 thereof; the water inlet of the water pump 303 is communicated with the water tank 6 through a water inlet pipeline 301, and the water outlet 314 of the water pump 303 is communicated with 8 spray heads 308 through a water drainage pipeline 304; a first pipeline connecting piece 310 and a water pump switch 302 are also arranged on the water inlet pipeline 301 close to the water pump 303; the drain port 314 of the water pump 303 is connected to the drain pipe 304 by a second pipe connection 313. The water pump 303, the fourth motor 307, the water pump switch 302, the first pipeline connecting piece 310 and the second pipeline connecting piece 313 are all positioned on the frame 8, and the water pump 303 is arranged below the water tank 6; 8 shower nozzles 308 are equally divided into 2 shower nozzle groups, and two shower nozzle groups are respectively installed in 8 bottom axis both sides of frame symmetrically, and two shower nozzle groups all are located 8 bottom rear end side of frame.
In practical application, the fourth motor 307 operates under the driving of a driver corresponding to the fourth motor 307 in the driving unit 96 under the control of the injection control signal sent by the information processing unit 93, so as to drive other components in the sprinkler 3 to operate, thereby realizing the function of spraying and sprinkling of the sprinkler 3.
FIG. 16 is a front view showing the constitution of the secondary sweeper of the present invention. Fig. 17 is a bottom view of the constituent structure of the secondary sweeper of the present invention. Fig. 18 is a schematic structural diagram of a joint portion of the universal joint according to the present invention. FIG. 19 is a plan view showing the constitution of the secondary sweeper of the present invention. As shown in fig. 16, 17, 18, and 19, the secondary cleaner 4 of the present invention includes: a fifth motor 411, a motor fixing part 412, a transmission part 409, a universal joint, a first connecting fork 407, a second connecting fork 408, a transmission connecting part 416, a differential first spiral brush 405, a second spiral brush 406, a brush connecting part, 2 brush fixing parts 401, an adhesive tape 404 and an auxiliary roller 403; wherein the content of the first and second substances,
the fifth motor 411 is fixed to the rear end side of the bottom of the frame 8 by a motor fixing member 412; the transmission component 409 is fixed at the center of the rear end side of the bottom of the frame 8; one ends of the 2 brush fixing pieces 401 are symmetrically fixed on two sides of the rear end of the frame 8, and the other ends of the 2 brush fixing pieces 401 are fixed with the spiral brush supporting piece; the first spiral brush 405 and the second spiral brush 406 are symmetrically connected to the spiral brush support in the front left and right directions; the rubber strip 404 is fixed on the front side of the spiral brush support; the auxiliary roller 403 is fixed to the bottom end of the storage box 7.
The output shaft of the fifth motor 411 is connected with the input end of a transmission component 409, the output end of the transmission component 409 is connected with one end of a universal joint through a second connecting fork 408, the other end of the universal joint is connected with a first spiral brush 405 and a second spiral brush 406 through a first connecting fork 407, a transmission connecting piece 416 and a differential mechanism in sequence, the center of the spiral brush support is connected with a containing box 7, and the containing box 7 is located on the rear side of the spiral brush support.
In practical application, one end of the universal joint and the other end of the universal joint are symmetrical two ends.
In practical application, the fifth motor 411 operates under the drive of a driver corresponding to the fifth motor 411 in the drive unit 96 controlled by the secondary control signal sent by the information processing unit 93, so as to drive other components in the secondary cleaner 4 to operate, thereby realizing the function of cleaning the target garbage with large volume of the secondary cleaner 4.
Fig. 20 is a schematic structural diagram of the transmission component of the present invention. As shown in fig. 20, in the present invention, the transmission member 409 includes: a worm 415, a third driven gear 414; one end of the worm 415 serves as the input end of the transmission component 409, and the output shaft of the third driven gear 414 serves as the output end of the transmission component 409; the worm 415 meshes with the third driven gear 414; an output shaft of the fifth motor 411 is connected with one end of a worm 415, and an output shaft of the third driven gear 414 is connected with one end of the second connecting fork 408.
In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (12)
1. An intelligent cleaning robot for a playground, the cleaning robot comprising: the garbage cleaning machine comprises a frame with 4 traveling wheels, a primary sweeper for carrying out primary sweeping to remove scraps and dust, an air suction dust collector for sucking the scraps and the dust, a water sprayer for spraying water mist to inhibit the dust, a secondary sweeper for carrying out secondary sweeping on target garbage, a controller, a garbage can, a water tank, a storage box and a power supply for supplying electric energy to the primary sweeper, the air suction dust collector, the water sprayer, the secondary sweeper and the controller; wherein, according to the sequence from front to back, the primary sweeper is arranged at the front end side of the bottom of the frame, the air draft dust collector and the water sprayer are sequentially arranged at the middle position of the bottom of the frame, and the secondary sweeper is arranged at the rear end of the bottom of the frame; the garbage can is arranged on the frame at a position close to the front in the middle, the water tank is arranged on the frame and positioned at the rear part, and the containing box is arranged outside the rear end of the frame; the controller is arranged in the middle of the front end of the intelligent playground cleaning robot;
the controller is used for pre-storing various garbage characteristic information and facility characteristic information, storing a playground map, a cruising route, a planning route, a target garbage set volume, a set distance and a set radius; setting and storing an initial working point; constructing a stadium map according to information acquired by a laser radar, determining the pose of the intelligent stadium cleaning robot according to the stadium map and gyroscope detection information, generating a cruising route according to classification planning in the stadium, and determining target rubbish information and sports facility information according to barrier information, rubbish characteristic information and facility characteristic information acquired by a camera; determining a target garbage cleaning path and a bypassing path, and adjusting the pose of the intelligent cleaning robot for the sports field in real time; according to the electric signal from the power supply, a first cleaning driving signal is sent to the primary cleaner, a suction driving signal is sent to the air draft dust collector, and a jet driving signal is sent to the water sprayer; and sending a secondary cleaning driving signal to a secondary cleaner according to the distance between the intelligent cleaning robot for the sports field and the target garbage information.
2. An intelligent cleaning robot for sports fields according to claim 1, characterized in that said one-time cleaner comprises: 2 first chains are attached to an accessory, 2 couplers, 2 second chains are attached to an accessory, 2 gear shafts, 2 first bearings, 2 fasteners, 2 first driving gears, 2 first driven gears, 2 second driving gears, 2 second driven gears, 2 first annular limiting grooves, 2 second annular limiting grooves, 2 arc-shaped racks, 2 swing fixing pieces, 2 swing connecting pieces, 2 bottom plate isolating pieces, a motor fixing piece, a first motor, a coupler, an upper clamping groove, a motor isolating piece, a motor fixing piece, a second motor, a flange, a second bearing and 2 chains with first strip brushes; the first chain and the second chain are both of a strip-shaped annular structure with two arc-shaped ends according to the accessories;
a first chain accessory, a second chain accessory, a coupler, a gear shaft, a first bearing, a fastener, a first driving gear, a first driven gear, a second driving gear, a second driven gear, a first annular limiting groove, a second annular limiting groove, a section of arc-shaped rack, a swinging fixing piece, a swinging connecting piece and a bottom plate isolating piece form a first cleaning unit, and another first chain accessory, another second chain accessory, another coupler, another gear shaft, another first bearing, another fastener, another first driving gear, another first driven gear, another second driving gear, another second driven gear, another first annular limiting groove, another second annular limiting groove, another section of arc-shaped rack, The other swinging fixing piece, the other swinging connecting piece and the other bottom plate isolating piece form a second cleaning unit; the first cleaning unit and the second cleaning unit are symmetrically distributed on two sides of the longitudinal shaft of the frame and are positioned on the front end side of the frame; the first chain is according to annex, the second chain is according to annex, shaft coupling, gear shaft, first bearing, fastener, first driving gear, first driven gear, swing mounting, swing connecting piece, bottom plate separator all are located the frame bottom, second driving gear second driven gear, arc rack all are located the frame, first annular spacing groove, second annular spacing groove all inlay on the frame body;
in the first cleaning unit and the second cleaning unit, one end of the first chain attachment piece is connected with one end of the corresponding second chain attachment piece through the corresponding coupler in a cross sleeving manner, and the coupler is fixed at the bottom of the frame by the corresponding fastener; the corresponding first driving gear is rotatably fixed at the bottom of the frame and is close to the air draft dust collector, the other end of the first chain attachment piece is sleeved outside the first driving gear, and the other end of the first chain attachment piece is fixed at the bottom of the frame through the corresponding bottom plate isolation piece; the corresponding first bearing is arranged at the foremost end of the bottom of the frame, the corresponding gear shaft is arranged on the first bearing, the corresponding first driven gear is arranged on the gear shaft, and the second chain is sleeved outside the first driven gear according to the other end of the accessory; 1 chain with a brush is arranged on the corresponding first chain accessory and the second chain accessory; in the first cleaning unit and the second cleaning unit, according to the sequence from front to back, a corresponding arc-shaped rack, a second annular limiting groove and a first annular limiting groove are sequentially arranged on the frame, a corresponding second driving gear and a corresponding second driven gear are respectively limited in the corresponding first annular limiting groove and the second annular limiting groove, the corresponding second driving gear is meshed with the second driven gear, and meanwhile, the corresponding second driven gear is meshed with the arc-shaped rack; the other end of the second chain is also connected with a corresponding second driven gear through a corresponding swing connecting piece and a corresponding swing fixing piece in sequence according to the accessory;
the motor stabilizing piece, the first motor and the coupling are positioned on the front end side of the upper part of the frame; the first motor is fixed on the frame through the motor fixing piece, the output shaft of the first motor is fixedly connected with the input end of the coupler, and 2 output ends of the coupler are respectively connected with 1 second driving gear;
the motor stabilizing piece, the second motor, the upper clamping groove, the motor isolating piece, the flange and the second bearing are all located above the frame, the second motor is fixed above the garbage can through the motor stabilizing piece, the second motor output shaft passes through one end of the motor isolating piece connecting flange, the flange is arranged in the upper clamping groove, the upper clamping groove is fixed above the frame, the other end of the flange penetrates through the upper clamping groove to be connected with one end of the second bearing, and the other end of the second bearing penetrates through the frame to be connected onto the bottom plate isolating piece.
3. An intelligent cleaning robot for sports grounds according to claim 2, wherein the included angle between the 2 symmetrically arranged first chains and the accessories is 20-30 °, and the included angle between the 2 symmetrically arranged second chains and the accessories is 115-130 °.
4. The intelligent cleaning robot for playground according to claim 2, wherein the corresponding arc-shaped rack, the second annular limiting groove and the first annular limiting groove have the same center in the first cleaning unit and the second cleaning unit, and the center of the center is located on the axis of the corresponding coupling.
5. The intelligent cleaning robot for playground according to claim 1, wherein the air draft dust collector comprises: the device comprises a third motor, a dust collection fan, a dust filter cup, a pipeline interface, a dust collection pipe, a second strip brush, 2 suction nozzle fasteners, a suction nozzle hose, a hose connecting piece, a suction nozzle connecting ring and 2 fixing rods; wherein, the lower part of the dust absorption fan is arranged at the exhaust port; the third motor, the dust collection fan and the dust filter cup are arranged in the garbage can on the frame, and the second strip-shaped hairbrush, the 2 suction nozzle fastening pieces, the suction nozzles, the hose connecting pieces, the suction nozzle connecting rings and the 2 fixing rods are all positioned at the bottom of the frame;
the output shaft of the third motor is connected with a rotating shaft of a dust collection fan, the dust collection fan is arranged at the top end of the dust filter cup, and the bottom end of the dust filter cup is fixed in the middle of the bottom of the garbage can;
two ends of the suction nozzle are respectively fixed with 1 fixed rod, 2 suction nozzle fasteners respectively fix 2 fixed rods at the bottom of the frame, a second strip-shaped hairbrush is further installed at the position of the front side of the suction nozzle, and the suction nozzle and the second strip-shaped hairbrush are located in the middle of the bottom of the frame;
according to the sequence from bottom to top, the suction nozzle is communicated with the garbage can through the suction nozzle connecting ring, the hose connecting piece, the suction nozzle hose, the dust collecting pipe and the pipeline interface in sequence; the dust collection pipe is also communicated with the dust filter cup through a pipeline in the garbage can.
6. The intelligent cleaning robot for playground according to claim 5, wherein the suction nozzle is in the shape of wide flat opening.
7. The intelligent cleaning robot for playground according to claim 5, wherein the air draft dust collector further comprises: 2 auxiliary wheels for providing support and motion assistance for the intelligent playground cleaning robot; 2 auxiliary wheels are respectively arranged on two sides of the suction nozzle.
8. The intelligent cleaning robot for sports fields according to claim 1, wherein the water sprayer comprises: the spray head comprises a water pump, a fourth motor, 8 rotatable spray heads, a water pump switch, a first pipeline connecting piece and a second pipeline connecting piece; wherein the content of the first and second substances,
the fourth motor is connected with the water pump through an output shaft of the fourth motor; the water inlet of the water pump is communicated with the water tank through a water inlet pipeline, and the water outlet of the water pump is communicated with 8 nozzles through a water drainage pipeline; a first pipeline connecting piece and a water pump switch are also arranged on the water inlet pipeline close to the water pump; the water outlet of the water pump is connected with the drainage pipeline through a second pipeline connecting piece;
the water pump, the fourth motor, the water pump switch, the first pipeline connecting piece and the second pipeline connecting piece are all positioned on the frame, and the water pump is arranged below the water tank; 8 shower nozzles are divided into 2 shower nozzle groups on average, and two shower nozzle groups are installed in frame bottom axis both sides respectively the symmetry, and two shower nozzle groups all are located frame bottom rear end side.
9. The intelligent cleaning robot for playground according to claim 1, wherein the secondary cleaner comprises: the device comprises a fifth motor, a motor fixing piece, a transmission part, a universal joint, a first connecting fork, a second connecting fork, a transmission connecting piece, a differential mechanism first spiral hairbrush, a second spiral hairbrush, a hairbrush connecting piece, 2 hairbrush fixing pieces, an adhesive tape and an auxiliary roller; wherein the content of the first and second substances,
the fifth motor is fixed on the rear end side of the bottom of the frame by a motor fixing piece; the transmission component is fixed at the center of the rear end side of the bottom of the frame; one end of each of the 2 brush fixing pieces is symmetrically fixed on two sides of the rear end of the frame, and the other end of each of the 2 brush fixing pieces is fixed with the spiral brush support piece; the first spiral brush and the second spiral brush are connected to the spiral brush support piece in a left-right symmetrical mode; the rubber strip is fixed on the front side of the spiral brush support; the auxiliary roller is fixed at the bottom end of the containing box;
the output shaft of the fifth motor is connected with the input end of a transmission part, the output end of the transmission part is connected with one end of a universal joint through a second connecting fork, the other end of the universal joint is connected with a first spiral hairbrush and a second spiral hairbrush through a first connecting fork, a transmission connecting piece and a differential mechanism in sequence, the central position of a spiral hairbrush supporting piece is connected with the containing box, and the containing box is positioned on the rear side of the spiral hairbrush supporting piece;
one end of the universal joint and the other end of the universal joint are symmetrical two ends.
10. The intelligent cleaning robot for sports ground according to claim 9, wherein the transmission component comprises: a worm, a third driven gear; one end of the worm is used as the input end of the transmission component, and the output shaft of the third driven gear is used as the output end of the transmission component; the worm is meshed with the third driven gear;
and an output shaft of the fifth motor is connected with one end of the worm, and an output shaft of the third driven gear is connected with one end of the second connecting fork.
11. The intelligent cleaning robot for sports fields according to claim 1, wherein the controller comprises: the system comprises a storage unit, an image acquisition unit, a scene acquisition unit, an information processing unit, a cruise planning unit, a path planning unit and a driving unit; wherein the content of the first and second substances,
the storage unit is used for storing various garbage characteristic information, facility characteristic information, target garbage set volume, set distance and set radius in advance, and storing a playground map, a cruising route, a planning route and an initial working point;
the image acquisition unit is used for sending the acquired infrared image, binocular correction image and depth image to the information processing unit;
the scene acquisition unit is used for sending the direction information and the distance information acquired by the laser radar to the information processing unit; sending the attitude information of the intelligent playground cleaning robot, which is detected by the gyroscope, to an information processing unit;
the information processing unit is used for sending the playground map constructed according to the direction information and the distance information sent by the scene acquisition unit to the cruise planning unit and sending a walking driving signal to the driving unit according to the cruise route from the cruise planning unit; comparing the obstacle information determined by the infrared image, the binocular correction image and the depth image sent by the image acquisition unit with various garbage characteristic information and facility characteristic information to determine target garbage and moving facilities, and sending the target garbage information and the moving facility information to a path planning unit; judging whether the sports facility is positioned on the cruising route according to the sports facility information: if yes, a detour instruction is sent to the path planning unit; determining the pose of the intelligent playground cleaning robot according to the playground map and the pose of the intelligent playground cleaning robot sent by the scene acquisition unit, and adjusting the pose of the intelligent playground cleaning robot in real time according to a target garbage cleaning path or a detour path from the path planning unit; sending the stadium map to a storage unit; sending a primary control signal, a suction control signal, and an ejection control signal to a driving unit according to an electric signal from a power supply; sending a secondary control signal to a driving unit according to the distance between the intelligent cleaning machine for the sports field and the target garbage information;
the cruise planning unit is used for taking the semicircular part of the runway area at each end of the lawn area and the sports area as an integral semicircle according to the sports field map from the information processing unit, and dividing the inside of each integral semicircle by 4 concentric semicircular lines with the same circle center as the integral semicircle at the same radial interval; in each integral semicircle, according to the sequence from outside to inside, 4 concentric semicircle lines are respectively used as a first compass scribing line, a second compass scribing line, a third compass scribing line and a fourth compass scribing line; moreover, for 2 overall semicircles, 2 first compass rulings correspond, 2 second compass rulings correspond, 2 third compass rulings correspond, and 2 fourth compass rulings correspond; the 2 first compasses marking lines intersect with the corresponding overall semicircle diameter extension lines at 4 first intersection points respectively, and 2 first parallel compasses marking lines parallel to the long side of the lawn area are generated between the 4 first intersection points; 2 second semicircular ruling lines intersect with the corresponding overall semicircular diameters respectively at 4 second intersection points, and 2 second parallel ruling lines parallel to the long side of the lawn area are generated between the 4 second intersection points; 2 third semicircular ruling lines intersect with the corresponding overall semicircular diameters respectively at 4 third intersection points, and 2 third parallel ruling lines parallel to the long side of the lawn area are generated between the 4 third intersection points; 2 fourth semicircular ruling lines intersect with the corresponding overall semicircular diameters respectively at 4 fourth intersection points, and 2 fourth parallel ruling lines parallel to the long side of the lawn area are generated between the 4 fourth intersection points; a fifth parallel gauge line is generated between the circle centers of the 2 integral semicircles; 2 vertical marking lines which are superposed with the broadsides of the lawn areas or the extended lines of the broadsides are also generated among the 4 first intersection points; equally dividing the first compass scribing line, the second compass scribing line, the third compass scribing line and the fourth compass scribing line into 10 equal parts by taking the same central angle as an angle interval; except for the end points, 9 division points are generated on each first semicircular compass scribing line, each second semicircular compass scribing line, each third semicircular compass scribing line and each fourth semicircular compass scribing line; dividing m equal parts of 2 first parallel rule marking lines, 2 second parallel rule marking lines, 2 third parallel rule marking lines, 2 fourth parallel rule marking lines and a fifth parallel rule marking line; except for the end points, generating (m-1) division points on each first parallel planning line, each second parallel planning line, each third parallel planning line, each fourth parallel planning line and each fifth parallel planning line; dividing points on each first compass scribing line, each second compass scribing line, each third compass scribing line and each fourth compass scribing line, dividing points on each first compass scribing line, each second compass scribing line, each third compass scribing line, each fourth compass scribing line and each fifth compass scribing line, and central points of 4 first intersection points, 4 second intersection points, 4 third intersection points, 4 fourth intersection points and 2 overall semicircles are used as scribing points; the first closed line is formed by 2 first semicircular gauge scribes and 2 first parallel gauge scribes, the second closed line is formed by 2 second semicircular gauge scribes and 2 second parallel gauge scribes, the third closed line is formed by 2 third semicircular gauge scribes and 2 third parallel gauge scribes, the fourth closed line is formed by 2 fourth semicircular gauge scribes and 2 fourth parallel gauge scribes, and the first closed line, the second closed line, the third closed line, the fourth closed line and the fifth parallel gauge scribes are communicated through 2 vertical gauge scribes; the first closed line, the second closed line, the third closed line, the fourth closed line, the fifth parallel rule line, the 2 vertical rule lines and all the plan points form a cruising route, and the cruising route is sent to the information processing unit and the storage unit; taking any one of the 4 first intersection points as an initial working point, and sending the initial working point to a storage unit; wherein m is a natural number;
the path planning unit is used for determining a planning point closest to the target garbage as a path starting point according to the target garbage information sent by the information processing unit, taking a next planning point of the planning point closest to the target garbage along the cruising direction as a path recovery point, taking the path starting point, the target garbage position point and the path recovery point as a target garbage cleaning path, and sending the target garbage cleaning path to the information processing unit; determining a detour semicircular line according to the movement facility information, the detour instruction and the set radius sent by the information processing unit, sequentially taking two intersection points of the detour semicircular line and the circulating route as a detour starting point and a detour recovery point according to the cruising direction, taking the detour starting point, the detour semicircular line and the detour recovery point as a detour path, and sending the detour path to the information processing unit;
the driving unit is used for driving the intelligent playground cleaning robot to cruise through the walking motor according to the walking driving signal sent by the information processing unit; the primary sweeper is driven to carry out primary sweeping according to a primary control signal sent by the information processing unit, the air draft dust collector is driven to carry out dust collection according to a suction control signal sent by the information processing unit, and the water sprayer is driven to spray water and suppress dust according to an injection control signal sent by the information processing unit; and driving the secondary cleaner to perform secondary cleaning according to the secondary control signal sent by the information processing unit.
12. The intelligent cleaning robot for sports ground according to claim 11, wherein the garbage information comprises: garbage position and garbage characteristic points; the facility characteristic information includes: the position of the sports facility and the characteristic points of the sports facility; the target spam includes: target garbage position and target garbage real-time volume;
the method is characterized in that the barrier information determined by the infrared image, the binocular correction image and the depth image sent by the image acquisition unit is compared with various garbage characteristic information and facility characteristic information to determine target garbage and moving facilities, and the method specifically comprises the following steps: when the obstacle feature point contained in the obstacle information is consistent with a garbage feature point, the obstacle is target garbage; when the obstacle feature point contained in the obstacle information is consistent with a motion facility feature point, the obstacle is a motion facility;
the determining, according to the target spam information sent by the information processing unit, a planning point closest to the target spam as a path starting point specifically includes: determining a planning point closest to the target rubbish as a path starting point according to the position of the target rubbish sent by the information processing unit;
according to the sports facility information, whether the sports facility is located on the cruising route is judged, and the method specifically comprises the following steps: judging whether the sports facility is positioned on the cruising route or not according to the position of the sports facility;
the method comprises the following steps of sending a secondary control signal to a driving unit according to the distance between the intelligent cleaning machine for the sports field and target rubbish information, and specifically comprises the following steps: and when the distance between the intelligent cleaning machine for the sports field and the target garbage is equal to a set distance and the real-time volume of the target garbage is not less than the set volume of the target garbage, the information processing unit sends a secondary control signal to the driving unit.
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| CN113186858B (en) | 2023-04-07 |
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