CN206938471U - Unmanned refuse cleaning vehicle - Google Patents
Unmanned refuse cleaning vehicle Download PDFInfo
- Publication number
- CN206938471U CN206938471U CN201720185840.9U CN201720185840U CN206938471U CN 206938471 U CN206938471 U CN 206938471U CN 201720185840 U CN201720185840 U CN 201720185840U CN 206938471 U CN206938471 U CN 206938471U
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- China
- Prior art keywords
- car body
- solar
- control system
- unmanned
- master control
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The utility model discloses a kind of unmanned refuse cleaning vehicle, vehicle frame including car body, below car body, cleaning agency is provided with below vehicle frame, the dust collection mechanism and collection device being connected with cleaning agency, in addition to EMS, navigation system, master control system system and power-supply system, night vision system are provided with car body；Power-supply system includes lithium battery group and solar battery group, solar battery group includes being arranged at the solar panel and controller for solar above car body, voltage conversion circuit is provided with controller for solar, solar panel connects lithium battery by voltage conversion circuit.The utility model is driven using motor, and pollution-free, zero-emission is unmanned, reduces manpower loss, using night vision system, is adapted in haze sky, night use.
Description
Technical field
A kind of refuse cleaning vehicle is the utility model is related to, is a kind of unmanned refuse cleaning vehicle specifically.
Background technology
Existing sweeper is typically necessary manpower and started, and expends substantial amounts of manpower and cost, in order to reduce human cost
Loss, unmanned refuse cleaning vehicle have begun to occur.But in order to avoid the stream of people, refuse sweeping be typically scheduled at night or
Person's morning is carried out, and night illumination is bad to be needed to open illumination, in addition present haze weather increase, it is also desirable to which one kind being capable of penetrating fog
The night vision system of haze.
The content of the invention
The defects of for prior art, the utility model are provided a kind of unmanned refuse cleaning vehicle, driven using motor,
Pollution-free, zero-emission is unmanned, reduces manpower loss, using night vision system, is adapted in haze sky, night use.
In order to solve the technical problem, the technical solution adopted in the utility model is：A kind of unmanned refuse sweeping
Car, including car body, the vehicle frame below car body, vehicle frame lower section are provided with cleaning agency, are provided with car body and are connected with cleaning agency
Dust collection mechanism and collection device, in addition to electric-control system, electric-control system includes EMS, navigation system, master control system
System system and power-supply system, EMS, navigation system are connected with master control system, power-supply system be EMS,
Navigation system and master control system power supply, in addition to night vision system, night vision system include camera lens, near-infrared video camera, posture and adjusted
Engagement positions and laser illuminator, camera lens are connected with near-infrared video camera, device for adjusting posture connection lens and laser illuminator, closely
Thermal camera, laser illuminator and device for adjusting posture are connected with master control system；Power-supply system includes lithium battery group and the sun
Energy battery pack, solar battery group include being arranged at the solar panel and controller for solar above car body, solar energy
Voltage conversion circuit is provided with controller, solar panel connects lithium battery by voltage conversion circuit.
Unmanned refuse cleaning vehicle described in the utility model, the cleaning agency are 3 grades of Rotary dust collecting cleaning brushes, can be with
Realize the automated cleaning collection work of the various rubbish of dust, pericarp, paper scrap, leaf, cigarette end, polybag etc..
Unmanned refuse cleaning vehicle described in the utility model, the near-infrared video camera use InGaAs faces battle array photoelectricity
Detector, InGaAs detector image-formings wave band are 900nm -1700nm, and the wave band is placed exactly in near-infrared atmospheric window wave band,
The transmission ability to mist, rain, snow etc. can effectively be improved.
Unmanned refuse cleaning vehicle described in the utility model, the laser illuminator illuminate for 1550nm semiconductor lasers
Device.This wave band is that human eye is sightless first, so the problem of being not in Facing Movement interference；Secondly, with commonly using laser
Difference, this laser is in human eye safe waveband, to human eye not damaged；The imaging of 3rd, InGaAs detector is in this laser
Very sensitive under light filling, imaging effect is preferable, is no more than using 1w lasers with regard to that can reach more satisfactory effect, Overall Power Consumption
10w, it can meet that in-car electric power system uses.
Unmanned refuse cleaning vehicle described in the utility model, the EMS include radar probe, traffic lights
Inductor, sonac, voltage collector, temperature sensor, steering motor encoder, left and right turns encoder.Environment measuring
System detectio obstacle information, traffic lights, motor rotation information etc., and by the information transmission of detection to master control system, master control system
System controls refuse cleaning vehicle avoiding obstacles and traffic lights according to information, according to setting purging zone normal operation.
The beneficial effects of the utility model：The utility model is driven using motor, and the supply of electric power of motor comes from lithium electricity
Pond or solar cell, pollution-free, no discharge, save the energy；It is unmanned, road obstacle is detected using radar probe,
Traffic lights are identified using traffic lights sensor, and gather the voltage in refuse cleaning vehicle running and motor rotation information,
Ensure the Stability and veracity of vehicle operation；Provided with night vision system, ensure refuse cleaning vehicle in energy such as night, haze, sleet
The relatively low weather stable operation of degree of opinion, and night-vision illumination system is to eye-safe, without interference with Facing Movement vehicle.
Brief description of the drawings
Fig. 1 is structural representation of the present utility model；
Fig. 2 is electric control schematic diagram of the present utility model；
In figure:1st, car body, 2, vehicle frame, 3, dust collection mechanism, 4, cleaning agency, 5, collecting mechanism, 6, ultrasonic sensor, 7,
Radar probe, 8, solar panel, 9, traffic lights sensor, 10, radar probe, 11, laser illuminator, 12, camera lens.
Embodiment
The utility model is further described with specific embodiment below in conjunction with the accompanying drawings.
As shown in figure 1, a kind of unmanned refuse cleaning vehicle, including car body 1, the vehicle frame 2 positioned at the lower section of car body 1, vehicle frame 2
Lower section is provided with cleaning agency 4, and the dust collection mechanism 3 and collection device 5 being connected with cleaning agency 4, collection device 5 are provided with car body 1
It is rotatablely connected with car body 1, collection device 5 is connected with rubbish toppling over motor, and the output shaft of motor is connected by transfer device to be collected
The lower section of device 5, when rubbish is full in collection device, rubbish toppling over motor rotates, by rubbish down to appointed place.
In the present embodiment, the cleaning agency 4 is 3 grades of Rotary dust collecting cleaning brushes, it is possible to achieve dust, pericarp, paper scrap, tree
The automated cleaning collection work of the various rubbish of leaf, cigarette end, polybag etc..
As shown in Fig. 2 being electric control schematic diagram of the present utility model, the electric-control system includes EMS, navigation system
System, master control system and power-supply system, EMS, navigation system are connected with master control system, and master control system connection rubbish inclines
Motor, cleaning motor, steering motor and motor, EMS detection peripheral obstacle information, traffic lights information
With car body operation information, and by the information transfer of detection to master control system, master control system control rubbish toppling over motor, electricity is cleaned
The work of machine, steering motor, motor, ensureing garbage truck normal work, navigation system provides precise positioning and direction is guided,
Master control system control refuse cleaning vehicle is correct, stable operation, and power-supply system is EMS, navigation system and master control system
System power supply.
In the present embodiment, EMS includes radar probe, traffic lights inductor, ultrasonic sensor, voltage and adopted
Storage, temperature sensor, steering motor encoder and left and right turns encoder, radar probe are used for the barrier letter for detecting surrounding
Breath, radar probe have 6, two are provided with front of car body, car body rear is provided with two, and car body left side and right side are respectively equipped with 1；
Traffic lights sensor 9 is used to detect traffic lights information, is arranged in front of car body, and traffic lights sensor can also use video camera；
Ultrasonic sensor 6 is used for the height for detecting rubbish in refuse collector, is installed on the top of refuse collector 5, works as receipts
When rubbish reaches setting height in acquisition means 5, ultrasonic sensor 6 triggers, and passes the signal along to master control system, master control system control
Rubbish toppling over motor processed rotates, by rubbish down to appointed place；Voltage collector and temperature sensor are used for the electricity for detecting power supply
Pressure and temperature, when brownout or too high temperature, control system sends alarm, and prompting is charged or is stopped；
Steering motor encoder and left and right turns encoder are used for the real time kinematics information for detecting steering motor and left and right wheels, make master control system
Control the operation of refuse cleaning vehicle in real time according to the state of steering motor and left and right wheels.
In order that refuse cleaning vehicle normal work in the case where the energy visibility such as night, haze, sleet is relatively low, increases night
Viewing system, night vision system include camera lens 12, near-infrared video camera, device for adjusting posture and laser illuminator 11, camera lens 12 with it is near
Thermal camera is connected, device for adjusting posture connection lens and laser illuminator 11, near-infrared video camera, laser illuminator and appearance
State adjusting apparatus is connected with master control system.Camera lens and the near-infrared video camera is imaged for road ahead, and laser illuminator is used
Illumination in the vehicle front visual field, device for adjusting posture driving camera lens and laser illuminator, adjust posture in real time, ensure front road
The road visual field is in the visual field of camera lens and laser illuminator.
In the present embodiment, the near-infrared video camera uses InGaAs faces battle array photodetector, InGaAs detector image-formings
Wave band is 900nm -1700nm, and the wave band is placed exactly in near-infrared atmospheric window wave band, can effectively improve to mist, rain, snow
Deng transmission ability.
The laser illuminator is 1550nm semiconductor laser lightings.This wave band is that human eye is sightless first, so
The problem of being not in Facing Movement interference；Secondly, different with conventional laser, this laser is in human eye safe waveband, right
Human eye not damaged；The imaging of 3rd, InGaAs detector is very sensitive under this laser light filling, and imaging effect is preferable, uses
1w lasers are no more than 10w with regard to that can reach more satisfactory effect, Overall Power Consumption, can meet that in-car electric power system uses.
The device for adjusting posture can control dimensional turntable to be accurately positioned camera lens and laser photograph by planar stepping motor
The position of funerary objects, adjust 0 ~ 180 ° of elevation coverage, 0 ~ 180 ° of azimuth.
The present embodiment night vision system is irradiated reflected short-wave infrared when working by day, using sunshine and is imaged；
During nighttime imaging, laser illuminator sends illumination light, after target reflects, is imaged.
In order to save the energy, the unmanned refuse cleaning vehicle of the present embodiment is driven using motor, and further, motor is by lithium
Battery pack and solar battery group power supply.Solar battery group includes being arranged at solar panel, the solar energy above car body
Controller, controller for solar is interior to be provided with voltage conversion circuit, and solar panel connects lithium battery by controller for solar,
Lithium battery is additionally provided with the charging inlet electrically connected with city simultaneously.It is lithium cell charging by solar panel, makes full use of too
Positive energy；Lithium battery is additionally provided with the charging inlet electrically connected with city simultaneously, in solar energy deficiency by commercial power charged, guarantee vehicle
Normal operation.
Described above is only general principle of the present utility model and preferred embodiment, and those skilled in the art are according to this reality
With the new improvement and replacement made, belong to the scope of protection of the utility model.
Claims (5)
1. a kind of unmanned refuse cleaning vehicle, including car body, the vehicle frame below car body, vehicle frame lower section is provided with scavenging machine
Structure, car body is interior to be provided with the dust collection mechanism and collection device being connected with cleaning agency, in addition to electric-control system, electric-control system include ring
Border detecting system, navigation system, master control system system and power-supply system, EMS, navigation system and master control system phase
Even, power-supply system is EMS, navigation system and master control system power supply, it is characterised in that：Also include night vision system,
Night vision system includes camera lens, near-infrared video camera, device for adjusting posture and laser illuminator, camera lens and near-infrared video camera phase
Even, device for adjusting posture connection lens and laser illuminator, near-infrared video camera, laser illuminator and device for adjusting posture and master
Control system is connected；Power-supply system includes lithium battery group and solar battery group, and solar battery group includes being arranged above car body
Solar panel and controller for solar, is provided with voltage conversion circuit in controller for solar, solar panel leads to
Overvoltage change-over circuit connects lithium battery.
2. unmanned refuse cleaning vehicle according to claim 1, it is characterised in that：The cleaning agency is 3 grades of rotations
Dedusting cleaning brush.
3. unmanned refuse cleaning vehicle according to claim 1, it is characterised in that：The near-infrared video camera uses
InGaAs faces battle array photodetector.
4. unmanned refuse cleaning vehicle according to claim 1, it is characterised in that：The laser illuminator is 1550nm
Semiconductor laser lighting.
5. according to the unmanned refuse cleaning vehicle described in claim any one of 1-4, it is characterised in that：The environment measuring system
System include radar probe, traffic lights inductor, sonac, voltage collector, temperature sensor, steering motor encoder,
Left and right turns encoder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720185840.9U CN206938471U (en) | 2017-02-28 | 2017-02-28 | Unmanned refuse cleaning vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720185840.9U CN206938471U (en) | 2017-02-28 | 2017-02-28 | Unmanned refuse cleaning vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206938471U true CN206938471U (en) | 2018-01-30 |
Family
ID=61357722
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720185840.9U Expired - Fee Related CN206938471U (en) | 2017-02-28 | 2017-02-28 | Unmanned refuse cleaning vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206938471U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108749930A (en) * | 2018-06-05 | 2018-11-06 | 北京智行者科技有限公司 | A kind of body assembly |
| CN109024417A (en) * | 2018-07-24 | 2018-12-18 | 长安大学 | A kind of Intelligent road sweeper and its roadway pollutants recognition methods and control method |
| CN109137801A (en) * | 2018-08-22 | 2019-01-04 | 佛山铮荣科技有限公司 | A kind of urban road cleaning device |
| CN110370875A (en) * | 2018-11-08 | 2019-10-25 | 北京京东尚科信息技术有限公司 | Unmanned dispensing machine people chassis assembly and unmanned dispensing machine people |
| CN111962436A (en) * | 2020-08-26 | 2020-11-20 | 吉林大学 | Unmanned automatic planning environment-friendly sweeper for non-motor vehicle lane and sweeping method |
| CN113106910A (en) * | 2021-04-06 | 2021-07-13 | 中国汽车技术研究中心有限公司 | Unmanned sanitation vehicle |
| CN113818386A (en) * | 2021-11-24 | 2021-12-21 | 徐州徐工环境技术有限公司 | Garbage self-dumping road sweeper and garbage self-dumping method |
-
2017
- 2017-02-28 CN CN201720185840.9U patent/CN206938471U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108749930A (en) * | 2018-06-05 | 2018-11-06 | 北京智行者科技有限公司 | A kind of body assembly |
| CN109024417A (en) * | 2018-07-24 | 2018-12-18 | 长安大学 | A kind of Intelligent road sweeper and its roadway pollutants recognition methods and control method |
| CN109137801A (en) * | 2018-08-22 | 2019-01-04 | 佛山铮荣科技有限公司 | A kind of urban road cleaning device |
| CN109137801B (en) * | 2018-08-22 | 2020-04-07 | 萧县亿达信息科技有限公司 | Urban road cleaning device |
| CN110370875A (en) * | 2018-11-08 | 2019-10-25 | 北京京东尚科信息技术有限公司 | Unmanned dispensing machine people chassis assembly and unmanned dispensing machine people |
| CN111962436A (en) * | 2020-08-26 | 2020-11-20 | 吉林大学 | Unmanned automatic planning environment-friendly sweeper for non-motor vehicle lane and sweeping method |
| CN111962436B (en) * | 2020-08-26 | 2021-05-07 | 吉林大学 | Unmanned automatic planning environment-friendly sweeper for non-motor vehicle lane and sweeping method |
| CN113106910A (en) * | 2021-04-06 | 2021-07-13 | 中国汽车技术研究中心有限公司 | Unmanned sanitation vehicle |
| CN113818386A (en) * | 2021-11-24 | 2021-12-21 | 徐州徐工环境技术有限公司 | Garbage self-dumping road sweeper and garbage self-dumping method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180130 Termination date: 20200228 |
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| CF01 | Termination of patent right due to non-payment of annual fee |