CN212009387U

CN212009387U - Remote control road sweeper with automatic function

Info

Publication number: CN212009387U
Application number: CN202021235715.2U
Authority: CN
Inventors: 赵伟; 蒋旭东; 王兴俊; 夏敏
Original assignee: Kangjie Technology Group Co ltd
Current assignee: Kangjie Technology Group Co ltd
Priority date: 2020-06-29
Filing date: 2020-06-29
Publication date: 2020-11-24
Anticipated expiration: 2030-06-29

Abstract

The utility model discloses a remote control road sweeper with automatic function, which comprises a sweeper and a remote controller for controlling the sweeper, wherein the sweeper is provided with a power driving system and a steering system, the bottoms of the two sides of the front end of the sweeper are also provided with automatic edge-finding sweeping mechanisms, and the sweeper is also internally provided with a master controller; the utility model has reasonable design and convenient operation; the automatic cleaning and remote control cleaning of the unmanned sweeper can be realized, different road conditions can be met, particularly, when the remote control cleaning is carried out, complex road conditions can be more quickly and effectively passed through, and accidents caused by the fact that the unmanned sweeper cannot identify the road conditions are avoided; and the unmanned sweeper can adapt to the automatic edge searching and cleaning function in the automatic cleaning mode.

Description

Remote control road sweeper with automatic function

Technical Field

The utility model relates to a motor sweeper technical field especially relates to a take remote control road sweeper of automatic function.

Background

The traditional sanitation mode is basically the following two modes: 1. the sanitation workers manually clean garbage in a community or a street; 2. the sanitation cleaning vehicle is driven manually to clean garbage in a residential area or a street. Because the sanitation system depends on manpower seriously and sanitation workers are insufficient, the current sanitation workers need overload to finish the cleaning workload every day, and meanwhile, because the sanitation workers often work at the roadside, certain hidden dangers are brought to the life safety of the sanitation workers; therefore, in order to reduce the operation and maintenance cost of sanitation, reduce the working pressure of sanitation workers and guarantee the life safety of the sanitation workers, the intelligent unmanned sweeper is popularized in the sanitation industry, so that the sanitation workers can enjoy the convenience and the welfare brought to the sanitation workers by unmanned driving technology and intelligent sanitation.

At present, an unmanned sweeper is an application of unmanned technology, is also called as a wheel type mobile sweeping robot, and mainly depends on a computer system, a sensing system, a power system and the like in the sweeper to achieve the purpose of unmanned sweeping. The vehicle-mounted sensor is used for sensing the surrounding environment, and the steering and speed of the vehicle are controlled according to the road, garbage, position and obstacle information obtained by sensing to complete the unmanned function. However, for some complex road conditions, the unmanned sweeper is affected by the environment, and the automatic sweeping function is difficult to be accurately completed, so that the use of the unmanned sweeper is limited; when the motor sweeper is cleaning along the curb stone is automatic, in order to prevent motor sweeper and curb stone collision and damage, often will avoid the curb stone, prior art mainly judges through image and ultrasonic wave and the curb stone between the distance to make the motor sweeper clean along the walking of curb stone, these modes all have certain defect.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve the technical problem that a take remote control road sweeper of automatic function that convenient operation, can switch between automatic mode and the manual mode of cleaning is provided.

In order to solve the technical problem, the technical scheme of the utility model is that: the remote control road sweeper with the automatic function comprises a sweeper and a remote controller for controlling the sweeper, wherein the sweeper is provided with a power driving system and a steering system, the bottoms of two sides of the front end of the sweeper are also provided with automatic edge searching and cleaning mechanisms, a master controller is further arranged in the sweeper, an information processing module, a power control module, a steering control module and a cleaning control module are arranged in the master controller, the power control module is connected with the power driving system, the steering control module is connected with the steering system, and the automatic edge searching and cleaning mechanisms are connected with the cleaning control module; the remote controller is provided with a mode switching button, a power control button, a steering control button and a cleaning control button, the power control button is connected with the power control module, the steering control button is connected with the steering control module, and the cleaning control button is connected with the cleaning control module. As a preferred technical scheme, the automatic edge finding and cleaning mechanism comprises a front brush device and an edge brush device, the front brush device is arranged in front of the edge brush device and extends outwards towards the side part of the sweeper, the front brush device comprises a front brush fixing frame, a front brush swing arm capable of horizontally swinging towards the rear of the sweeper is installed on the outer side of the front brush fixing frame, and a front brush limiting plate for preventing the front brush swing arm from horizontally swinging towards the front of the sweeper is arranged at the front end of the front brush fixing frame; a front brush rotating shaft is fixedly installed at the inner end of the front brush swinging arm, the front brush rotating shaft is rotatably installed at the outer end of the front brush fixing frame, an angle sensor used for collecting the backward swinging angle of the front brush swinging arm is installed at the top end of the front brush rotating shaft, which extends out of the front brush fixing frame, a swinging arm resetting torsion spring used for driving the front brush swinging arm to horizontally swing from the back to the front so that the front brush swinging arm is restored to the original position is arranged between the front brush swinging arm and the front brush fixing frame, and the swinging arm resetting torsion spring is sleeved on the front brush rotating shaft; the outer end of the front brush swing arm is provided with a front brush assembly, and the lower part of the front brush assembly is covered with an edge searching device used for contacting or colliding with a road shoulder stone; the bottom of the sweeper is also provided with a sweeping brush lifting device for driving the front brush device and the side brush device to simultaneously ascend or descend; the front brush assembly, the side brush device and the sweeping brush lifting device are all connected to the sweeping control module; the angle sensor is connected with the information processing module.

According to the preferable technical scheme, the front brush assembly comprises a front sweeping disc motor fixedly mounted at the outer end of a front brush swing arm, a front sweeping disc is fixedly mounted on a power shaft of the front sweeping disc motor through a speed reducer, a front sweeping brush with a conical structure is mounted at the bottom end of the front sweeping disc, and the front sweeping disc motor is connected to the sweeping control module.

As a preferable technical solution, the edge searching device includes an edge searching wheel covered outside the front brush sweeping disc, a rotation axis of the edge searching wheel coincides with a rotation axis of the front brush sweeping disc, the edge searching wheel is disposed in the middle of the front brush sweeping disc, and the edge searching wheel is rotatably mounted on the front brush sweeping disc through a wheel edge frame.

As a preferred technical scheme, the side brush device comprises a side brush fixing frame, and a side brush assembly is arranged at the end part of the side brush fixing frame; the side brush assembly comprises a side brush disc motor fixedly installed at the rear end of a side brush fixing frame, a side brush disc is fixedly installed on a power shaft of the side brush disc motor through a speed reducer, a side brush of a conical structure is installed at the bottom end of the side brush disc, and the side brush disc motor is connected to the cleaning control module.

As a preferred technical scheme, the sweeper lifting device comprises a parallel four-bar mechanism, the top end of the parallel four-bar mechanism is fixedly mounted on the bottom end of the sweeper, the front brush device and the side brush device are respectively fixed at the bottom end of the parallel four-bar mechanism, and a lifting control device for controlling the parallel four-bar mechanism to ascend or descend is further arranged between the bottom end of the sweeper and the parallel four-bar mechanism; the lifting control device comprises an electric push rod fixed at the bottom end of the sweeper, a lifting rope is connected between the bottom end of the parallel four-bar mechanism and the electric push rod in a winding mode through a pulley, two ends of the lifting rope are respectively connected to the parallel four-bar mechanism and the electric push rod, and the electric push rod is connected to the sweeping control module.

By adopting the technical scheme, the remote control road sweeper with the automatic function comprises a sweeper and a remote controller for controlling the sweeper, wherein the sweeper is provided with a power driving system and a steering system, the bottoms of the two sides of the front end of the sweeper are also provided with automatic edge searching and cleaning mechanisms, a master controller is further arranged in the sweeper, an information processing module, a power control module, a steering control module and a cleaning control module are arranged in the master controller, the power control module is connected with the power driving system, the steering control module is connected with the steering system, and the automatic edge searching and cleaning mechanisms are connected with the cleaning control module; the remote controller is provided with a mode switching button, a power control button, a steering control button and a cleaning control button, the power control button is connected with the power control module, the steering control button is connected with the steering control module, and the cleaning control button is connected with the cleaning control module; the utility model has the advantages that: the utility model has reasonable design and convenient operation; the automatic cleaning and remote control cleaning of the unmanned sweeper can be realized, different road conditions can be met, particularly, when the remote control cleaning is carried out, complex road conditions can be more quickly and effectively passed through, and accidents caused by the fact that the unmanned sweeper cannot identify the road conditions are avoided; and can let unmanned motor sweeper adapt to and seek limit cleaning function automatically under the automatic mode of cleaning, greatly improved the safety mechanism of unmanned motor sweeper, contributed new safety guarantee for unmanned motor sweeper puts to the market.

Drawings

The drawings are only intended to illustrate and explain the present invention and do not limit the scope of the invention. Wherein:

fig. 1 is a schematic structural diagram of an embodiment of the present invention;

FIG. 2 is a schematic structural view of an automatic edge finding and cleaning mechanism according to an embodiment of the present invention;

fig. 3 is a connection block diagram of the present invention;

in the figure: 100-a sweeper; 101-a power drive system; 102-a steering system; 104-automatic edge searching and cleaning mechanism; 105-a master controller; 200-a remote controller; 300-a front brush device; 301-front brush fixing frame; 302-front brush swing arm; 303-angle sensor; 304-swing arm return torsion spring; 305-front sweeping disc motor; 306-front brush sweeping disc; 307-front sweeping; 308-edge seeking wheel; 309-parallelogram linkage; 310-an electric push rod; 311-a lift cord; 400-side brush device; 401-side brush fixing frame; 402-edge-sweeping disk motor; 403-brushing the sweeping disc at the same time; 404-side brush.

Detailed Description

The invention is further explained below with reference to the drawings and examples. In the following detailed description, certain exemplary embodiments of the present invention have been described by way of illustration only. Needless to say, a person skilled in the art will recognize that the described embodiments can be modified in various different ways without departing from the spirit and scope of the invention. Accordingly, the drawings and description are illustrative in nature and not intended to limit the scope of the claims.

As shown in fig. 1 to 3, the remote control road sweeper with automatic function includes a sweeper 100 and a remote controller 200 for controlling the sweeper 100, wherein the sweeper 100 is provided with a power driving system 101 and a steering system 102, and the sweeper is provided with a plurality of different systems, and only the system and the control module which are relevant to the scheme and are beneficial to describing the principle of the scheme are described herein; the front end both sides bottom of motor sweeper 100 still is provided with automatic limit of seeking and cleans mechanism 104, be provided with total controller 105 in the motor sweeper 100, still include information processing module, power control module, steering control module, clean control module in total controller 105, power control module with power drive system 101 is connected, steering control module with steering system 102 is connected, automatic limit of seeking clean the mechanism with clean control module and connect. The sweeper 100 is also provided with sensors around, and transmits monitored sensing signals to the information processing module, and then controls the power control module to make signals such as start, stop, advance, and the like, controls the steering control module to make steering signals, controls the sweeping control module to make sweeping signals, and the like. The power driving system 101 and the steering system 102 are both in the prior art, and the principles of the power control module and the steering control module for respectively controlling the power driving system 101 and the steering system 102 are both in the prior art and are not described herein again.

The remote controller 200 is wirelessly connected with the master controller 105 through a signal transmitting module and a signal receiving module. Be provided with mode switch button, power control button, steering control button, clean control button on the remote controller 200, power control button with power control module connects, steering control button is connected with steering control module, clean control button and clean control module and connect. And the mode switching button is used for controlling the master controller to realize the switching between the automatic cleaning mode and the remote control cleaning mode.

The utility model discloses a theory of operation does:

the default working mode of the device is an automatic cleaning mode, at this time, the master controller 105 is in an automatic control state, the judgment is made through the information processing module according to data and a sensor prestored in the master controller 105, and then the power driving system 101 is automatically controlled through the power control module, the steering system 102 is automatically controlled through the steering control module, and the automatic edge searching and cleaning mechanism 104 is automatically controlled through the cleaning control module, so that the sweeper 100 can be automatically cleaned in the mode;

when an operator switches the automatic cleaning mode to the remote control cleaning mode through the remote controller 200, the remote controller 200 can be used for remotely controlling the master controller 105 at the moment, the operator observes according to actual road conditions and then operates the remote controller 200, the master controller 105 is in a manual control state at the moment, and the remote controller 200 can directly operate the power driving system 101 through the power control button, operate the steering system 102 through the steering control button and operate the automatic edge searching and cleaning mechanism 104 through the cleaning control button, so that the sweeper 100 is controlled to clean according to instructions of the operator.

In this embodiment, the principle of automatic clearance of automatic mode of cleaning and traditional unmanned motor sweeper 100 is the same, and the difference lies in, the utility model provides an automatic seek limit and clean mechanism 104 and the mechanism of cleaning among the prior art differently, the utility model discloses an automatic seek limit and clean mechanism 104 has the function that can walk along the curb stone automatically and clean.

Referring to fig. 2, the automatic edge finding and cleaning mechanism 104 includes a front brush device 300 and an edge brush device 400, and the cleaning height of the front brush device is the same as that of the edge brush device; the front brush device 300 is arranged in front of the side brush device 400 and extends outward toward the side of the sweeper 100, the front brush device 300 includes a front brush fixing frame 301, a front brush swing arm 302 capable of horizontally swinging toward the rear of the sweeper 100 is mounted on the outer side of the front brush fixing frame 301, a front brush limit plate for preventing the front brush swing arm 302 from horizontally swinging toward the front of the sweeper 100 is arranged at the front end of the front brush fixing frame 301, the front brush limit plate is located at the front end of the front brush fixing frame 301 and is arranged in front of the front brush swing arm 302, when the front brush swing arm 302 is driven by a swing arm reset torsion spring to swing forward and contact with the front brush limit plate, forward movement is not continued, and the front brush swing arm 302 is finally in this state; a front brush rotating shaft is fixedly installed at the inner end of the front brush swing arm 302, the front brush rotating shaft is rotatably installed at the outer end of the front brush fixing frame 301, an angle sensor 303 for acquiring the backward swinging angle of the front brush swing arm 302 is installed at the top end of the front brush rotating shaft, which extends out of the front brush fixing frame 301, a swing arm reset torsion spring 304 for driving the front brush swing arm 302 to horizontally swing from back to front so that the front brush swing arm 302 returns to the original position is arranged between the front brush swing arm 302 and the front brush fixing frame 301, and the swing arm reset torsion spring 304 is sleeved on the front brush rotating shaft; the outer end of the front brush swing arm 302 is provided with a front brush assembly, and the lower part of the front brush assembly is covered with an edge searching device used for contacting or colliding with a road shoulder stone; the bottom of the sweeper 100 is also provided with a sweeper lifting device for driving the front brush device 300 and the side brush device 400 to simultaneously lift or descend; the front brush assembly, the side brush device and the sweeping brush lifting device are all connected to the sweeping control module; the angle sensor is connected with the information processing module.

The height of the edge searching device corresponds to that of the shoulder stone, and when the front brush assembly descends to the ground and is in a cleaning state, the height of the edge searching device is lower than that of the shoulder stone, so that the edge searching device can be ensured to firstly contact or collide with the shoulder stone when the sweeper 100 is too close to the shoulder stone; when the sweeper 100 travels along the shoulder stone and the edge searching device is not in contact with the shoulder stone, the sweeper 100 rotates towards the direction of the shoulder stone to actively shorten the distance between the sweeper 100 and the shoulder stone, and the sweeper 100 gradually and slowly turns without transition turning; when the sweeper 100 adjusts the distance between the edge searching device and the road shoulder stone in the direction of the road shoulder stone, when the edge searching device collides with the road shoulder stone, the force between the edge searching device and the road shoulder stone is large, and at the moment, when the sweeper 100 continues to move forwards, the road shoulder stone gives an acting force to the front brush swing arm 302, so that the front brush swing arm 302 swings backwards by overcoming the acting force of the swing arm reset torsion spring 304, at the moment, the angle sensor 303 acquires a steering signal of the front brush swing arm 302 and transmits the steering signal to the sweeper 100, at the moment, the sweeper 100 responds and steers towards the direction far away from the road shoulder stone to increase the distance between the edge searching device and the road shoulder stone, the steering adjustment amplitude of the sweeper 100 is small and gradually rotates outwards until the angle sensor 303 acquires that the swinging angle value of the front brush swing arm 302 is within a range, the turning signal of the front brush swing arm 302 is not transmitted to the sweeper 100 any more, at this time, the edge searching device is just in a contact state with the shoulder stone, at this time, the sweeper 100 does not rotate any more and keeps walking and sweeping in such a state, and the distance between the edge searching device and the shoulder stone is continuously adjusted until the turning signal of the front brush swing arm 302 is transmitted again by the angle sensor 303; in the process of adjusting the direction of the sweeper 100 to the side far away from the shoulder stone, the distance between the edge finding device and the shoulder stone is increased, the acting force of the shoulder stone on the front brush swing arm 302 is smaller, and the swing arm reset torsion spring 304 can force the front brush swing arm 302 to swing forwards to reset.

The front brush assembly comprises a front sweeping disc motor 305 fixedly mounted at the outer end of the front brush swing arm 302, a front sweeping disc 306 is fixedly mounted on a power shaft of the front sweeping disc motor 305 through a speed reducer, a front sweeping brush 307 with a conical structure is mounted at the bottom end of the front sweeping disc 306, and the front sweeping disc motor 305 is connected to the sweeping control module. When the front sweeping disk motor 305 works, the front sweeping disk 306 is driven to rotate, so that the front sweeping brush 307 is driven to rotate, and the front brush assembly is in the prior art and belongs to a sweeping brush structure in the traditional sense. The rotation of the front sweep tray motor 305 is controlled by the sweep control module.

The angle sensor with preceding brush pivot cooperation is used for measuring the turned angle of preceding brush pivot, angle sensor is prior art, and its concrete structure and theory of operation are no longer repeated here.

The outer end of the front brush fixing frame is provided with a mounting hole, and the front brush rotating shaft is vertically arranged and rotatably mounted in the mounting hole. The swing arm reset torsion spring is a torsion spring, the torsion spring is sleeved outside the front brush rotating shaft, the top end of the torsion spring is positioned through a baffle, one end of the torsion spring is abutted and fixed on the front brush swing arm, the other end of the torsion spring is abutted and fixed on the front brush fixing frame, and the front brush swing arm is pulled back to the initial position through the self characteristic; the torsion spring is sleeved outside the front brush rotating shaft, and the front brush swing arm is guaranteed to rotate around the axis of the front brush rotating shaft.

The edge searching device comprises an edge searching wheel 308 covered outside the front brush sweeping disc 306, the rotation axis of the edge searching wheel 308 is coincident with the rotation axis of the front brush sweeping disc 306, the edge searching wheel 308 is arranged in the middle of the front brush sweeping disc 306, and the edge searching wheel 308 is rotatably mounted on the front brush sweeping disc 306 through a wheel edge frame. Because the edge seeking wheel 308 can rotate around the front brush sweeping disc 306, when the edge seeking wheel 308 is in contact with the shoulder stone, the edge seeking wheel 308 rotates under the action of friction force, so that the friction between the edge seeking wheel 308 and the shoulder stone is relieved and eliminated, and at the moment, the contact between the edge seeking wheel 308 and the shoulder stone is soft contact, so that the running resistance of the sweeper 100 cannot be increased; when the edge-seeking wheel 308 collides with a curb, the resistance of the curb to the edge-seeking wheel 308 cannot be eliminated by the rotation of the edge-seeking wheel 308, and the edge-seeking wheel 308 forces the front brush swing arm 302 to rotate backwards, so as to provide a steering signal for the sweeper 100.

The side brush device 400 comprises a side brush fixing frame 401, and a side brush assembly is arranged at the end part of the side brush fixing frame 401; the side brush assembly comprises a side sweeping disc motor 402 fixedly installed at the rear end of a side brush fixing frame 401, a side sweeping disc 403 is fixedly installed on a power shaft of the side sweeping disc motor 402 through a speed reducer, a side sweeping brush 404 of a conical structure is installed at the bottom end of the side sweeping disc 403, and the side sweeping disc motor 402 is connected to the sweeping control module. The rotation of the edge-sweeping pan motor 402 is controlled by the sweeping control module.

The sweeper lifting device comprises a parallel four-bar mechanism 309, the top end of the parallel four-bar mechanism 309 is fixedly installed at the bottom end of the sweeper 100, the front brush device 300 and the side brush device 400 are respectively fixed at the bottom end of the parallel four-bar mechanism 309, and a lifting control device for controlling the parallel four-bar mechanism 309 to ascend or descend is further arranged between the bottom end of the sweeper 100 and the parallel four-bar mechanism 309; the lifting control device comprises an electric push rod 310 fixed at the bottom end of the sweeper 100, a lifting rope 311 is wound and connected between the bottom end of the parallel four-bar mechanism 309 and the electric push rod 310 through a pulley, two ends of the lifting rope 311 are respectively connected to the parallel four-bar mechanism 309 and the electric push rod 310, and the electric push rod 310 is connected to the sweeping control module. The parallelogram 309 comprises two vertical rods arranged oppositely, two parallel adjusting rods with the same length are hinged between the two vertical rods, the top end of one vertical rod is fixed at the bottom of the sweeper 100, and the front brush device 300 and the side brush device 400 are fixed at the bottom end of the other vertical rod. The lifting rope 311 passes through one of the vertical rods, and the upper adjusting rod is fixed on the lower adjusting rod. When the telescopic end of the electric push rod 310 retracts, one end of the lifting rope 311 is driven to move backwards, and the lifting rope 311 pulls the adjusting rod to move upwards, so that the other vertical rod, the front brush device 300 mounted on the vertical rod and the side brush device 400 move upwards, and the heights of the front brush device 300 and the side brush device 400 are increased; when the telescopic end of the electric push rod 310 extends, the front brush device 300 and the side brush device 400 move downwards to a cleaning height. The extension and retraction of the electric push rod 310 is controlled by the cleaning control module.

The angle sensor 303 is used for acquiring the angle of the front brush swing arm 302 swinging backwards and horizontally in real time, transmitting the angle value to the information processing module, and making a steering signal which rotates close to one side of the shoulder stone, a steering signal which rotates away from one side of the shoulder stone or a signal which does not rotate to the steering control module by the information processing module; an angle threshold is preset in the information processing module, and the angle value received by the angle sensor 303 is compared with the preset angle threshold for judgment. In this embodiment, the angle threshold is an interval value, and the minimum value of the angle threshold is greater than 0, so that when the front brush swing arm 302 does not contact the shoulder stone, the angle value acquired by the angle sensor 303 is 0, and at this time, the sweeper 100 needs to be controlled to approach the shoulder stone, so that the minimum value of the angle threshold should be greater than 0, and the range of the interval is small, so that the edge seeking wheel 308 contacts the shoulder stone and is kept in a small interval range; when the angle value is larger than the maximum value of the preset angle threshold value, the information processing module transmits information to the steering control module, and the steering control module is controlled to enable the sweeper 100 to steer to the side far away from the shoulder stone, so that the distance between the sweeper and the shoulder stone is increased; when the angle value is smaller than the minimum value of the preset angle threshold value, the information processing module transmits information to the steering control module, and the steering control module is controlled to enable the sweeper 100 to steer towards one side of the shoulder stone, so that the distance between the sweeper and the shoulder stone is shortened; when the angle value is within the interval value of the angle threshold, the information processing module transmits a signal to the steering control module to control the steering control module to stop acting, and at this time, the sweeper 100 continues to move along the direction.

The automatic edge finding principle of the embodiment is as follows:

when the sweeper 100 travels along the road shoulder stone, and the edge searching device is not in contact with the road shoulder stone, the front brush swing arm 302 does not swing, that is, the signal acquired by the angle sensor 303 is 0, and when the angle value is smaller than the minimum value of a preset angle threshold, the information processing module transmits information to the steering control module, controls the steering control module to enable the sweeper 100 to steer towards one side of the road shoulder stone, and actively shortens the distance between the sweeper 100 and the road shoulder stone;

when the edge searching wheel 308 suddenly collides with a shoulder stone, the front brush swing arm 302 suddenly swings horizontally backwards, that is, the angle value of the front brush swing arm 302 collected by the angle sensor 303 is no longer 0, which represents that the edge searching wheel 308 is in contact with the shoulder stone at this time, when the angle value collected by the angle sensor 303 suddenly increases from 0 to a certain value, and the angle value is transmitted to the signal processing module, and when the angle value is greater than the maximum value of a preset angle threshold, the signal processing module transmits information to the steering control module, and controls the steering control module to steer the sweeper 100 to the side far away from the shoulder stone, so as to increase the distance between the sweeper and the shoulder stone; when the steering control module controls the sweeper 100 to steer, the sweeper 100 walks while steering, the steering range of the sweeper 100 is very small each time, the sweeper is gradually steered outwards, the sweeper does not quickly steer and get away from an obstacle like a driver in real life, but slowly walks closely to a road shoulder stone, and when the sweeper walks closely to the road shoulder stone, the angle sensor 303 also collects the swing angle of the front brush swing arm 302 in real time; when the angle value is within the interval value of the angle threshold value, the signal processing module transmits a signal to the steering control module to control the steering control module to stop acting, and at the moment, the sweeper 100 continues to move along the direction;

the utility model adds an automatic edge searching mode on the basis of the automatic cleaning mode of the existing sweeper 100, and the automatic edge searching cleaning mechanism 104 starts to act after the sweeper 100 is switched to the automatic cleaning mode; when the sweeper 100 is in the remote control cleaning mode, the edge cleaning operation of the sweeper 100 is also observed by an operator and controlled by the remote controller 200, at this time, the angle sensor 303 does not send a steering signal, at this time, the automatic cleaning and lifting functions of the front brush device and the side brush device are normal, but the automatic edge searching mechanism does not have an edge searching function.

In addition, the utility model can realize the anti-collision function by the advanced contact of the edge searching device with the curbstone, thereby ensuring the use safety of the sweeper 100; and utilize angle sensor 303 to learn the direction signal of motor sweeper 100 and adjust, realized motor sweeper 100's automatic limit function of seeking for motor sweeper 100 can clean along the curb root all the time, cleans effectually.

The utility model has reasonable design and convenient operation; the automatic cleaning and remote control cleaning of the unmanned sweeper 100 can be realized, different road conditions can be met, particularly, when the remote control cleaning is carried out, complex road conditions can be more quickly and effectively passed through, and accidents caused by the fact that the unmanned sweeper 100 cannot recognize the road conditions are avoided; and in the automatic cleaning mode, the unmanned cleaning vehicle 100 can adapt to the automatic edge finding cleaning function, so that the safety mechanism of the unmanned cleaning vehicle 100 is greatly improved, and a new safety guarantee is contributed to market promotion of the unmanned cleaning vehicle 100.

The basic principles, main features and advantages of the present invention have been shown and described above. It will be understood by those skilled in the art that the present invention is not limited to the above embodiments, and that the foregoing embodiments and descriptions are provided only to illustrate the principles of the present invention without departing from the spirit and scope of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. Take automatic function's remote control road sweeper, including motor sweeper and the remote controller that is used for controlling the motor sweeper, be provided with power drive system and a steering system on the motor sweeper, its characterized in that: the automatic edge searching and cleaning mechanism is arranged at the bottom of two sides of the front end of the sweeper, a master controller is further arranged in the sweeper, an information processing module, a power control module, a steering control module and a cleaning control module are arranged in the master controller, the power control module is connected with the power driving system, the steering control module is connected with the steering system, and the automatic edge searching and cleaning mechanism is connected with the cleaning control module; the remote controller is provided with a mode switching button, a power control button, a steering control button and a cleaning control button, the power control button is connected with the power control module, the steering control button is connected with the steering control module, and the cleaning control button is connected with the cleaning control module.

2. A remote controlled road sweeper with automatic function as claimed in claim 1, characterized in that: the automatic edge finding and cleaning mechanism comprises a front brush device and an edge brush device, the front brush device is arranged in front of the edge brush device and extends outwards towards the side part of the sweeper, the front brush device comprises a front brush fixing frame, a front brush swing arm capable of horizontally swinging towards the rear of the sweeper is installed on the outer side of the front brush fixing frame, and a front brush limiting plate for preventing the front brush swing arm from horizontally swinging towards the front of the sweeper is arranged at the front end of the front brush fixing frame; a front brush rotating shaft is fixedly installed at the inner end of the front brush swinging arm, the front brush rotating shaft is rotatably installed at the outer end of the front brush fixing frame, an angle sensor used for collecting the backward swinging angle of the front brush swinging arm is installed at the top end of the front brush rotating shaft, which extends out of the front brush fixing frame, a swinging arm resetting torsion spring used for driving the front brush swinging arm to horizontally swing from the back to the front so that the front brush swinging arm is restored to the original position is arranged between the front brush swinging arm and the front brush fixing frame, and the swinging arm resetting torsion spring is sleeved on the front brush rotating shaft; the outer end of the front brush swing arm is provided with a front brush assembly, and the lower part of the front brush assembly is covered with an edge searching device used for contacting or colliding with a road shoulder stone; the bottom of the sweeper is also provided with a sweeping brush lifting device for driving the front brush device and the side brush device to simultaneously ascend or descend; the front brush assembly, the side brush device and the sweeping brush lifting device are all connected to the sweeping control module; the angle sensor is connected with the information processing module.

3. A remote controlled road sweeper with automatic function as claimed in claim 2, characterized in that: the front brush assembly comprises a front sweeping disc motor fixedly mounted at the outer end of a front brush swing arm, a front sweeping disc is fixedly mounted on a power shaft of the front sweeping disc motor through a speed reducer, a front sweeping brush of a conical structure is mounted at the bottom end of the front sweeping disc, and the front sweeping disc motor is connected to the cleaning control module.

4. A remote controlled road sweeper with automatic function as claimed in claim 3, characterized in that: the edge searching device comprises an edge searching wheel covered outside the front brush sweeping disc, the rotation axis of the edge searching wheel is overlapped with the rotation axis of the front brush sweeping disc, the edge searching wheel is arranged in the middle of the front brush sweeping disc, and the edge searching wheel is rotatably installed on the front brush sweeping disc through a wheel edge frame.

5. A remote controlled road sweeper with automatic function as claimed in claim 2, characterized in that: the side brush device comprises a side brush fixing frame, and a side brush assembly is arranged at the end part of the side brush fixing frame; the side brush assembly comprises a side brush disc motor fixedly installed at the rear end of a side brush fixing frame, a side brush disc is fixedly installed on a power shaft of the side brush disc motor through a speed reducer, a side brush of a conical structure is installed at the bottom end of the side brush disc, and the side brush disc motor is connected to the cleaning control module.

6. A remote controlled road sweeper with automatic function as claimed in claim 2, characterized in that: the sweeper lifting device comprises a parallel four-bar mechanism, the top end of the parallel four-bar mechanism is fixedly arranged at the bottom end of the sweeper, the front brush device and the side brush device are respectively fixed at the bottom end of the parallel four-bar mechanism, and a lifting control device for controlling the parallel four-bar mechanism to ascend or descend is further arranged between the bottom end of the sweeper and the parallel four-bar mechanism; the lifting control device comprises an electric push rod fixed at the bottom end of the sweeper, a lifting rope is connected between the bottom end of the parallel four-bar mechanism and the electric push rod in a winding mode through a pulley, two ends of the lifting rope are respectively connected to the parallel four-bar mechanism and the electric push rod, and the electric push rod is connected to the sweeping control module.