WO2024065427A1

WO2024065427A1 - Cleaning trolley and cleaning trolley control method

Info

Publication number: WO2024065427A1
Application number: PCT/CN2022/122741
Authority: WO
Inventors: 黄阳; 李佳来; 汤子睿
Original assignee: 深圳汉阳科技有限公司
Priority date: 2022-09-29
Filing date: 2022-09-29
Publication date: 2024-04-04

Abstract

Disclosed in the present application are a cleaning trolley and a cleaning trolley control method. The cleaning trolley comprises a shell, a mounting cavity and a leaf storage cavity being formed in the shell, the mounting cavity being provided with a leaf inlet and a ventilation port, the mounting cavity communicating with the leaf storage cavity by means of the leaf inlet, and the shell being provided with an air inlet, a first air outlet and a second air outlet; a suction mechanism, comprising a first movable plate, a suction assembly and a suction channel, the first movable plate being arranged at the leaf inlet, the suction assembly being arranged in the mounting cavity, and two ends of the suction channel respectively communicating with the air inlet and the mounting cavity; a first leaf blowing mechanism, comprising a first leaf blowing channel, two ends of the first leaf blowing channel respectively communicating with the ventilation port and the first air outlet; and a second leaf blowing mechanism, comprising a second movable plate and a second leaf blowing channel, two ends of the second leaf blowing channel communicating with the first leaf blowing channel and the air outlet respectively, and the second movable plate being arranged at the ventilation port. The present application expands the use range of cleaning trolleys.

Description

清扫小车及清扫小车控制方法Cleaning trolley and cleaning trolley control method

技术领域Technical Field

本申请涉及清洁设备技术领域，尤其涉及一种清扫小车及清扫小车控制方法。The present application relates to the technical field of cleaning equipment, and in particular to a cleaning trolley and a cleaning trolley control method.

背景技术Background technique

秋冬季节，室外地面和草坪上会集聚大量掉落的落叶，这些落叶每天都要清扫，使得操作者的工作量大大增加，而且落叶蓬松，占用体积大，人工清扫效率低。虽然有针对落叶清扫的手推式清扫机，但是这类手推式清扫机，清扫装置都已固定在推车上，限制了只能对平地的树叶或各类碎屑进行清扫，对手推车无法到达的区域，如阶梯、房顶、灌木丛等的树叶或各类碎屑，就无法清扫了，因此，现有的清扫机的清扫范围有限。In autumn and winter, a large amount of fallen leaves will gather on the outdoor ground and lawn. These fallen leaves need to be cleaned every day, which greatly increases the workload of the operator. In addition, the fallen leaves are fluffy and occupy a large volume, and the efficiency of manual cleaning is low. Although there are hand-push sweepers for leaf cleaning, the cleaning devices of such hand-push sweepers are fixed on the carts, which limit them to cleaning only leaves or various debris on the flat ground. Areas that cannot be reached by the carts, such as leaves or various debris on stairs, roofs, bushes, etc., cannot be cleaned. Therefore, the cleaning range of existing sweepers is limited.

技术问题technical problem

本申请的主要目的在于提供一种清扫小车及清扫小车控制方法，旨在解决使用清扫机的使用范围有限的问题。The main purpose of the present application is to provide a cleaning trolley and a cleaning trolley control method, aiming to solve the problem of limited use range of the cleaning machine.

技术解决方案Technical Solutions

为实现上述目的，本申请提供一种清扫小车，包括车身和车头，所述车头包括：To achieve the above-mentioned purpose, the present application provides a cleaning vehicle, comprising a vehicle body and a vehicle head, wherein the vehicle head comprises:

壳体，所述壳体内形成有安装腔及储叶腔，所述安装腔具有进叶口及通风口，且所述安装腔通过所述进叶口与所述储叶腔连通，所述壳体上开设有进风口及第二出风口；A shell, wherein a mounting cavity and a leaf storage cavity are formed in the shell, the mounting cavity has a leaf inlet and a vent, and the mounting cavity is connected with the leaf storage cavity through the leaf inlet, and an air inlet and a second air outlet are opened on the shell;

吸取机构，包括第一活动板、吸取组件及吸取通道，所述第一活动板设置于所述进叶口处并用于打开或关闭所述进叶口，所述吸取组件设置于所述安装腔内，所述吸取通道的两端分别与所述进风口及所述安装腔连通，以使所述吸取组件能通过所述吸取通道吸取落叶或者空气；The suction mechanism comprises a first movable plate, a suction assembly and a suction channel, wherein the first movable plate is arranged at the leaf inlet and is used to open or close the leaf inlet, the suction assembly is arranged in the installation cavity, and both ends of the suction channel are respectively connected with the air inlet and the installation cavity, so that the suction assembly can absorb fallen leaves or air through the suction channel;

吹叶机构，包括第二活动板及吹叶通道，所述第二活动板设置于所述通风口处并用于打开或关闭所述通风口，所述吹叶通道的两端分别与所述通风口及所述第二出风口连通。The leaf blowing mechanism comprises a second movable plate and a leaf blowing channel, wherein the second movable plate is arranged at the vent and used to open or close the vent, and the two ends of the leaf blowing channel are respectively connected to the vent and the second air outlet.

可选地，所述第二出风口设置有风向调节组件，所述风向调节组件包括风向垂直调节板和风向水平调节板，所述风向垂直调节板与所述第二出风口平行设置，所述风向水平调节板与所述第二出风口垂直设置。Optionally, the second air outlet is provided with a wind direction adjustment component, and the wind direction adjustment component includes a vertical wind direction adjustment plate and a horizontal wind direction adjustment plate, the vertical wind direction adjustment plate is arranged parallel to the second air outlet, and the horizontal wind direction adjustment plate is arranged perpendicular to the second air outlet.

可选地，所述吸取组件包括第一驱动件和扇叶，所述第一驱动件驱动所述扇叶转动，以使所述扇叶通过所述吸取通道吸取落叶或者空气。Optionally, the suction assembly includes a first driving member and a fan blade, and the first driving member drives the fan blade to rotate so that the fan blade absorbs fallen leaves or air through the suction channel.

可选地，所述储叶腔内底部设置有重力传感器，所述重力传感器用于检测所述储叶腔内的落叶重量。Optionally, a gravity sensor is provided at the bottom of the leaf storage chamber, and the gravity sensor is used to detect the weight of fallen leaves in the leaf storage chamber.

可选地，所述壳体上开设有与所述储叶腔连通的开口，所述开口处设置有门体，所述储叶腔内还设置有第二驱动件，所述第二驱动件用于驱动所述门体自所述开口上升至所述储叶腔内或下降至所述开口处。Optionally, the shell is provided with an opening connected to the leaf storage chamber, a door body is provided at the opening, and a second driving member is also provided in the leaf storage chamber, and the second driving member is used to drive the door body to rise from the opening to the leaf storage chamber or descend to the opening.

可选地，所述壳体上还设置有与所述车身连接的抬头装置，所述抬头装置用于控制所述车头相对所述车身转动。Optionally, the shell is further provided with a head-raising device connected to the vehicle body, and the head-raising device is used to control the rotation of the vehicle head relative to the vehicle body.

可选地，所述车身的底部设置有行走履带。Optionally, a walking track is provided at the bottom of the vehicle body.

可选地，所述车身内部还设置有定位模块及巡航模块。Optionally, a positioning module and a cruise module are also provided inside the vehicle body.

此外，为实现上述目的，本申请还提供一种清扫小车控制方法，所述清扫小车控制方法应用上述的清扫小车，所述清扫小车控制方法包括步骤：In addition, to achieve the above purpose, the present application also provides a cleaning trolley control method, the cleaning trolley control method uses the above cleaning trolley, and the cleaning trolley control method includes the following steps:

获取清扫小车的位置信息，根据所述位置信息和预设工作区域确定所述清扫小车的工作模式；Acquire the position information of the cleaning vehicle, and determine the working mode of the cleaning vehicle according to the position information and the preset working area;

根据所述工作模式，分别切换吸取机构中和吹叶机构的位置，完成落叶清扫。According to the working mode, the positions of the suction mechanism and the leaf blowing mechanism are switched respectively to complete the fallen leaf cleaning.

可选地，所述根据所述工作模式，分别切换吸取机构中和吹叶机构的位置，完成落叶清扫的步骤包括：Optionally, the step of switching the positions of the suction mechanism and the leaf blowing mechanism respectively according to the working mode to complete the fallen leaf cleaning includes:

若所述工作模式为吹落叶模式，分别切换吸取机构中的第一活动板的位置和吹叶机构中的第二活动板的位置，以使通风口开启以及进叶口关闭；或者If the working mode is the leaf blowing mode, the position of the first movable plate in the suction mechanism and the position of the second movable plate in the leaf blowing mechanism are switched respectively, so that the vent is opened and the leaf inlet is closed; or

若所述工作模式为吸落叶模式，分别切换吸取机构中的第一活动板的位置和吹叶机构中第二活动板的位置，以使通风口关闭以及进叶口开启；If the working mode is the fallen leaf suction mode, the position of the first movable plate in the suction mechanism and the position of the second movable plate in the leaf blowing mechanism are switched respectively, so that the vent is closed and the leaf inlet is opened;

获取所述预设工作区域内的环境信息，根据所述环境信息和所述工作模式，对预设规划路径进行修正，并完成在所述预设工作区域内的落叶清扫。The environmental information in the preset working area is obtained, and the preset planned path is corrected according to the environmental information and the working mode, and the fallen leaves cleaning in the preset working area is completed.

此外，为实现上述目的，本申请还提供一种计算机可读存储介质，所述计算机可读存储介质上存储有清扫小车控制程序，所述清扫小车控制程序被处理器执行时实现如上所述的清扫小车控制方法的步骤。In addition, to achieve the above-mentioned purpose, the present application also provides a computer-readable storage medium, on which a cleaning trolley control program is stored. When the cleaning trolley control program is executed by the processor, the steps of the cleaning trolley control method as described above are implemented.

本申请提供一种清扫小车以及清扫小车控制方法，通过在车头的壳体内部形成安装腔以及储叶腔，将清扫落叶的车头装置与控制车辆运动的车身装置分离开来，方便清扫小车进行落叶清扫的工作。在车头的壳体上开设进风口、第一出风口和第二出风口，便于清扫小车在清扫落叶时同同时进行吸落叶和吹落叶的操作以及在清扫小车无法到达的区域进行吹落叶的操作。通过调节吸取机构中的第一活动板的位置和第二吹叶机构中的第二活动板的位置，能够同时打开吸取通道和第一吹叶通道，实现清扫小车的人工吹落叶操作；或者能够同时打开吸取通道和第二吹叶通道，实现清扫小车在平地自动吹落叶的操作；或者能够单独关闭通风口，打开吸取通道，实现清扫小车的吸叶操作，进而通过吸叶操作和吹叶操作的相互配合，完成地面上的落叶清扫和小车无法到达的区域的落叶清扫。在完成落叶清扫后，通过将落叶通过进叶口送入储叶腔中进行收集，实现清扫小车自动工作和人工清扫的吹吸一体转换装置以及收集落叶的完整流程。本申请能够通过吸取机构和第一吹叶机构和第二吹叶口完成清扫小车的在无法到达的区域进行人工清扫落叶的操作，以及在自动模式下完成吹落叶模式和吸落叶模式的自动切换，同时还可以根据预设规划路径完成清扫小车全程全自动清扫，无需人工参与，避免了操作者在高噪多尘的环境中进行工作，降低了人力成本的投入。扩大了清扫小车的应用范围和场景。The present application provides a cleaning trolley and a cleaning trolley control method. By forming an installation cavity and a leaf storage cavity inside the shell of the trolley head, the trolley head device for cleaning fallen leaves is separated from the body device for controlling the movement of the vehicle, so as to facilitate the cleaning trolley to clean fallen leaves. An air inlet, a first air outlet and a second air outlet are provided on the shell of the trolley head, so that the cleaning trolley can simultaneously suck and blow fallen leaves when cleaning fallen leaves, and blow fallen leaves in areas that the cleaning trolley cannot reach. By adjusting the position of the first movable plate in the suction mechanism and the position of the second movable plate in the second leaf blowing mechanism, the suction channel and the first leaf blowing channel can be opened at the same time to realize the manual leaf blowing operation of the cleaning trolley; or the suction channel and the second leaf blowing channel can be opened at the same time to realize the automatic leaf blowing operation of the cleaning trolley on flat ground; or the vent can be closed separately, the suction channel can be opened to realize the leaf suction operation of the cleaning trolley, and then the leaf suction operation and the leaf blowing operation can be coordinated with each other to complete the leaf cleaning on the ground and the leaf cleaning in areas that the trolley cannot reach. After the fallen leaves are cleaned, the fallen leaves are sent into the leaf storage cavity through the leaf inlet for collection, thus realizing the complete process of collecting fallen leaves by the blowing-suction integrated conversion device for automatic operation and manual cleaning of the cleaning trolley. The present application can complete the operation of manually cleaning fallen leaves in inaccessible areas of the cleaning trolley through the suction mechanism, the first leaf blowing mechanism and the second leaf blowing port, and complete the automatic switching between the blowing and suction modes in the automatic mode. At the same time, the cleaning trolley can complete the full automatic cleaning of the cleaning trolley according to the preset planned path without manual participation, avoiding the operator working in a noisy and dusty environment and reducing the investment in labor costs. The application scope and scenarios of the cleaning trolley are expanded.

有益效果Beneficial Effects

附图说明BRIEF DESCRIPTION OF THE DRAWINGS

图1是本申请清扫小车处于人工清扫模式时的结构示意图；FIG1 is a schematic diagram of the structure of the cleaning vehicle of the present application when it is in manual cleaning mode;

图2是本申请清扫小车处于自动模式中的吹落叶模式时的结构示意图；FIG2 is a schematic diagram of the structure of the cleaning vehicle of the present application when it is in the leaf-blowing mode in the automatic mode;

图3是本申请清扫小车处于自动模式中的吸落叶模式时的结构示意图FIG3 is a schematic diagram of the structure of the cleaning vehicle of the present application when it is in the automatic mode and sucking fallen leaves mode

图4是本申请清扫小车控制方法第一实施例的流程示意图；FIG4 is a flow chart of a first embodiment of a method for controlling a cleaning vehicle according to the present invention;

图5为本申请清扫小车控制方法第二实施例的流程示意图。FIG5 is a flow chart of the second embodiment of the cleaning vehicle control method of the present application.

标号 Label	名称 Name	标号 Label	名称 Name
1 1	壳体 Housing	11 11	储叶腔 Leaf storage cavity
12 12	安装腔 Mounting cavity	21 twenty one	第一活动板 First activity board
22 twenty two	吸取组件 Absorbing components	23 twenty three	吸取通道 Absorption channel
31 31	第二活动板 Second movable board	32 32	第二吹叶通道 Second leaf blowing channel
121 121	进叶口 Leaf inlet	122 122	通风口 Vents
13 13	进风口 Inlet	14 14	第二出风口 Second air outlet
4 4	风向调节组件 Wind direction adjustment component	5 5	重力传感器 Gravity sensor
6 6	门体 Door body	7 7	抬头装置 Head-up device
41 41	第一吹叶通道 First leaf blowing channel	15 15	第一出风口 First air outlet

本申请的实施方式Embodiments of the present application

下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请的一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

需要说明，本申请实施例中所有方向性指示（诸如上、下、左、右、前、后……）仅用于解释在某一特定姿态（如附图所示）下各部件之间的相对位置关系、运动情况等，如果该特定姿态发生改变时，则该方向性指示也相应地随之改变。It should be noted that all directional indications in the embodiments of the present application (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

另外，在本申请中如涉及“第一”、“第二”等的描述仅用于描述目的，而不能理解为指示或暗示其相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。在本申请的描述中，“多个”的含义是至少两个，例如两个，三个等，除非另有明确具体的限定。In addition, the descriptions of "first", "second", etc. in this application are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

在本申请中，除非另有明确的规定和限定，术语“连接”、“固定”等应做广义理解，例如，“固定”可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系，除非另有明确的限定。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本申请中的具体含义。In this application, unless otherwise clearly specified and limited, the terms "connection", "fixation", etc. should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

另外，本申请各个实施例之间的技术方案可以相互结合，但是必须是以本领域普通技术人员能够实现为基础，当技术方案的结合出现相互矛盾或无法实现时应当认为这种技术方案的结合不存在，也不在本申请要求的保护范围之内。In addition, the technical solutions between the various embodiments of the present application can be combined with each other, but it must be based on the fact that ordinary technicians in the field can implement it. When the combination of technical solutions is mutually contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

本申请提出清扫小车，旨在解决使用落叶清扫机的人工成本过高问题。The present application proposes a cleaning trolley, which is intended to solve the problem of excessively high labor costs when using a fallen leaf sweeper.

请参照图1，图1为清扫小车的结构示意图；Please refer to Figure 1, which is a schematic diagram of the structure of the cleaning trolley;

本申请的清扫小车包括车身和车头，所述车头包括：壳体1，所述壳体1内形成有安装腔12及储叶腔11，所述安装腔12具有进叶口121及通风口122，且所述安装腔12通过所述进叶口121与所述储叶腔11连通，所述壳体1上开设有进风口13、第一出风口15及第二出风口14；吸取机构，包括第一活动板21、吸取组件22及吸取通道23，所述第一活动板21设置于所述进叶口121处并用于打开或关闭所述进叶口121，所述吸取组件22设置于所述安装腔12内，所述吸取通道23的两端分别与所述进风口13及所述安装腔12连通，以使所述吸取组件22能通过所述吸取通道23吸取落叶或者空气；第一吹叶机构，包括第一吹叶通道41，所述第一吹叶通道41的两端分别与所述通风口122和所述第一出风口15连通；第二吹叶机构，包括第二活动板31及第二吹叶通道32，所述第二吹叶通道32的两端分别与所述第一吹叶通道41及所述出风口连通，所述第二活动板31设置于所述通风口122处并用于打开或关闭所述通风口122，以使所述第一吹叶通道41与所述通风口122连通，或者以使所述第二吹叶通道32与所述通风口122连通。The cleaning vehicle of the present application includes a body and a front part, and the front part includes: a shell 1, in which an installation cavity 12 and a leaf storage cavity 11 are formed, the installation cavity 12 has a leaf inlet 121 and a vent 122, and the installation cavity 12 is connected with the leaf storage cavity 11 through the leaf inlet 121, and an air inlet 13, a first air outlet 15 and a second air outlet 14 are provided on the shell 1; a suction mechanism includes a first movable plate 21, a suction assembly 22 and a suction channel 23, the first movable plate 21 is arranged at the leaf inlet 121 and is used to open or close the leaf inlet 121, the suction assembly 22 is arranged in the installation cavity 12, and the two ends of the suction channel 23 are respectively connected to the air inlet 13 and the second air outlet 14. The installation cavity 12 is connected so that the suction component 22 can absorb fallen leaves or air through the suction channel 23; the first leaf blowing mechanism includes a first leaf blowing channel 41, and the two ends of the first leaf blowing channel 41 are respectively connected to the vent 122 and the first air outlet 15; the second leaf blowing mechanism includes a second movable plate 31 and a second leaf blowing channel 32, and the two ends of the second leaf blowing channel 32 are respectively connected to the first leaf blowing channel 41 and the air outlet, and the second movable plate 31 is arranged at the vent 122 and is used to open or close the vent 122, so that the first leaf blowing channel 41 is connected to the vent 122, or the second leaf blowing channel 32 is connected to the vent 122.

本实施例中的壳体1为塑料制件，或者本领域技术人员还可以选择其他材料，例如铁、铝等，本申请在此不作限制。吸取机构和吹叶机构均设置在壳体1内部，所述壳体1上开设的进风口13和第二出风口14均朝向地面，以便能够吸取落叶和将风吹向地面；第一吹风口设置在壳体1上方，即车头上方，以便能够将风通过第一吹风口向上吹出，可通过管道连接第一吹风口，用于清扫阶梯、房顶、灌木丛等的树叶或各类碎屑。The housing 1 in this embodiment is made of plastic, or those skilled in the art may also choose other materials, such as iron, aluminum, etc., which are not limited in this application. The suction mechanism and the leaf blowing mechanism are both arranged inside the housing 1, and the air inlet 13 and the second air outlet 14 opened on the housing 1 are both facing the ground so as to be able to suck the fallen leaves and blow the wind to the ground; the first air outlet is arranged above the housing 1, that is, above the front of the vehicle, so that the wind can be blown upward through the first air outlet, and the first air outlet can be connected by a pipe to clean leaves or various debris on stairs, roofs, bushes, etc.

本申请中的清扫小车的应用场景可以是各种平地地面上的落叶清扫，例如草地、碎石地面或者硬地地面等，以及清扫小车无法到达的区域，如阶梯、房顶、灌木丛等，且可以根据地面类型切换清扫小车的第一工作模式，第一清扫模式包括人工清扫模式和自动清扫模式，自动清扫模式包括吹落叶模式和吸落叶模式，例如，在草地、碎石地面使用吹落叶模式，在硬地地面使用吸落叶模式，另外，在如阶梯、房顶、灌木丛等区域采用人工清扫模式，将落叶吹至地面，再切换为自动模式进行清扫。The application scenarios of the sweeping cart in the present application can be the cleaning of fallen leaves on various flat grounds, such as grass, gravel or hard ground, as well as areas that the sweeping cart cannot reach, such as stairs, roofs, bushes, etc., and the first working mode of the sweeping cart can be switched according to the ground type. The first cleaning mode includes a manual cleaning mode and an automatic cleaning mode. The automatic cleaning mode includes a leaf blowing mode and a leaf sucking mode. For example, the leaf blowing mode is used on grass and gravel ground, and the leaf sucking mode is used on hard ground. In addition, the manual cleaning mode is used in areas such as stairs, roofs, bushes, etc. to blow the fallen leaves to the ground, and then switch to the automatic mode for cleaning.

具体的，在使用人工清扫模式时，通过将吸取机构中的第一活动板21调节到进叶口121与储叶腔11之间的位置，以使进叶口121关闭，同时将第二吹叶机构中的第二活动板31调节到第二吹叶通道32与第一吹叶通道41之间，以使第一吹叶通道41与通风口122连通，然后控制吸取组件22中的第一驱动件驱动扇叶进行转动，使得吸取通道23中形成负压，将外界的空气从吸取通道23中吸取进安装腔12中，再通过与安装腔12连通的通风口122，将空气形成的气流吹向第一吹叶通道41中，以使气流从第一出风口15吹出，再通过人工控制第一出风口15的气流吹向清扫小车无法到达的区域，达到吹落叶的效果。Specifically, when using the manual cleaning mode, the first movable plate 21 in the suction mechanism is adjusted to a position between the leaf inlet 121 and the leaf storage chamber 11 to close the leaf inlet 121, and the second movable plate 31 in the second leaf blowing mechanism is adjusted to a position between the second leaf blowing channel 32 and the first leaf blowing channel 41 to connect the first leaf blowing channel 41 with the vent 122, and then the first driving member in the suction assembly 22 is controlled to drive the fan blades to rotate, so that negative pressure is formed in the suction channel 23, and the outside air is sucked into the installation chamber 12 from the suction channel 23, and then the airflow formed by the air is blown into the first leaf blowing channel 41 through the vent 122 connected to the installation chamber 12, so that the airflow is blown out from the first air outlet 15, and then the airflow at the first air outlet 15 is manually controlled to be blown to areas that the cleaning vehicle cannot reach, thereby achieving the effect of blowing fallen leaves.

在使用自动模式中的吹落叶模式时，通过将吸取机构中的第一活动板21调节到进叶口121与储叶腔11之间的位置，以使进叶口121关闭，同时将吹叶机构中的第二活动板31调节到通风口122上侧的位置，以使通风口122打开，然后控制吸取组件22中的第一驱动件驱动扇叶进行转动，使得吸取通道23中形成负压，将外界的空气从吸取通道23中吸取进安装腔12中，再通过与安装腔12连通的通风口122，将空气形成的气流吹向第二吹叶通道32中，以使气流从第二出风口14吹出，达到吹风的效果，使得地面上的落叶能够被吹动。在使用自动模式中的吸落叶模式时，通过将吸取机构中的第一活动板21调节至进叶口121下方，以使进叶口121打开，同时将第二吹叶机构中的第二活动板31调节至安装腔12与第一吹叶通道41中间的通风口122位置，以使通风口122关闭，然后控制吸取组件22中的第一驱动件驱动扇叶进行转动，使得吸取通道23中形成负压，将外界地面上的落叶从吸取通道23中吸取上来，再通过转动的扇叶将落叶进行粉碎，并将粉碎后落叶通过进叶口121吹向储叶腔11中，完成落叶的吸取和收集。需要说明的是，第一活动板21和第二活动板31都连接有对应的驱动电机，驱动电机带动第一活动板21和第二活动板31进行位置调节，以自动切换吹叶模式和吸叶模式。When using the leaf blowing mode in the automatic mode, the first movable plate 21 in the suction mechanism is adjusted to a position between the leaf inlet 121 and the leaf storage chamber 11 to close the leaf inlet 121, and the second movable plate 31 in the leaf blowing mechanism is adjusted to a position above the vent 122 to open the vent 122, and then the first driving member in the suction assembly 22 is controlled to drive the fan blades to rotate, so that negative pressure is formed in the suction channel 23, and the outside air is sucked into the mounting chamber 12 from the suction channel 23, and then the airflow formed by the air is blown into the second leaf blowing channel 32 through the vent 122 connected to the mounting chamber 12, so that the airflow is blown out from the second air outlet 14, so as to achieve the effect of blowing, so that the fallen leaves on the ground can be blown. When using the leaf suction mode in the automatic mode, the first movable plate 21 in the suction mechanism is adjusted to below the leaf inlet 121 so that the leaf inlet 121 is opened, and the second movable plate 31 in the second leaf blowing mechanism is adjusted to the position of the vent 122 between the installation cavity 12 and the first leaf blowing channel 41 so that the vent 122 is closed, and then the first driving member in the suction assembly 22 is controlled to drive the fan blades to rotate, so that a negative pressure is formed in the suction channel 23, and the fallen leaves on the outside ground are sucked up from the suction channel 23, and then the fallen leaves are crushed by the rotating fan blades, and the crushed fallen leaves are blown into the leaf storage cavity 11 through the leaf inlet 121, so as to complete the suction and collection of the fallen leaves. It should be noted that the first movable plate 21 and the second movable plate 31 are both connected to corresponding drive motors, and the drive motor drives the first movable plate 21 and the second movable plate 31 to adjust their positions to automatically switch between the leaf blowing mode and the leaf suction mode.

进一步地，所述第二活动板31包括左侧板、右侧板以及连接轴，所述左侧板与所述右侧板的一侧均与所述连接轴连接；Further, the second movable plate 31 includes a left plate, a right plate and a connecting shaft, and one side of the left plate and the right plate are both connected to the connecting shaft;

在本实施例中，所述连接轴的两端分别与壳体1相连，以使操作者能够手动调节，同时也可以通过驱动电机自动调节。所述左侧板与右侧板之间形成一定的角度，可以是30°或者60°，本申请在此不作限制。第二活动板31可分别调节至通风口122处以关闭或开启通风口122；或者调节至第一吹叶通道41处，以开启或者关闭第一吹叶通道41；或者调节至第二吹叶通道32处，以开启或者关闭第二吹叶通道32。In this embodiment, both ends of the connecting shaft are connected to the housing 1 so that the operator can adjust it manually, and it can also be adjusted automatically by the driving motor. A certain angle is formed between the left plate and the right plate, which can be 30° or 60°, and this application does not limit it. The second movable plate 31 can be adjusted to the vent 122 to close or open the vent 122; or adjusted to the first leaf blowing channel 41 to open or close the first leaf blowing channel 41; or adjusted to the second leaf blowing channel 32 to open or close the second leaf blowing channel 32.

进一步地，所述车头还包括吹风延长管，所述吹风延长管与所述第一出风口15连通，用于当清扫小车处于人工操作模式时，可以将第一出风口15吹出的风通过吹风延长管出去，以使操作者能够吹落处于清扫小车无法到达的区域的落叶。Furthermore, the front of the vehicle also includes a blowing extension pipe, which is connected to the first air outlet 15. When the cleaning vehicle is in manual operation mode, the wind blown out of the first air outlet 15 can be discharged through the blowing extension pipe, so that the operator can blow off the fallen leaves in the area that the cleaning vehicle cannot reach.

进一步地，所述第二出风口14设置有风向调节组件4，所述风向调节组件4包括风向垂直调节板和风向水平调节板，所述风向垂直调节板与所述第二出风口14平行设置，所述水平调节板与所述第二吹风口垂直设置。Furthermore, the second air outlet 14 is provided with a wind direction adjustment component 4, and the wind direction adjustment component 4 includes a vertical wind direction adjustment plate and a horizontal wind direction adjustment plate. The vertical wind direction adjustment plate is arranged parallel to the second air outlet 14, and the horizontal adjustment plate is arranged perpendicular to the second air outlet.

在本实施例中，所述风向垂直调节板和风向平行调节板的数量均为4个，本领域技术人员还可以设置不同数量的风向垂直调节板数量和风向垂直调节板的数量，例如5个或者6个等，本申请在此不作限制。所述风向水平调节板可以设置在第二吹叶通道32内部且靠近第二出风口14的位置，且多个风向水平调节板之间可以同步进行摆动，使得吹叶通道吹出的风能够在水平方向根据风向水平调节板的摆动进行调节。所述风向垂直调节板可以设置在第二出风口14外侧位置，与第二出风口14连接，或者也可以设置在第二吹叶通道32内靠近出风口，且设置在风向水平调节板与第二出风口14之间。同样的，多个风向垂直调节板之间可以同步进行摆动，使得通过风向水平调节板调节后的风能够在垂直方向再进行摆动。通过风向水平调节板和风向垂直调节板，在清扫小车处于吹落叶模式时，对第二吹叶通道32内吹出的风进行调节，模仿人类使用手持吹风机的动作方式，把落叶向前吹动。In the present embodiment, the number of the wind direction vertical adjustment plates and the wind direction parallel adjustment plates are both 4. Those skilled in the art may also set different numbers of wind direction vertical adjustment plates and wind direction vertical adjustment plates, such as 5 or 6, etc., which are not limited in the present application. The wind direction horizontal adjustment plate may be arranged inside the second leaf blowing channel 32 and close to the second air outlet 14, and the plurality of wind direction horizontal adjustment plates may swing synchronously, so that the wind blown out of the leaf blowing channel may be adjusted in the horizontal direction according to the swing of the wind direction horizontal adjustment plate. The wind direction vertical adjustment plate may be arranged outside the second air outlet 14 and connected to the second air outlet 14, or may be arranged in the second leaf blowing channel 32 close to the air outlet and arranged between the wind direction horizontal adjustment plate and the second air outlet 14. Similarly, the plurality of wind direction vertical adjustment plates may swing synchronously, so that the wind adjusted by the wind direction horizontal adjustment plate may swing again in the vertical direction. Through the wind direction horizontal adjustment plate and the wind direction vertical adjustment plate, when the cleaning vehicle is in the leaf blowing mode, the wind blown out of the second leaf blowing channel 32 is adjusted to imitate the action of a human using a handheld hair dryer to blow the leaves forward.

进一步地，所述吸取组件22包括第一驱动件和扇叶，所述第一驱动件驱动所述扇叶转动，以使所述扇叶通过所述吸取通道23吸取落叶或者空气。具体的，所述第一驱动件为电机，电机和扇叶均设置在安装腔12内部，且设置吸取通道23的上方，以使外界的空气或者落叶进入吸取通道23内。Further, the suction assembly 22 includes a first driving member and a fan blade, and the first driving member drives the fan blade to rotate so that the fan blade absorbs fallen leaves or air through the suction channel 23. Specifically, the first driving member is a motor, and the motor and the fan blade are both arranged inside the installation cavity 12 and above the suction channel 23 so that external air or fallen leaves enter the suction channel 23.

另外，所述储叶腔11内底部设置有重力传感器5，所述重力传感器5用于检测所述储叶腔11内的落叶重量；In addition, a gravity sensor 5 is provided at the bottom of the leaf storage chamber 11, and the gravity sensor 5 is used to detect the weight of fallen leaves in the leaf storage chamber 11;

进一步地，所述壳体1上开设有与所述储叶腔11连通的开口，所述开口处设置有门体6，所述储叶腔11内还设置有第二驱动件，所述第二驱动件用于驱动所述门体6自所述开口上升至储叶腔11内或下降至所述开口处。Furthermore, the shell 1 is provided with an opening connected to the leaf storage chamber 11, and a door body 6 is provided at the opening. A second driving member is also provided in the leaf storage chamber 11, and the second driving member is used to drive the door body 6 to rise from the opening to the leaf storage chamber 11 or descend to the opening.

进一步地，所述壳体1上还设置有与所述车身连接的抬头装置7，所述抬头装置7用于根据所述重力传感器5检测到的落叶重量，控制所述车头相对所述车身转动；Furthermore, the housing 1 is also provided with a head-raising device 7 connected to the vehicle body, and the head-raising device 7 is used to control the rotation of the vehicle head relative to the vehicle body according to the weight of fallen leaves detected by the gravity sensor 5;

在本实施例中，在清扫小车处于吸落叶模式时，需将吸取的落叶放置于储叶腔11中，在储叶腔11底部设置重力传感器5，当检测到储叶腔11中的落叶重量大于预设重量时，与车身连接的抬头装置7控制车头相对于车身进行上下转动，即使车头相对于车身进行倾斜，同时控制壳体1上的与储叶腔11连通的门体6，在第二驱动件的驱动下，上升至储叶腔11内，使得原先门体6的位置相对于储叶腔11打开，以使储叶腔11内的落叶从门体6溢出，且为保证落叶倾倒的效果，抬头装置7会控制车头反复进行倾斜，以使倾斜过程中产生的惯性将储叶腔11内的落叶都抛出。并且，在此期间，重力传感器5持续检测储叶腔11内的落叶重量，当检测到落叶重量小于设置的最低重量阈值时，抬头装置7停止工作，且第二驱动件驱动门体6下降至壳体1与储叶腔11连通的开口处，以使落叶腔关闭，完成落叶的倾倒流程。其中，所述第二驱动件为电机。In this embodiment, when the sweeping trolley is in the fallen leaf suction mode, the sucked fallen leaves need to be placed in the leaf storage chamber 11, and a gravity sensor 5 is arranged at the bottom of the leaf storage chamber 11. When it is detected that the weight of the fallen leaves in the leaf storage chamber 11 is greater than the preset weight, the head-lifting device 7 connected to the vehicle body controls the front of the vehicle to rotate up and down relative to the vehicle body, that is, the front of the vehicle is tilted relative to the vehicle body. At the same time, the door body 6 connected to the leaf storage chamber 11 on the shell 1 is controlled to rise into the leaf storage chamber 11 under the drive of the second driving member, so that the original position of the door body 6 is opened relative to the leaf storage chamber 11, so that the fallen leaves in the leaf storage chamber 11 overflow from the door body 6, and to ensure the effect of dumping the fallen leaves, the head-lifting device 7 will control the front of the vehicle to tilt repeatedly, so that the inertia generated during the tilting process will throw out all the fallen leaves in the leaf storage chamber 11. Furthermore, during this period, the gravity sensor 5 continuously detects the weight of fallen leaves in the leaf storage chamber 11. When the weight of fallen leaves is detected to be less than the set minimum weight threshold, the head-raising device 7 stops working, and the second driving member drives the door body 6 to descend to the opening where the housing 1 communicates with the leaf storage chamber 11, so that the fallen leaf chamber is closed, and the dumping process of fallen leaves is completed. The second driving member is a motor.

进一步地，所述车身的底部设置有行走履带；所述车身内部还设置有定位模块、巡航模块、控制模块、通讯模块及动力模块。Furthermore, a walking track is arranged at the bottom of the vehicle body; a positioning module, a cruise module, a control module, a communication module and a power module are also arranged inside the vehicle body.

在本实施例中，所述行走履带与动力模块和控制模块连接，用于根据控制模块发送的行走指令控制清扫小车进行移动；所述定位模块与所述控制模块连接，具体为GPS定位传感器，用于获取清扫小车的实时位置信息。所述巡航模块与所述控制模块连接，具体包括视觉模块、RTK导航模块、障碍感知模块、姿态传感器、碰撞传感器，所述巡航模块用于获取清扫小车周围的外界环境信息，并根据外界环境信息对清扫小车的预设规划路径进行修正，保证清扫小车完成清扫任务。所述控制模块具体为控制器主板，用于控制清扫小车进行行走、清扫模式切换等工作；所述动力模块为清扫小车提供动力，可以为储能电池，或者还可以为汽油、柴油等内燃机形式作为车身动力。当动力模块为储能电池时，清扫小车还配备有无线充电桩，用于为清扫小车进行充电，保证续航。所述通讯模块为蓝牙模块或者WIFI通信模块，用于与外界通信，使得操作者能够通过与清扫小车匹配的APP，通过蓝牙或者WIFI遥控清扫小车进行工作区域的标记。In this embodiment, the walking track is connected to the power module and the control module, and is used to control the movement of the cleaning trolley according to the walking instructions sent by the control module; the positioning module is connected to the control module, specifically a GPS positioning sensor, which is used to obtain the real-time position information of the cleaning trolley. The cruise module is connected to the control module, and specifically includes a visual module, an RTK navigation module, an obstacle perception module, a posture sensor, and a collision sensor. The cruise module is used to obtain the external environment information around the cleaning trolley, and to correct the preset planning path of the cleaning trolley according to the external environment information to ensure that the cleaning trolley completes the cleaning task. The control module is specifically a controller motherboard, which is used to control the cleaning trolley to walk, switch the cleaning mode, etc.; the power module provides power for the cleaning trolley, which can be an energy storage battery, or it can also be an internal combustion engine such as gasoline and diesel as the body power. When the power module is an energy storage battery, the cleaning trolley is also equipped with a wireless charging pile for charging the cleaning trolley to ensure endurance. The communication module is a Bluetooth module or a WIFI communication module, which is used to communicate with the outside world, so that the operator can mark the working area of the cleaning car by remotely controlling the cleaning car via Bluetooth or WIFI through an APP matched with the cleaning car.

本申请提供一种清扫小车，通过在车头的壳体1内部形成安装腔12以及储叶腔11，将清扫落叶的车头装置与控制车辆运动的车身装置分离开来，方便清扫小车进行落叶清扫的工作。在车头的壳体1上开设进风口13、第一出风口15和第二出风口14，便于清扫小车在清扫落叶时同同时进行吸落叶和吹落叶的操作以及在清扫小车无法到达的区域进行吹落叶的操作。通过调节吸取机构中的第一活动板21的位置和第二吹叶机构中的第二活动板31的位置，能够同时打开吸取通道23和第一吹叶通道41，实现清扫小车的人工吹落叶操作；或者能够同时打开吸取通道23和第二吹叶通道32，实现清扫小车在平地自动吹落叶的操作；或者能够单独关闭通风口122，打开吸取通道23，实现清扫小车的吸叶操作，进而通过吸叶操作和吹叶操作的相互配合，完成地面上的落叶清扫和小车无法到达的区域的落叶清扫。在完成落叶清扫后，通过将落叶通过进叶口121送入储叶腔11中进行收集，实现清扫小车自动工作和人工清扫的吹吸一体转换装置以及收集落叶的完整流程。本申请能够通过吸取机构和第一吹叶机构和第二吹叶口完成清扫小车的在无法到达的区域进行人工清扫落叶的操作，以及在自动模式下完成吹落叶模式和吸落叶模式的自动切换，同时还可以根据预设规划路径完成清扫小车全程全自动清扫，无需人工参与，避免了操作者在高噪多尘的环境中进行工作，降低了人力成本的投入。扩大了清扫小车的应用范围和场景。The present application provides a cleaning trolley, which separates the front device for cleaning fallen leaves from the body device for controlling the movement of the vehicle by forming an installation cavity 12 and a leaf storage cavity 11 inside the housing 1 of the front of the trolley, so as to facilitate the cleaning of fallen leaves by the cleaning trolley. An air inlet 13, a first air outlet 15 and a second air outlet 14 are provided on the housing 1 of the front of the trolley, so that the cleaning trolley can simultaneously suck and blow fallen leaves when cleaning fallen leaves, and can blow fallen leaves in areas that the cleaning trolley cannot reach. By adjusting the position of the first movable plate 21 in the suction mechanism and the position of the second movable plate 31 in the second leaf blowing mechanism, the suction channel 23 and the first leaf blowing channel 41 can be opened at the same time to realize the manual leaf blowing operation of the cleaning trolley; or the suction channel 23 and the second leaf blowing channel 32 can be opened at the same time to realize the automatic leaf blowing operation of the cleaning trolley on flat ground; or the vent 122 can be closed separately, and the suction channel 23 can be opened to realize the leaf suction operation of the cleaning trolley, and then through the mutual cooperation of the leaf suction operation and the leaf blowing operation, the fallen leaves on the ground and the fallen leaves in the area that the trolley cannot reach can be cleaned. After the fallen leaves are cleaned, the fallen leaves are sent into the leaf storage chamber 11 through the leaf inlet 121 for collection, so as to realize the automatic operation of the cleaning trolley and the complete process of collecting fallen leaves. The present application can complete the operation of manually cleaning fallen leaves in areas that cannot be reached by the cleaning trolley through the suction mechanism, the first leaf blowing mechanism and the second leaf blowing port, and complete the automatic switching between the leaf blowing mode and the leaf suction mode in the automatic mode. At the same time, the cleaning trolley can complete the full-automatic cleaning of the cleaning trolley according to the preset planning path without manual participation, avoiding the operator working in a noisy and dusty environment and reducing the investment in labor costs. The application scope and scenarios of the cleaning trolley are expanded.

根据上述硬件结构，提出本申请方法各个实施例。Based on the above hardware structure, various embodiments of the method of the present application are proposed.

参照图4，在本申请清扫小车控制方法的第一实施例中，所述清扫小车控制方法包括步骤：4, in the first embodiment of the cleaning vehicle control method of the present application, the cleaning vehicle control method comprises the steps of:

步骤S10，接收用户终端发送的控制指令，确定清扫小车的第一工作模式；Step S10, receiving a control instruction sent by the user terminal and determining the first working mode of the cleaning vehicle;

用户终端可以是与清扫小车对应的APP，可以通过APP将清扫小车切换为人工清扫模式，其中，所述第一工作模式包括人工清扫模式和自动清扫模式，在人工清扫模式下，操作者需控制清扫小车的吹风延长管吹落处于小车无法达到的区域的落叶，再通过自动清扫模式对地面的落叶进行清扫，完成落叶的清扫。The user terminal can be an APP corresponding to the cleaning cart, and the cleaning cart can be switched to manual cleaning mode through the APP, wherein the first working mode includes manual cleaning mode and automatic cleaning mode. In manual cleaning mode, the operator needs to control the blowing extension tube of the cleaning cart to blow off the fallen leaves in the area that the cart cannot reach, and then use the automatic cleaning mode to clean the fallen leaves on the ground to complete the cleaning of the fallen leaves.

步骤S20，若所述清扫小车的第一工作模式为人工清扫模式，则控制吸取机构和第二吹叶机构进行调整，以使吸取机构将吸取的空气通过第一吹叶机构吹出，完成清扫工作；Step S20, if the first working mode of the cleaning vehicle is the manual cleaning mode, the suction mechanism and the second leaf blowing mechanism are controlled to be adjusted so that the suction mechanism blows out the sucked air through the first leaf blowing mechanism to complete the cleaning work;

在本实施例中，当小车为人工清扫模式时，通过将吸取机构中的第一活动板调节到进叶口与储叶腔之间的位置，以使进叶口关闭，同时将第二吹叶机构中的第二活动板调节到第二吹叶通道与第一吹叶通道之间，以使第一吹叶通道与通风口连通，然后控制吸取组件中的第一驱动件驱动扇叶进行转动，使得吸取通道中形成负压，将外界的空气从吸取通道中吸取进安装腔中，再通过与安装腔连通的通风口，将空气形成的气流吹向第一吹叶通道中，以使气流从第一出风口吹出，再通过人工控制第一出风口的气流吹向清扫小车无法到达的区域，达到吹落叶的效果。In this embodiment, when the trolley is in manual cleaning mode, the first movable plate in the suction mechanism is adjusted to a position between the leaf inlet and the leaf storage chamber to close the leaf inlet, and the second movable plate in the second leaf blowing mechanism is adjusted to between the second leaf blowing channel and the first leaf blowing channel to connect the first leaf blowing channel with the vent, and then the first driving member in the suction assembly is controlled to drive the fan blades to rotate, so that negative pressure is formed in the suction channel, and the outside air is sucked from the suction channel into the mounting chamber, and then the airflow formed by the air is blown into the first leaf blowing channel through the vent connected to the mounting chamber, so that the airflow is blown out from the first air outlet, and then the airflow at the first air outlet is manually controlled to be blown to areas that the cleaning trolley cannot reach, thereby achieving the effect of blowing fallen leaves.

步骤S30，若所述清扫小车的第一工作模式为自动模式，则获取清扫小车的位置信息，根据所述位置信息和预设工作区域确定所述清扫小车的第二工作模式；Step S30, if the first working mode of the cleaning vehicle is the automatic mode, obtaining the position information of the cleaning vehicle, and determining the second working mode of the cleaning vehicle according to the position information and the preset working area;

步骤S40，根据所述第二工作模式，分别切换所述吸取机构和所述第二吹叶机构的位置，并根据预设规划路径，完成落叶清扫。Step S40, according to the second working mode, respectively switch the positions of the suction mechanism and the second leaf blowing mechanism, and complete the fallen leaf cleaning according to the preset planned path.

在本实施例中，通过设置在清扫小车车身的定位模块获取清扫小车的实时位置信息，所述预设工作区域指的是为清扫小车提前设置好的清扫区域，且在该区域中还设置有可以切换清扫小车工作模式的吹落叶区域和吸落叶区域。所述第二工作模式包括吸落叶模式和吹落叶模式，当清扫小车处于吹落叶区域中时，车身中的控制模块则将小车的工作模式切换为吹落叶模式；当清扫小车处于吸落叶区域中时，车身中的控制模块则将小车的第二工作模式切换为吸落叶模式。在切换工作模式完成后，根据预设规划路径，控制清扫小车根据该路径进行落叶清扫。In this embodiment, the real-time position information of the sweeping trolley is obtained by a positioning module provided on the body of the sweeping trolley. The preset working area refers to a cleaning area set in advance for the sweeping trolley, and a leaf blowing area and a leaf sucking area are also provided in the area for switching the working mode of the sweeping trolley. The second working mode includes a leaf sucking mode and a leaf blowing mode. When the sweeping trolley is in the leaf blowing area, the control module in the body switches the working mode of the trolley to the leaf blowing mode; when the sweeping trolley is in the leaf sucking area, the control module in the body switches the second working mode of the trolley to the leaf sucking mode. After the working mode is switched, according to the preset planned path, the sweeping trolley is controlled to clean the fallen leaves according to the path.

另外，在另一实施例中，所述步骤S30之前，还包括：In addition, in another embodiment, before step S30, the method further includes:

步骤A101，接收控制指令，根据所述控制指令移动，并记录移动轨迹；Step A101, receiving a control instruction, moving according to the control instruction, and recording a movement trajectory;

步骤A102，将所述移动轨迹对应围成的区域作为预设工作区域；Step A102, taking the area enclosed by the moving track as a preset working area;

步骤A103，在所述预设工作区域中的吹落叶区域内设置收集线或者收集点。Step A103, setting a collection line or a collection point in the leaf-blowing area in the preset working area.

在本实施例中，所述控制命令为操作者通过与清扫小车对应的APP而发送的，具体可以移动指令，使用app中的方向按钮向清扫小车发送指令，然后车身中的动力模块开始向电机供电，驱动履带转动，清扫小车开始移动，并记录移动轨迹，以及根据定位模块，将移动轨迹所围成的需要工作的区域的边界标记出来，同步相关边界GPS坐标及通过巡航模块获取的相关VSLAM视觉标记点信息并存储在清扫小车中，同时将通过GPS标记后的边界在APP上显示，以使操作者能够根据显示的区域在APP上直接划定吹落叶区域和吸落叶区域，再同步至清扫小车中。例如，操作者在APP上控制清扫小车进行前进、后退、左右移动等指令，清扫小车根据该移动指令进行移动，并记录移动过程中的GPS位置信息，便可得到移动后围成的区域的边界GPS位置信息，再将该边界信息同步至APP中，操作者即可直接在该区域中再次进行吹落叶区域和吸落叶区域的划分，并同步至清扫小车中执行。In this embodiment, the control command is sent by the operator through the APP corresponding to the cleaning vehicle. Specifically, the movement instruction can be sent by using the direction buttons in the app. Then the power module in the vehicle body starts to supply power to the motor, driving the track to rotate, and the cleaning vehicle starts to move. The moving trajectory is recorded, and the boundary of the area that needs to be worked surrounded by the moving trajectory is marked according to the positioning module. The relevant boundary GPS coordinates and the relevant VSLAM visual marker point information obtained through the cruise module are synchronized and stored in the cleaning vehicle. At the same time, the boundary marked by GPS is displayed on the APP, so that the operator can directly define the leaf blowing area and the leaf sucking area on the APP according to the displayed area, and then synchronize it to the cleaning vehicle. For example, the operator controls the cleaning vehicle to perform forward, backward, left and right movement and other instructions on the APP. The cleaning vehicle moves according to the movement instructions and records the GPS position information during the movement. The boundary GPS position information of the area enclosed after the movement can be obtained, and then the boundary information is synchronized to the APP. The operator can directly divide the area into the blowing and sucking areas again, and synchronize it to the cleaning vehicle for execution.

在划定移动轨迹对应的预设工作区域后，在预设工作区域内划定吹落叶区域和吸落叶区域，通常情况下，可以在草地、碎石地面使用吹落叶模式，在硬地使用吸落叶模式，在划定吸落叶区域后，用户还需要指定碎叶放置点；在划定吹落叶区域后，用户还需要划定收集点/线，具体的，通过APP在吹落叶区域中设置相关位置坐标，将位置坐标设置为一条线作为收集线，或者单独设置一个坐标点作为收集点。以使清扫小车在工作在吹落叶模式时，根据位置信息将落叶吹送到收集线上或者收集点上，具体的吹落叶流程为，控制清扫小车移动到预设工作区域的边缘，并根据预设规划路径进行移动，再通过控制驱动组件中的第一驱动件来控制风力的大小，在清扫小车靠近收集线或者收集点后，减小第一驱动件的输出功率，以使风力减小，达到将落叶吹送到收集线和收集点的作用。当该前进方向/直线落叶归整后，吸取组件会停止工作，同时清扫小车后退到预设工作区域边缘，然后转向进行另一方向/直线进行吹落叶作业，直到预设工作区域的落叶都被归整到收集点或者收集线。需要说明的是，可以将收集点或者收集线设置在吸落叶区域，使得清扫小车能够在吸落叶区域直接收集落叶，或者可以将收集线设置在吹落叶区域，在进行吹落叶完成后，再通过APP将吹落叶区域切换为吸落叶区域，以使清扫小车完成落叶的收集。After defining the preset working area corresponding to the moving trajectory, define the leaf blowing area and leaf sucking area in the preset working area. Usually, the leaf blowing mode can be used on grass and gravel ground, and the leaf sucking mode can be used on hard ground. After defining the leaf sucking area, the user also needs to specify the leaf crushing placement point; after defining the leaf blowing area, the user also needs to define the collection point/line. Specifically, the relevant position coordinates are set in the leaf blowing area through the APP, and the position coordinates are set as a line as the collection line, or a coordinate point is set separately as the collection point. When the cleaning vehicle is working in the leaf blowing mode, the leaves are blown to the collection line or collection point according to the position information. The specific leaf blowing process is to control the cleaning vehicle to move to the edge of the preset working area and move according to the preset planned path, and then control the wind force by controlling the first drive member in the drive assembly. After the cleaning vehicle approaches the collection line or collection point, the output power of the first drive member is reduced to reduce the wind force, so as to achieve the effect of blowing the leaves to the collection line and collection point. When the fallen leaves in the forward direction/straight line are collected, the suction component will stop working, and the cleaning trolley will retreat to the edge of the preset working area, and then turn to another direction/straight line to blow the fallen leaves until the fallen leaves in the preset working area are collected at the collection point or collection line. It should be noted that the collection point or collection line can be set in the fallen leaf suction area so that the cleaning trolley can directly collect the fallen leaves in the fallen leaf suction area, or the collection line can be set in the fallen leaf blowing area. After the fallen leaves are blown, the fallen leaf blowing area can be switched to the fallen leaf suction area through the APP so that the cleaning trolley can complete the collection of fallen leaves.

在本实施例中，通过设置预设工作区域，使得清扫小车能够在预设工作区域内自动工作，无需人力参与，提高清扫小车的智能化程度，降低人力成本。In this embodiment, by setting a preset working area, the cleaning vehicle can work automatically in the preset working area without human intervention, thereby improving the intelligence level of the cleaning vehicle and reducing labor costs.

进一步地，请参照图5，图5为根据本申请清扫小车控制方法的第一实施例提出本申请清扫小车控制方法的第二实施例，在本实施例中，步骤S40还包括：Further, please refer to FIG. 5 , which is a second embodiment of the cleaning trolley control method of the present application proposed based on the first embodiment of the cleaning trolley control method of the present application. In this embodiment, step S40 further includes:

步骤S41，若所述第二工作模式为吹落叶模式，分别切换吸取机构中的第一活动板的位置和第二吹叶机构中的第二活动板的位置，以使通风口开启以及进叶口关闭；Step S41, if the second working mode is the leaf blowing mode, respectively switching the position of the first movable plate in the suction mechanism and the position of the second movable plate in the second leaf blowing mechanism to open the vent and close the leaf inlet;

步骤S42，若所述第二工作模式为吸落叶模式，分别切换吸取机构中的第一活动板的位置和第二吹叶机构中第二活动板的位置，以使通风口关闭以及进叶口开启；Step S42, if the second working mode is the fallen leaf suction mode, respectively switching the position of the first movable plate in the suction mechanism and the position of the second movable plate in the second leaf blowing mechanism to close the vent and open the leaf inlet;

具体的，在检测到使用吹落叶模式时，车身中的控制模块控制吸取机构中的第一活动板调节到进叶口与储叶腔之间的位置，以使进叶口关闭，同时将吹叶机构中的第二活动板调节到通风口上侧的位置，以使通风口打开，然后控制吸取组件中的第一驱动件驱动扇叶进行转动，使得吸取通道中形成负压，将外界的空气从吸取通道中吸取进安装腔中，再通过与安装腔连通的通风口，将空气形成的气流吹向吹叶通道中，以使气流从出风口吹出，达到吹风的效果，使得地面上的落叶能够被吹动。在检测到使用吸落叶模式时，通过车身中的控制模块将吸取机构中的第一活动板调节至进叶口下方，以使进叶口打开，同时将吹叶机构中的第二活动板调节至安装腔与吹叶通道中间的通风口位置，以使通风口关闭，然后控制吸取组件中的第一驱动件驱动扇叶进行转动，使得吸取通道中形成负压，将外界地面上的落叶从吸取通道中吸取上来，再通过转动的扇叶将落叶进行粉碎，并将粉碎后落叶通过进叶口吹向储叶腔中，完成落叶的吸取和收集。Specifically, when it is detected that the fallen leaf blowing mode is used, the control module in the vehicle body controls the first movable plate in the suction mechanism to be adjusted to a position between the leaf inlet and the leaf storage chamber to close the leaf inlet, and at the same time adjusts the second movable plate in the leaf blowing mechanism to a position above the vent to open the vent, and then controls the first driving member in the suction assembly to drive the fan blades to rotate, so that negative pressure is formed in the suction channel, and the outside air is sucked from the suction channel into the mounting chamber, and then the airflow formed by the air is blown into the leaf blowing channel through the vent connected to the mounting chamber, so that the airflow is blown out from the air outlet, thereby achieving the effect of blowing, so that the fallen leaves on the ground can be blown. When the fallen leaves suction mode is detected, the first movable plate in the suction mechanism is adjusted to below the leaf inlet through the control module in the vehicle body to open the leaf inlet, and the second movable plate in the leaf blowing mechanism is adjusted to the vent position between the mounting cavity and the leaf blowing channel to close the vent, and then the first driving member in the suction assembly is controlled to drive the fan blades to rotate, so that negative pressure is formed in the suction channel, and the fallen leaves on the outside ground are sucked up from the suction channel, and then the fallen leaves are crushed by the rotating fan blades, and the crushed fallen leaves are blown into the leaf storage cavity through the leaf inlet, thereby completing the suction and collection of the fallen leaves.

步骤S43，获取所述预设工作区域内的环境信息，根据所述环境信息和所述工作模式，对预设规划路径进行修正，并完成在所述预设工作区域内的落叶清扫。Step S43, obtaining environmental information in the preset working area, correcting the preset planned path according to the environmental information and the working mode, and completing the fallen leaf cleaning in the preset working area.

在本实施中，所述环境信息即为清扫小车通过车身中的巡航模块采集到的障碍物信息等。在进行落叶清扫的过程中，可根据预设规划路径对落叶进行清扫，但是路径上可能会存在障碍物，例如动物、石头等无法通行的障碍，而车身中的巡航模块即可获取障碍物的信息，在移动过程中对预设规划路径进行不断修正，执行例如绕过障碍物重新回到预设规划路径中等操作，以使清扫小车能够正常完成清扫任务。In this embodiment, the environmental information is the obstacle information collected by the cleaning vehicle through the cruise module in the vehicle body. In the process of cleaning fallen leaves, the fallen leaves can be cleaned according to the preset planned path, but there may be obstacles on the path, such as animals, stones and other inaccessible obstacles, and the cruise module in the vehicle body can obtain the obstacle information, and continuously correct the preset planned path during the movement, such as bypassing the obstacle and returning to the preset planned path, so that the cleaning vehicle can complete the cleaning task normally.

在本申请中结合预设工作区域内的环境信息，通过对预设规划路径进行修正，提高了清扫小车的智能化程度，使得操作者不需要一直操作清扫小车进行工作，降低了人工成本。In this application, the environmental information in the preset working area is combined and the preset planned path is corrected to improve the intelligence of the cleaning vehicle, so that the operator does not need to operate the cleaning vehicle all the time to work, thereby reducing labor costs.

以上所述仅为本申请的优选实施例，并非因此限制本申请的专利范围，凡是在本申请的发明构思下，利用本申请说明书及附图内容所作的等效结构变换，或直接/间接运用在其他相关的技术领域均包括在本申请的专利保护范围内。The above description is only a preferred embodiment of the present application, and does not limit the patent scope of the present application. All equivalent structural changes made by using the contents of the present application specification and drawings under the inventive concept of the present application, or directly/indirectly applied in other related technical fields are included in the patent protection scope of the present application.

Claims

一种清扫小车，包括车身和车头，其特征在于，所述车头包括：A cleaning vehicle, comprising a vehicle body and a vehicle head, characterized in that the vehicle head comprises:

壳体，所述壳体内形成有安装腔及储叶腔，所述安装腔具有进叶口及通风口，且所述安装腔通过所述进叶口与所述储叶腔连通，所述壳体上开设有进风口、第一出风口及第二出风口；A shell, wherein a mounting cavity and a leaf storage cavity are formed in the shell, the mounting cavity has a leaf inlet and a vent, and the mounting cavity is connected with the leaf storage cavity through the leaf inlet, and an air inlet, a first air outlet, and a second air outlet are formed on the shell;

吸取机构，包括第一活动板、吸取组件及吸取通道，所述第一活动板设置于所述进叶口处并用于打开或关闭所述进叶口，所述吸取组件设置于所述安装腔内，所述吸取通道的两端分别与所述进风口及所述安装腔连通，以使所述吸取组件能通过所述吸取通道吸取落叶或者空气；The suction mechanism comprises a first movable plate, a suction assembly and a suction channel, wherein the first movable plate is arranged at the leaf inlet and is used to open or close the leaf inlet, the suction assembly is arranged in the installation cavity, and both ends of the suction channel are respectively connected with the air inlet and the installation cavity, so that the suction assembly can absorb fallen leaves or air through the suction channel;

第一吹叶机构，包括第一吹叶通道，所述第一吹叶通道的两端分别与所述通风口和所述第一出风口连通；A first leaf-blowing mechanism, comprising a first leaf-blowing channel, wherein two ends of the first leaf-blowing channel are respectively connected to the vent and the first air outlet;

第二吹叶机构，包括第二活动板及第二吹叶通道，所述第二吹叶通道的两端分别与所述第一吹叶通道及所述出风口连通，所述第二活动板设置于所述通风口处并用于打开或关闭所述通风口，以使所述第一吹叶通道与所述通风口连通，或者以使所述第二吹叶通道与所述通风口连通。The second leaf blowing mechanism includes a second movable plate and a second leaf blowing channel, both ends of the second leaf blowing channel are respectively connected to the first leaf blowing channel and the air outlet, the second movable plate is arranged at the vent and is used to open or close the vent so that the first leaf blowing channel is connected to the vent, or the second leaf blowing channel is connected to the vent.
如权利要求1所述的清扫小车，其特征在于，所述第二活动板包括左侧板、右侧板以及连接轴，所述左侧板和所述右侧板的一侧均与所述连接轴连接。The cleaning vehicle as described in claim 1 is characterized in that the second movable plate includes a left side plate, a right side plate and a connecting shaft, and one side of the left side plate and the right side plate are both connected to the connecting shaft.
如权利要求1所述的清扫小车，其特征在于，所述车头还包括吹风延长管，所述吹风延长管与所述第一出风口连通。The cleaning vehicle as described in claim 1 is characterized in that the vehicle head also includes a blowing extension pipe, and the blowing extension pipe is connected to the first air outlet.
如权利要求1所述的清扫小车，其特征在于，所述第二出风口设置有风向调节组件，所述风向调节组件包括风向垂直调节板和风向水平调节板，所述风向垂直调节板与所述第二出风口平行设置，所述风向水平调节板与所述第二出风口垂直设置。The cleaning vehicle as described in claim 1 is characterized in that the second air outlet is provided with a wind direction adjustment component, and the wind direction adjustment component includes a vertical wind direction adjustment plate and a horizontal wind direction adjustment plate, the vertical wind direction adjustment plate is arranged parallel to the second air outlet, and the horizontal wind direction adjustment plate is arranged perpendicular to the second air outlet.
如权利要求1所述的清扫小车，其特征在于，所述吸取组件包括第一驱动件和扇叶，所述第一驱动件驱动所述扇叶转动，以使所述扇叶通过所述吸取通道吸取落叶或者空气。The cleaning cart as described in claim 1 is characterized in that the suction assembly includes a first driving member and a fan blade, and the first driving member drives the fan blade to rotate so that the fan blade absorbs fallen leaves or air through the suction channel.
如权利要求1所述的清扫小车，其特征在于，所述壳体上开设有与所述储叶腔连通的开口，所述开口处设置有门体，所述储叶腔内还设置有第二驱动件，所述第二驱动件用于驱动所述门体自所述开口上升至所述储叶腔内或下降至所述开口处。The cleaning cart as described in claim 1 is characterized in that an opening connected to the leaf storage chamber is provided on the shell, a door body is provided at the opening, and a second driving member is also provided in the leaf storage chamber, and the second driving member is used to drive the door body to rise from the opening to the leaf storage chamber or descend to the opening.
如权利要求6所述的清扫小车，其特征在于，所述壳体上还设置有与所述车身连接的抬头装置，所述抬头装置用于根据所述储叶腔内的落叶重量，控制所述车头相对所述车身转动。The cleaning vehicle as described in claim 6 is characterized in that a head-lifting device connected to the vehicle body is also provided on the shell, and the head-lifting device is used to control the rotation of the vehicle head relative to the vehicle body according to the weight of the fallen leaves in the leaf storage chamber.
如权利要求6所述的清扫小车，其特征在于，所述车身的底部设置有行走履带，所述车身内部还设置有定位模块、巡航模块、控制模块、通讯模块及动力模块。The cleaning vehicle as described in claim 6 is characterized in that a walking track is provided at the bottom of the vehicle body, and a positioning module, a cruise module, a control module, a communication module and a power module are also provided inside the vehicle body.
一种清扫小车控制方法，其特征在于，所述清扫小车控制方法应用于权利要求1至8中任一项所述的清扫小车，所述清扫小车控制方法包括步骤：A cleaning trolley control method, characterized in that the cleaning trolley control method is applied to the cleaning trolley according to any one of claims 1 to 8, and the cleaning trolley control method comprises the steps of:

接收用户终端发送的控制指令，确定清扫小车的第一工作模式；Receive a control command sent by a user terminal and determine a first working mode of the cleaning vehicle;

若所述清扫小车的第一工作模式为人工清扫模式，则控制吸取机构和第二吹叶机构进行调整，以使吸取机构将吸取的空气通过第一吹叶机构吹出，完成清扫工作；If the first working mode of the cleaning vehicle is the manual cleaning mode, the suction mechanism and the second leaf blowing mechanism are controlled to be adjusted so that the suction mechanism blows the sucked air out through the first leaf blowing mechanism to complete the cleaning work;

若所述清扫小车的第一工作模式为自动模式，则获取清扫小车的位置信息，根据所述位置信息和预设工作区域确定所述清扫小车的第二工作模式；If the first working mode of the cleaning vehicle is the automatic mode, obtaining the position information of the cleaning vehicle, and determining the second working mode of the cleaning vehicle according to the position information and the preset working area;

根据所述第二工作模式，分别切换所述吸取机构和所述第二吹叶机构的位置，并根据预设规划路径，完成落叶清扫。According to the second working mode, the positions of the suction mechanism and the second leaf-blowing mechanism are switched respectively, and the fallen leaves are cleaned according to the preset planned path.
如权利要求9所述的清扫小车控制方法，其特征在于，所述根据所述第二工作模式，分别切换所述吸取机构和所述第二吹叶机构的位置，并根据预设规划路径，完成落叶清扫的步骤包括：The cleaning vehicle control method according to claim 9 is characterized in that the step of switching the positions of the suction mechanism and the second leaf blowing mechanism respectively according to the second working mode, and completing the fallen leaf cleaning according to the preset planned path comprises:

若所述第二工作模式为吹落叶模式，分别切换吸取机构中的第一活动板的位置和第二吹叶机构中的第二活动板的位置，以使通风口开启以及进叶口关闭；或者If the second working mode is the leaf blowing mode, the position of the first movable plate in the suction mechanism and the position of the second movable plate in the second leaf blowing mechanism are switched respectively, so that the vent is opened and the leaf inlet is closed; or

若所述第二工作模式为吸落叶模式，分别切换吸取机构中的第一活动板的位置和第二吹叶机构中第二活动板的位置，以使通风口关闭以及进叶口开启；If the second working mode is the fallen leaf suction mode, the position of the first movable plate in the suction mechanism and the position of the second movable plate in the second leaf blowing mechanism are switched respectively, so that the vent is closed and the leaf inlet is opened;

获取所述预设工作区域内的环境信息，根据所述环境信息和所述第二工作模式，对预设规划路径进行修正，并完成在所述预设工作区域内的落叶清扫。Environmental information within the preset working area is obtained, and the preset planned path is corrected according to the environmental information and the second working mode, and fallen leaf cleaning within the preset working area is completed.