Charging device, charging and water adding system of unmanned sweeper and control method

Abstract

A charging device of the present invention is provided with a base, a charging connector, a detection device and an adjustment device. The adaptive rotating plate of the adjustment device can be deflected by an external force, so it is convenient to connect with various vehicles. A charging and watering system and control method of an unmanned sweeper include a charging device and an automatic watering component. The charging connector and the watering connector are both arranged on an adaptive rotating plate. The detection device, the adjustment device and the automatic charging and watering component can adjust the angle of the connector according to the different parking positions of the sweeper, so as to facilitate docking with the sweeper and reduce the requirements for the navigation and positioning accuracy of the unmanned sweeper. The base of the device occupies a small area, has a low requirement for the flatness of the road surface, and has better adaptability. The present invention adopts a wired docking charging method, which has the advantages of large charging power, high efficiency and reliable connection.

Description

Technical Field

[0001] The present application relates to the field of unmanned driving, in particular to a charging device, a charging and water-adding system and a control method for an unmanned sweeper. Background Art

[0002] Most of the road sanitation and cleaning products on the market are still traditional manned, and there are also a few unmanned road sanitation and cleaning products, such as unmanned sweepers from Yingfeng Environment, Gaoxian Intelligence, Beijing Zhixingzhe and other companies, but none of the unmanned sweepers mentioned above have the function of automatic charging. There are also some cleaning products on the market that claim to have the function of automatic charging, but many of them are actually charged and docked under the premise of manual remote control of the equipment, which cannot be regarded as true unmanned automatic charging. The common operation is to let the unmanned sweepers return to the charging station for manual charging. Although Candela's products have the function of automatic charging, they use wireless charging. At present, wireless charging of unmanned equipment still faces a series of problems, such as low charging efficiency, large area occupied by wireless charging stations, and high economic costs.

[0003] Due to the above-mentioned defects of wireless charging, the traditional wired charging method has more practical application value. However, the current wired charging method has high requirements on the flatness of the road surface where the charging piles are arranged. The cleaning equipment must be fully connected to the charging piles before it can be charged. In addition, the current navigation positioning accuracy error is still large, which can easily cause the cleaning equipment to try multiple times before completing the connection. Summary of the invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention proposes a charging device, a charging and watering system for an unmanned sweeper, and a control method to solve the technical difficulty of docking the current wired charging device.

[0005] The present invention provides a charging device, which comprises: a base; a charging connector, which can be movably arranged on the base; a detection device, which is arranged on the base and is used to detect the driving state of a sweeper; an adjustment device, which is arranged on the base, and the adjustment device comprises an adaptive rotating plate and an elastic reset device, the adaptive rotating plate can shrink toward the base and / or deflect relative to the base when subjected to an external force, and the elastic reset device is used to reset the adaptive rotating plate when the external force disappears.

[0006] In some embodiments, the charging device also includes a water adding connector, and the charging connector and the water adding connector are fixedly arranged on the adaptive rotating plate; a water adding channel, a water adding solenoid valve and a water pipe storage box are arranged in the base body; the water adding connector is connected to the water adding channel and the water adding solenoid valve in sequence; the water pipe storage box is arranged at the lower part of the base body for storing water pipes.

[0007] In some embodiments, multiple indicator lights and emergency stop switches are installed on the side of the base, where the indicator lights include a charging indicator light, a water adding indicator light and a fault indicator light, etc. There is a handheld charging gun on the column of the base. In the event of a fault, the sweeper can be charged manually using the handheld charging gun.

[0008] In some embodiments, the charging device also includes a charger support, a shell fixing connector, a support frame, a charger and an electric control box; the charger support plate is fixed on top of the support frame, and the shell connecting fixing plate is fixedly connected to the support frame; the charger is connected to the charging connector and fixedly connected to the charger support plate; the electric control box is fixed in the support frame, and a charging switching switch is provided inside.

[0009] In some embodiments, the elastic reset device can cause the charging connector to move laterally and / or deflect laterally; the elastic reset device includes: a first compression spring, a compression spring connecting plate, a charging slide plate, a front limit block connecting plate, a front limit block, a linear guide pair, a rear limit block, a rear limit block connecting plate, a telescopic guide shaft, a rotating center shaft and a seat bearing; the seat bearing is sleeved on the upper and lower ends of the rotating center shaft and fixedly connected to the adaptive rotating plate, and the compression spring is sleeved on the telescopic guide shaft.

[0010] In some embodiments, the detection device includes a trigger plate, a tension spring, a spring pull plate, an induction switch and an induction sheet. The trigger plate is arranged on an adaptive rotating plate for docking a sweeper. The tension spring is connected to the spring pull plate. The induction switch and the induction sheet are arranged on the adjustment device.

[0011] The present invention also provides a charging and watering system for an unmanned sweeper, comprising any of the above-mentioned charging devices and an automatic charging and watering assembly mounted on the sweeper; the automatic charging and watering assembly is installed at the rear of the vehicle body, and the automatic charging and watering assembly comprises a support plate, a charging contact assembly, a water receiving trough and a travel switch assembly; the charging contact assembly is fixed to the upper side of the support plate by screws, the water receiving trough is fixed to the lower side of the support plate by screws, a drain pipe and a liquid level sensor are arranged on the water receiving trough, the travel switch assembly has two left and right groups, which are symmetrically fixed to the left and right sides of the support plate by screws, and the charging contact assembly is used to connect to the charging connector to transmit electrical energy to the unmanned sweeper.

[0012] In some embodiments, the charging contact assembly includes: a charging contact, a push rod motor, a drag chain, a charging support plate, a connecting plate, a linear bearing and a guide shaft; the charging contact is fixed to the guide shaft by screws, and the push rod motor pushes the charging contact to move axially along the guide shaft; the guide shaft is sleeved on the linear bearing, and the linear bearing is fixed to the charging support plate by screws, one end of the drag chain is fixedly connected to the guide shaft through the connecting plate, and the other end is fixed to the charging support plate; the charging contact includes: a contact shell sleeve, a contact copper block, a second compression spring and a first travel switch; the first travel switch is fixed to the contact shell sleeve by the connecting plate, and the two ends of the second compression spring are respectively in contact with the contact shell sleeve and the contact copper block.

[0013] In some embodiments, the travel switch assembly includes: a push rod, a push rod support plate, a travel switch fixing plate, and a second travel switch; the push rod is sleeved on the push rod support plate for axial sliding, the push rod support plate is fixed to the vehicle body shell by screws, the second travel switch is fixed to the travel switch fixing plate by screws, the left side of the push rod is in contact with the trigger end of the second travel switch, and the travel switch fixing plate is fixed to the support plate by screws.

[0014] The present invention also provides a control method for a charging and watering system of an unmanned sweeper, which is applicable to the above-mentioned system and comprises the following steps:

[0015] Step 1: Control the unmanned sweeper to approach the charging device, and the travel switch assembly at the rear of the sweeper touches the detection device, and the detection device drives the adjustment device to deflect until the travel switch assembly completely touches the detection device, and the sweeper stops moving;

[0016] Step 2: Control the charging contacts of the driverless sweeper to extend and connect with the charging connector, connect the water tank of the driverless sweeper to the water adding connector of the charging device, and the charging device starts charging and adding water;

[0017] Step 3: When it is detected that the water tank of the sweeper is full, the charging device is controlled to stop charging; when it is detected that the power of the sweeper is full, the charging device is controlled to stop adding water.

[0018] The beneficial effects of the present invention are as follows: a charging device of the present invention is provided with a base, a charging connector, a detection device and an adjustment device, the adaptive rotating plate of the adjustment device can be deflected by external force, so as to be convenient for connection with various vehicles; a charging and watering system and control method of an unmanned sweeper comprises a charging device and an automatic watering component, the charging connector and the watering connector are both arranged on an adaptive rotating plate, the detection device, the adjustment device and the automatic charging and watering component can adjust the angle of the connector according to the different parking positions of the sweeper, so as to be convenient for docking with the sweeper, and reduce the requirements for the navigation and positioning accuracy of the unmanned sweeper; the base of the device occupies a small area, has low requirements for the flatness of the road surface, and has better adaptability; the present invention adopts a wired docking charging method, which has the advantages of large charging power, high efficiency and reliable connection. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0020] Figure 1 It is a schematic diagram of this application;

[0021] Figure 2 It is the front structural diagram of the substrate of this application;

[0022] Figure 3 It is the reverse structural diagram of the substrate of the present application;

[0023] Figure 4 It is the internal structure diagram of the substrate of this application;

[0024] Figure 5 It is the structural diagram of the regulating device of this application;

[0025] Figure 6 This is the structural diagram of the adaptive rotating plate of this application;

[0026] Figure 7 This is the structural diagram of the automatic water adding component of this application;

[0027] Figure 8 This is a structural diagram of the charging contact assembly of the present application;

[0028] Fig. 9 This is the structural diagram of the travel switch assembly of this application;

[0029] Fig.10 It is a front view of the charging contact of this application;

[0030] Fig.11 yes Fig.10Cross-section along CC direction;

[0031] Fig.12 It is a schematic diagram of the present application at various docking angles;

[0032] In the figure:

[0033] 10. Base; 20. Automatic charging and watering assembly; 30. Sweeper; 110. Side-mounted box; 111. Column; 112. Base cover; 113. Rear door; 114. Water pipe storage box; 115. Cable inlet; 116. Water pipe access port; 117. Handheld charging gun; 118. Emergency stop switch; 119. Indicator light; 120. Charger; 121. Charger support plate; 122. Adjustment device; 123. Shell connection fixing plate; 124. Support frame; 125. Electric control box; 126. Watering solenoid valve; 127. Adaptive rotating plate; 128. Charging connector; 129. Watering connector; 130. Trigger plate; 131. Rotation center axis; 132. Charging slide plate; 133. Spring pull plate; 134. Front limit block connecting plate; 135. Front limit block; 136. Linear guide pair; 1 37. Rear limit block; 138. Compression spring connecting plate; 139. Bearing with seat; 140. Extension spring; 141. First compression spring; 142. Induction sheet; 143. Induction switch; 144. Telescopic guide shaft; 145. Rear limit block connecting plate; 210. Charging contact assembly; 211. Support plate; 212. Water receiving trough; 213. Travel switch assembly; 2111. Push rod motor; 2112. Drag chain; 2113. Charging support plate; 2114. Connecting plate; 2115. Linear bearing; 2116. Guide shaft; 2117. Charging contact; 2118. Contact shell; 2119. Contact copper block; 2120. First travel switch; 2121. Second compression spring; 2122. Travel switch fixing plate; 2123. Push rod support plate; 2124. Push rod; 2125. Second travel switch. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solution and advantages of the present application clearer, the technical solution of the present application will be clearly and completely described through the implementation method with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are 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 the present application.

[0035] like Figure 1-6As described above, this embodiment provides a charging device, which includes a base 10, a detection device, an adjustment device 122 and a charging connector 128; the base 10 shell is provided with a side-mounted box 110, a column 111, a rear door 113, a base cover 112 and a 220V cable inlet 115.

[0036] The device is also provided with a water adding joint 129, which is fixed on the adaptive rotating plate 127; the base 10 is provided with a tap water pipe access port 116, a water adding channel, a water adding solenoid valve 126 and a water pipe storage box 114; the water adding joint 129 is connected with the water adding channel and the water adding solenoid valve 126 in sequence; the water pipe storage box 114 is arranged at the lower part of the base 10 for storing water pipes.

[0037] The base 10 is used to carry the internal structure of the device and plays the role of external support. The device also includes a charger support plate 121, a shell fixing connector, a support frame 124, and a charger 120; the charger support plate 121 is fixed above the support frame 124, and the shell connecting fixing plate 123 is fixedly connected to the support frame 124; the charger 120 is connected to the charging connector 128, and the charger 120 is fixedly connected to the charger support plate 121 by screws; Figure 2 As shown, the side-mounted box 110 of the base 10 is also provided with a plurality of indicator lights 119 and an emergency stop switch 118. The indicator lights 119 are a charging indicator light, a water adding indicator light, a fault indicator light, etc.; when a fault occurs in the device, the emergency stop switch 118 can be manually pressed to stop the ongoing or pending charging and water adding actions of the device; when manual water adding is required, manual water adding can be completed through the water pipe in the water pipe storage box 114; Figure 2 As shown, a handheld charging gun 117 is arranged on the column 111 of the base 10, and the base also includes an electric control box 125. A switch for automatic and manual modes is arranged inside the electric control box 125. The switch can be rotated to the manual mode, and the cleaning vehicle 30 can be charged manually through the handheld charging gun 117.

[0038] like Figure 5 As shown, the detection device is arranged on the base 10, and is used to detect the driving state of the sweeper 30. The detection device includes a trigger plate 130, a tension spring 140, a spring pull plate 133, an induction switch 143 and an induction sheet 142. The spring pull plate 133 is fixed to the charging slide plate 132 by screws. The two ends of the tension spring 140 are respectively connected to the adaptive rotating plate 127 and the spring pull plate 133. The adaptive rotating plate 127 is kept in a docking state by the tension springs 140 on both sides. When the sweeper contacts the trigger plate and continues to move backward, the induction switch on the detection device sends a signal to the control system of the sweeper to control the sweeper to stop moving.

[0039] The adjustment device 122 includes an adaptive rotating plate 127 and an elastic reset device. When the adaptive rotating plate 127 is subjected to an external force, it can shrink toward the base 10 and / or deflect relative to the base 10. The elastic reset device is used to reset the adaptive rotating plate 127 when the external force disappears. The elastic reset device includes: a first compression spring 141, a compression spring connecting plate 138, a charging slide plate 132, a front limit block connecting plate 134, a front limit block 135, a linear guide pair 136, a rear limit block 137, a rear limit block connecting plate 145, a telescopic guide shaft 144, a rotating center shaft 131 and a seat bearing 139; the seat bearing 139 is sleeved on the upper and lower ends of the rotating center shaft 131 and is fixedly connected to the adaptive rotating plate 127, and the first compression spring 141 is sleeved on the telescopic guide shaft 144; the linear guide pair 136 is fixedly connected to the support frame 124 by screws, and the charging slide plate 132 is fixedly connected to the front limit block 135 ... The slide plate 132 is fixedly connected to the linear guide pair 136 by screws, the rotating center axis 131 is fixedly connected to the charging slide plate 132 by screws, the seat bearing 139 is sleeved on the upper and lower ends of the rotating center axis 131, the seat bearing 139 is fixedly connected to the adaptive rotating plate 127 by screws, and the two ends of the telescopic guide shaft 144 are respectively fixedly connected to the rear limit block connecting plate 145 and the compression spring connecting plate 138 by screws; the adjusting device drives the adaptive rotating plate to move together under the extrusion / collision of external force through the cooperation of internal components, so that the adaptive rotating plate can deflect and tilt according to the external force.

[0040] The charging connector 128 is configured as a charging plate or a charging plug for charging the cleaning vehicle 30. Figure 6 As shown, in this embodiment, the charging plate is selected as the charging connector.

[0041] like Figure 1 As shown, this embodiment also provides a charging and watering system for an unmanned sweeper, the system comprising the charging device described in the above embodiment and an automatic charging and watering assembly 20 arranged on the sweeper 30; Figure 5 As shown, the automatic charging and watering assembly 20 is installed at the rear of the vehicle body. Figure 7 As shown, the automatic charging and watering assembly 20 includes a support plate 211, a charging contact assembly 210, and a travel switch assembly 213; the charging contact assembly 210 is fixed to the upper side of the support plate 211 by screws, the water receiving trough 212 is fixed to the lower side of the support plate 211 by screws, and the travel switch assembly 213 has two left and right groups, which are symmetrically fixed to the left and right sides of the support plate 211 by screws; in order to prevent the water receiving trough 212 from being overfilled and overflowing, a drain pipe and a liquid level sensor are installed on the inner wall of the water receiving trough 212 to detect the water level in the water receiving trough 212.

[0042] In some embodiments, the charging contact assembly 210 includes: a charging contact 2117, a push rod motor 2111, a drag chain 2112, a charging support plate 2113, a connecting plate 2114, a linear bearing 2115, and a guide shaft 2116; Figure 8 As shown, the charging contact 2117 is fixed to the guide shaft 2116 by screws, and the push rod motor 2111 pushes the charging contact 2117 to make axial movement along the guide shaft 2116. The guide shaft 2116 is sleeved on the linear bearing 2115, and the linear bearing 2115 is fixed to the charging support plate 2113 by screws. One end of the drag chain 2112 is fixedly connected to the guide shaft 2116 through the connecting plate 2114, and the other end is fixed to the charging support plate 2113.

[0043] In some embodiments, Figure 10-11 As shown, the charging contact 2117 includes: a contact shell 2118, a contact copper block 2119, a second compression spring 2121 and a first travel switch 2120; the first travel switch 2120 is fixed to the contact shell 2118 through a connecting plate 2114, and the two ends of the second compression spring 2121 are in contact with the contact shell 2118 and the contact copper block 2119 respectively.

[0044] In some embodiments, the travel switch assembly 213 includes: a push rod 2124, a push rod support plate 2123, a travel switch fixing plate 2122, and a second travel switch 2125; Fig. 9 As shown, the push rod 2124 is sleeved on the push rod support plate 2123 for axial sliding, the push rod support plate 2123 is fixed to the vehicle body shell by screws, the second travel switch 2125 is fixed to the travel switch fixing plate 2122 by screws, the left side of the push rod 2124 is in contact with the trigger end of the second travel switch 2125, and the travel switch fixing plate 2122 is fixed to the support plate 211 by screws.

[0045] When the remaining power and water of the sweeper 30 reach the warning value, the control program of the sweeper 30 controls the sweeper 30 to automatically return to the position of the base 10, and the camera on the sweeper 30 shoots the QR code attached to the base 10 to confirm the specific coordinate position and specific detailed information of the base 10. After the confirmation is completed, the sweeper 30 slowly reverses from the left to the right rear, and the rear of the sweeper 30 slowly approaches the base 10 until the top rod 2124 of the travel switch assembly 213 completely touches the trigger plate 130, and the control system controls the sweeper 30 to stop moving.

[0046] In some embodiments, when the top rod 2124 of the travel switch assembly 213 contacts the trigger plate 130, the adaptive rotating plate 127 begins to swing within a certain range along the direction of the external force, so that the top rod 2124 is in full contact with the trigger plate 130, and the adaptive rotating plate 127 stops swinging; from the time the travel switch is triggered to the time the sweeper 30 stops completely, the sweeper 30 will continue to move backward a certain distance, and the adaptive rotating plate 127 can move backward as a whole with the adjusting device 122, and absorb part of the thrust of the sweeper 30 through the first compression spring 141 on the adjusting device 122 to avoid rigid contact and damage.

[0047] In some embodiments, if the travel switch assembly 213 contacts the trigger plate 130, but the sweeper 30 does not stop moving, the adaptive rotating plate 127 can move backward as a whole with the adjustment device 122 until the sensing switch 143 of the detection device is triggered. The sensing switch 143 sends a signal to the control system of the sweeper 30 to control the sweeper 30 to stop moving.

[0048] In some embodiments, when the system detects that the travel switch assembly 213 has completed docking with the trigger plate 130, the charging and watering action begins. The push rod motor 2111 on the charging contact assembly 210 pushes the charging contact 2117 out, and when the contact copper block 2119 contacts the charging plate on the substrate 10, the travel switch is triggered, the push rod motor 2111 stops moving, and the control system sends a signal to the electric control box 125, and the charging connector 128 starts to supply power. At the same time, the watering connector 129 has been extended into the water receiving tank 212, and the control system sends a signal to the water adding solenoid valve 126 to start adding water, which flows into the water tank inside the vehicle body through the filter in the water receiving tank 212. When the control system detects that the water tank is full of water, it sends a signal to the water adding solenoid valve 126 to stop adding water. When the control system detects that the power in the sweeper 30 is full, it sends a signal to the electric control box 125 to stop charging.

[0049] like Fig.12 As shown, the system described in this embodiment allows a position deviation of ±100 mm and an inclination angle of ±7° between the sweeper 30 and the base 10, and the charging and watering actions can be completed within this range.

[0050] During the process of the sweeper docking the charging device backwards, due to the accuracy error of the navigation algorithm, the sweeper may not be completely centered relative to the charging device. It is possible that the sweeper is docked with the charging device backwards at an angle. The adaptive rotating plate of the charging device can swing within a certain range to the left and right, so the sweeper can adaptively complete the automatic charging and watering actions without being completely straightened. In addition, from the triggering of the travel switch to the complete stop of the sweeper, the sweeper will continue to move backwards for a certain distance, and the components on the adaptive rotating plate of the charging device can move backwards as a whole through the adjusting device, and the kinetic energy of the sweeper can be absorbed by the first compression spring on the adjusting device to avoid rigid contact between the charging device and the sweeper to avoid damage. If the travel switch assembly fails and the sweeper does not stop moving, the sweeper will push the adjusting device to move backwards until the induction switch on the detection device is triggered to control the vehicle body to stop moving. When the sweeper stops completely, the push rod motor on the charging contact assembly moves, the charging contact extends, the contact copper block contacts the charging connector on the charging device, and triggers the travel switch on the charging contact assembly, and the push rod motor stops moving. At this time, the charging and water adding action is ready, and the sweeper control system sends a signal to the charging device, the charging connector starts to supply power, the water adding solenoid valve moves, and the charging and water adding action starts. In order to prevent the water receiving trough from being overfilled and overflowing, a liquid level sensor is installed on the inner wall of the water receiving trough to monitor the water level of the water receiving trough. The water in the water receiving trough flows into the water tank inside the vehicle body after passing through the filter. After the vehicle body water tank is filled with water, the water adding solenoid valve of the charging device moves and stops adding water.

[0051] This embodiment also provides a charging and watering control method for an unmanned sweeper, which is applicable to the above system and is characterized by comprising the following steps:

[0052] Step 1: Control the unmanned sweeper to approach the charging device, and the travel switch assembly at the rear of the sweeper touches the detection device, and the detection device drives the adjustment device to deflect until the travel switch assembly completely touches the detection device, and the sweeper stops moving;

[0053] Step 2: Control the charging contacts of the driverless sweeper to extend and connect with the charging connector, connect the water tank of the driverless sweeper to the water adding connector of the charging device, and the charging device starts charging and adding water;

[0054] Step 3: When it is detected that the water tank of the sweeper is full, the charging device is controlled to stop charging; when it is detected that the power of the sweeper is full, the charging device is controlled to stop adding water.

[0055] In the description of the present invention, "several" means more than one, "many" means more than two, "greater than", "less than", "exceed", etc. are understood to exclude the number itself, and "above", "below", "within", etc. are understood to include the number itself. If there is a description of "first" or "second", it is only used for the purpose of distinguishing the technical features, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0056] In the description of the present invention, unless otherwise clearly defined, words such as "setting" should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meaning of the above words in the present invention in combination with the specific content of the technical solution.

[0057] In the description of the present invention, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0058] Note that the above are only preferred embodiments of the present application and the technical principles used. Those skilled in the art will understand that the present application is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present application. Therefore, although the present application is described in more detail through the above embodiments, the present application is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present application, and the scope of the present application is determined by the scope of the appended claims.

Claims

1. A charging device, characterized in that: The device includes: matrix; A charging connector, movably arranged on the base; A detection device, arranged on the base body, for detecting the driving state of the vehicle; An adjusting device is arranged on the base, the adjusting device comprises an adaptive rotating plate and an elastic reset device, the adaptive rotating plate can be contracted toward the base and / or deflected relative to the base when subjected to an external force, and the elastic reset device is used to reset the adaptive rotating plate when the external force disappears; The elastic reset device can make the charging connector move laterally and / or deflect laterally, and the elastic reset device includes: a first compression spring, a compression spring connecting plate, a charging slide plate, a front limit block connecting plate, a front limit block, a linear guide pair, a rear limit block, a rear limit block connecting plate, a telescopic guide shaft, a rotating center shaft and a seat bearing, the first compression spring is sleeved on the telescopic guide shaft; the linear guide pair is fixedly connected to the support frame by screws, the charging slide plate is fixedly connected to the linear guide pair by screws, the rotating center shaft is fixedly connected to the charging slide plate by screws, the seat bearing is sleeved on the upper and lower ends of the rotating center shaft, the seat bearing is fixedly connected to the adaptive rotating plate by screws, and the two ends of the telescopic guide shaft are respectively fixedly connected to the rear limit block connecting plate and the compression spring connecting plate by screws; the compression spring connecting plate is fixedly connected to the charging slide plate, the front limit block connecting plate and the rear limit block connecting plate are respectively fixedly connected to the support frame, and the front limit block connecting plate and the rear limit block connecting plate are respectively fixedly connected with the front limit block and the rear limit block; The detection device includes a trigger plate, a tension spring, a spring pull plate, an induction switch and an induction sheet. The trigger plate is arranged on the adaptive rotating plate for docking with the vehicle. The induction sheet is arranged on the charging skateboard, and the induction switch is arranged on the supporting frame. The spring pull plate is fixed to the charging skateboard by screws, and the two ends of the tension spring are respectively connected to the adaptive rotating plate and the spring pull plate. The adaptive rotating plate is kept in a docking state by the tension springs on both sides. When the sweeper contacts the trigger plate and moves backward until the induction sheet triggers the induction switch, the induction switch sends a signal to the control system of the sweeper to control the sweeper to stop moving.

2. A charging device according to claim 1, characterized in that: It also includes a water adding connector, the charging connector and the water adding connector are arranged on the adaptive rotating plate, and the base body is also provided with a water adding channel, a water adding solenoid valve and a water pipe storage box, the water adding connector is connected with the water adding channel and the water adding solenoid valve in sequence; the water pipe storage box is arranged at the lower part of the base body for storing water pipes.

3. A charging device according to claim 1, characterized in that: An emergency stop switch, a plurality of indicator lights and a handheld charging gun are installed on the side of the base.

4. A charging device according to claim 1, characterized in that: The base is also provided with a charger support plate, a shell fixing connection plate, a support frame, a charger and an electric control box. The charger support plate is fixed above the support frame, the shell connection fixing plate is fixedly connected to the support frame, the charger is connected to the charging connector and fixedly connected to the charger support plate, the electric control box is fixed in the support frame, and a charging switching switch is provided inside.

5. A charging and watering system for an unmanned sweeper, characterized in that: It comprises the charging device according to any one of claims 1 to 4 and an automatic charging and water adding component arranged on an unmanned sweeper; The automatic charging and water-adding assembly is installed at the rear of the unmanned sweeper. The automatic charging and water-adding assembly includes a support plate, a charging contact assembly, a water receiving trough and a travel switch assembly. A drain pipe and a liquid level sensor are arranged on the water receiving trough. The travel switch assembly has two left and right groups, which are respectively fixed on the left and right sides of the support plate by screws. The travel switch assembly is symmetrical with the water receiving trough as the central axis. The charging contact assembly is used to connect to the charging connector to charge the unmanned sweeper. The water receiving trough is connected to the water-adding connector to add water to the unmanned sweeper.

6. The charging and watering system of an unmanned sweeper according to claim 5, characterized in that: The charging contact assembly includes: a charging contact, a push rod motor, a drag chain, a charging support plate, a connecting plate, a linear bearing, and a guide shaft. The push rod motor pushes the charging contact to move axially along the guide shaft. The guide shaft is sleeved on the linear bearing. One end of the drag chain is fixedly connected to the guide shaft through the connecting plate, and the other end is fixed to the charging support plate.

7. The charging and watering system of an unmanned sweeper according to claim 5, characterized in that: The charging contact comprises: a contact shell, a contact copper block, a second compression spring and a first travel switch, wherein the first travel switch is fixed on the contact shell through a connecting plate, and two ends of the second compression spring are respectively in contact with the contact shell and the contact copper block.

8. The charging and watering system of an unmanned sweeper according to claim 5, characterized in that: The travel switch assembly includes: a push rod, a push rod support plate, a travel switch fixing plate, and a second travel switch. The push rod is sleeved on the push rod support plate for axial sliding, the second travel switch is fixed on the travel switch fixing plate, the left side of the push rod is in contact with the trigger end of the second travel switch, and the travel switch fixing plate is fixed on the support plate.

9. A control method for a charging and watering system of an unmanned sweeper, applicable to the system as claimed in claim 5, characterized in that: The following steps are involved: Step 1: Control the unmanned sweeper to approach the charging device, and the travel switch assembly at the rear of the sweeper touches the detection device, and the detection device drives the adjustment device to deflect until the travel switch assembly completely touches the detection device, and the sweeper stops moving; Step 2: Control the charging contacts of the driverless sweeper to extend and connect with the charging connector, connect the water tank of the driverless sweeper to the water adding connector of the charging device, and the charging device starts charging and adding water; Step 3: Detecting that the water tank of the sweeper is full, controlling the charging device to stop adding water; When it is detected that the power of the sweeper is full, the charging device is controlled to stop charging.

Images