An unmanned sanitation vehicle and a working method thereof

Abstract

The application discloses an unmanned environmental sanitation vehicle and a working method thereof. The unmanned environmental sanitation vehicle comprises a vehicle body, a battery, a garbage collection box and a water tank arranged in the vehicle body, a roof spraying device, a high-pressure blowing and sucking device, a road surface cleaning device, a road surface washing device, a vehicle bottom spraying device, a garbage classification device, a camera, a distance and speed measuring instrument, a communication and GPS device and a processing module. The camera and the distance and speed measuring instrument are arranged around the vehicle body, and the distance and speed measuring instrument and the camera are matched to obtain information such as external vehicles, pedestrians and road conditions. The communication and GPS device and the processing module are arranged in the vehicle body, the processing module is responsible for task execution, and the communication and GPS device is responsible for feeding back information to a working base station. The working method of the unmanned environmental sanitation vehicle is also provided. The unmanned environmental sanitation vehicle can intelligently perform road and community environmental sanitation without human intervention, and greatly reduces the labor input.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of environmental sanitation, and relates to an unmanned environmental sanitation vehicle and a working method thereof, in particular to a cleaning vehicle for community and surrounding road cleaning, green plant care, disinfection and garbage collection and classification, and a meeting method of the unmanned community cleaning vehicle for some special road sections. BACKGROUND

[0002] At present, most communities clean road garbage mainly by manual cleaning, and the fallen leaves on the ground are cleaned by manual sweeping. This method has high labor intensity, low efficiency, and is prone to incomplete cleaning, and cannot recycle fallen leaves for secondary use. At present, the use function of most small cleaning vehicles in urban communities in China is relatively single, but the development of cities faces various cleaning needs, such as cleaning of flower clusters and cleaning of road dust. Small cleaning needs to be further improved in efficiency of urban community cleaning work through diversification of functions.

[0003] With the progress of science and technology, the progress of unmanned driving technology and sensor technology, many products have moved towards intelligentization and unmannedization, but the intelligent application rate of unmanned community small cleaning vehicles in China is very low. The use of science and technology can bring better life and work experience to urban community residents and cleaning. Therefore, an unmanned community cleaning and disinfection unmanned environmental sanitation vehicle that can overcome the above defects is urgently needed. SUMMARY

[0004] The purpose of the present application is to fill the gaps in the prior art, and to provide an unmanned environmental sanitation vehicle and a working method thereof, which has garbage cleaning and subsequent treatment, green plant maintenance and community disinfection, automatic cruising and complex road section meeting functions.

[0005] The unmanned environmental sanitation vehicle of the present application comprises a vehicle body, a battery, a garbage collection box and a water tank arranged in the vehicle body, and further comprises a roof spraying device, a high-pressure blowing and sucking device, a road surface sweeping device, a road surface washing device, a vehicle bottom spraying device, a garbage classification device, a camera, a distance and speed measuring instrument, a communication and GPS device and a processing module.

[0006] The water tank is provided with a water and material injection device and a drain pipe; the high-pressure blowing and sucking device, the road surface sweeping device, the road surface washing device and the vehicle bottom spraying device are arranged below the vehicle body, and the road surface washing device and the vehicle bottom spraying device are connected with the water tank through water pipes; the high-pressure blowing and sucking device is connected with the garbage classification device through a pipeline, and a garbage collection box is arranged below the garbage classification device.

[0007] The roof spraying device is arranged above the vehicle body and comprises a foldable sprayer and a high-pressure pump, and the high-pressure pump is connected with the water tank through a water pipe.

[0008] The camera and the distance measuring and speed measuring instrument are multiple, and are respectively arranged around the vehicle body, the distance measuring and speed measuring instrument cooperates with the camera to obtain information of external vehicles, pedestrians and road conditions, the communication and GPS device and the processing module are arranged in the vehicle body, the processing module is responsible for task execution, and the communication and GPS device is responsible for feeding back information to a working base station.

[0009] Further, the water injection device is provided with a clean water injection port, and the water injection device further comprises a disinfectant storage tank and a pesticide storage tank, and the disinfectant storage tank and the pesticide storage tank are respectively provided with disinfectant and pesticide inlets; the disinfectant storage tank and the pesticide storage tank are connected with disinfectant and pesticide outlets below, the disinfectant and pesticide outlets are connected with the high-pressure pump, and the high-pressure pump is also connected with the water tank; the outlet of the high-pressure pump is connected with a high-pressure pump outlet pipe, and the lower part of the foldable sprayer is connected with the high-pressure outlet pipe.

[0010] Further, the garbage classification device comprises a conveying belt a, a conveying belt b, a classification turntable and a garbage image collector; the garbage image collector is arranged in front of the classification turntable, the conveying belt a is arranged below the connecting pipeline of the high-pressure blowing and sucking device, the conveying belt b sends the garbage on the conveying belt a to the classification turntable, and the classification turntable is arranged above the garbage collection box; the conveying belt a comprises an upper conveying belt and a lower conveying belt, garbage separation is realized by setting a speed difference between the upper conveying belt and the lower conveying belt, a partition plate is arranged on the conveying belt b, and there is also a speed difference between the conveying belt b and the conveying belt a; the classification turntable comprises an upper classification turntable and a lower classification turntable, and rotates under the control of upper control wheels and lower control wheels respectively, the upper classification turntable is provided with a solid area and a hollow area, and the lower classification turntable is provided with a corresponding hollow area.

[0011] Further, the foldable sprayer comprises a base box, a large arm and a small arm, the large arm is fixed with the base box through a first driving shaft, so that the large arm can rotate around the first driving shaft, the large arm is fixed with the small arm through a second driving shaft, so that the small arm can rotate around the second driving shaft, and a plurality of selection nozzles are arranged on the upper end of the small arm.

[0012] Further, the vehicle bottom spraying device comprises an atomizing nozzle, the atomizing nozzle comprises a spray chamber, four nozzles, a blind plate and a rotating flow piece, the spray chamber is fixed with the four nozzles through threads, the blind plate and the rotating flow piece are fixed in the spray chamber, the blind plate is above the rotating flow piece, high-speed flowing liquid impacts on the blind plate, atomized particles are formed after the rotating flow piece, and the atomized particles are sprayed out through the four nozzles.

[0013] Further, the unmanned environmental sanitation vehicle is further provided with an alarm device.

[0014] Further, the present application provides a working method of the unmanned sanitation vehicle, comprising:

[0015] S1: preliminary work: check the power of the unmanned sanitation vehicle, the garbage collection box, inject clean water, disinfectant and pesticide in the corresponding equipment, set the planned route;

[0016] S2: on the way: through the vehicle-mounted GPS, camera and speed and distance measuring instrument to provide the position information of the unmanned sanitation vehicle and the traffic situation around the unmanned sanitation vehicle to the base station, make corresponding indications of meeting and avoiding;

[0017] S3: task execution: observe the roadside and road surface conditions through the front camera, side camera and rear camera, start the corresponding working mode, and the GPS feeds back the current position in real time, and marks the road section that needs secondary cleaning;

[0018] S4: after completing a planned route, if the road section that needs secondary cleaning is marked, the optimal route is automatically planned to go to the marked point to repeat step S3, if not, the path is cleaned, and returns to the specified parking area;

[0019] S5: after returning to the specified parking area, the operator performs garbage cleaning and charging.

[0020] Further, the road conditions in S2 include narrow road sections, wide road sections and crossroads;

[0021] When the road condition is a narrow road section,

[0022] S2101: detect whether there is an incoming vehicle, if not, keep the vehicle speed through the intersection, if yes,

[0023] S2102: calculate the time required for the incoming vehicle to stop and analyze whether the time required for the unmanned sanitation vehicle is short, if not, the incoming vehicle goes first, then the unmanned sanitation vehicle goes and passes through the intersection, if yes,

[0024] S2103: detect whether the incoming vehicle avoids, if yes, the unmanned sanitation vehicle goes first and passes through the intersection, otherwise the incoming vehicle goes first, then the unmanned sanitation vehicle goes and passes through the intersection;

[0025] When the road condition is a wide road section,

[0026] S2201: detect whether the distance between the unmanned sanitation vehicle and the incoming vehicle becomes small, if not, the unmanned sanitation vehicle keeps the vehicle speed through the intersection, if yes,

[0027] S2202: slow down or change lanes and then repeat S2201;

[0028] When the road condition is a crossroad,

[0029] S2301: detecting whether there is a signal light or a traffic police, if yes, driving according to the indication and passing through the intersection, otherwise,

[0030] S2302: detecting whether the trajectory of the approaching vehicle and the unmanned sanitation vehicle has an intersection in the time span, if not, passing through the intersection, if yes, adjusting the speed of the unmanned sanitation vehicle and continuing S2302.

[0031] S2303: calculating the time when the unmanned sanitation vehicle and the approaching vehicle pass through the intersection, respectively, and the time when the tail passes through, if the passing condition is met, passing through the intersection, otherwise adjusting the speed of the unmanned sanitation vehicle and continuing S2302.

[0032] Further, in the S3, it comprises:

[0033] S310: reaching the green plant water spraying area of task planning, folding spraying operation;

[0034] S320: when the front camera finds that there is garbage on the road surface;

[0035] S330: after the garbage is cleaned, the high-speed rotating brush is started to clean the dust on the road surface, the rear camera identifies the cleaned road, if there is still garbage that has not been cleaned, the location is positioned for secondary cleaning, if there is no garbage, no positioning is needed;

[0036] S340: when the camera observes that there is no garbage but still dust near the unmanned sanitation vehicle, the high-pressure air gun and the high-pressure blowing and sucking machine motor stop working, the atomizing nozzle at the bottom of the unmanned sanitation vehicle still works; when there is neither garbage nor dust near the unmanned sanitation vehicle, the high-pressure air gun 6, the high-pressure blowing and sucking machine motor 21 and the atomizing nozzle all stop working;

[0037] S350: when the camera identifies a person with dangerous action or collects a sensitive keyword related to help-seeking in the middle, the alarm light alarms with a warning sound, reminding the security personnel to investigate and inform the location to share the real-time picture;

[0038] S360: when passing through the area with stubborn oil stains and garbage on the ground such as community garbage collection sites, the high-pressure water gun starts to clean the ground with high intensity.

[0039] Further, in the S3, the road section that needs secondary cleaning comprises: the road section where the rear camera identifies that there is still garbage that has not been cleaned, the road section where the rear camera identifies that there is a suspected lost object and the road section where the rear camera identifies that there is a lost object and takes a photo to upload to the property

[0040] Beneficial Effects: Compared with existing technologies, this invention has the following significant advantages: 1. Unmanned cleaning of community roads: Utilizing collected information, pre-designed paths, and tasks, the process of cleaning, disinfecting, and preparing nursing care for communities can be automatically achieved without human intervention; 2. Autonomous driving based on actual conditions: Based on collected road conditions, the system utilizes positioning, image acquisition, and processing to achieve a preset trajectory route. When encountering complex road conditions, a pre-designed oncoming traffic judgment program can solve the oncoming traffic problem, thereby reducing manpower input and improving the versatility of unmanned sanitation vehicles for various usage scenarios; 3. Achieving garbage sorting and treatment: Based on collected data, the garbage collection and sorting system is activated, the ground is swept and washed, ground garbage is collected using pressure difference, piled garbage is separated into individual pieces using a multi-stage conveyor belt structure, and the relative movement of multiple hollow discs achieves fixed-point garbage disposal; 4. Internal pipe layout and storage structure, and mixing and spraying pesticides, disinfectants, or water according to specific needs: A separate storage structure is adopted, with water, disinfectant, and... 5. A human-machine interface screen facilitates communication with passersby during tasks: The screen allows for setting the unmanned sanitation vehicle's path and specific tasks. During task execution, the vehicle can communicate information to pedestrians via the screen, helping them anticipate the vehicle's movements and reducing the possibility of traffic accidents. 6. A three-axis robotic arm expands the spraying range: Composed of a base, support arm, working arm, and three sets of axes, the three axes are connected by ribs and mounted on the base. This allows the support arm to fully cover the upper hemisphere of the base. An axis connects the support arm and working arm, providing the working arm with a 360-degree travel relative to the support arm, increasing the spraying distance and height. The arm can be folded for storage and its angle can be adjusted during operation for convenient spraying.

[0041] In summary, the unmanned sanitation vehicle of this invention can solve the current technological backwardness of unmanned sanitation vehicles in China, enabling unmanned and intelligent road and community sanitation, and greatly reducing the input of manpower. Attached Figure Description

[0042] Figure 1 This is a schematic diagram of the external front and top structure of the unmanned sanitation vehicle of the present invention.

[0043] Figure 2 This is a schematic diagram of the external rear and lower structure of the unmanned sanitation vehicle of the present invention.

[0044] Figure 3 This is a schematic diagram of the external front and side structure of the unmanned sanitation vehicle of the present invention.

[0045] Figure 4 It is the external rear, side direction structure schematic view of unmanned sanitation car of the application.

[0046] Figure 5 It is the internal structure schematic view of unmanned sanitation car of the application.

[0047] Figure 6 It is the internal structure schematic view of unmanned sanitation car of the application.

[0048] Figure 7 It is the structure schematic view of water injection and material injection device of the application.

[0049] Figure 8 It is the structure schematic view of internal water intake system of unmanned sanitation car of the application.

[0050] Figure 9 It is the structure schematic view of water tank drainage device of the application.

[0051] Figure 10 It is the structure schematic view of foldable sprayer of the application.

[0052] Figure 11 It is the structure schematic view of garbage classification device of the application.

[0053] Figure 12 It is the structure schematic view of upper and lower classification wheel disc parts of the application.

[0054] Figure 13 It is the structure schematic view of garbage collection box of the application.

[0055] Figure 14 It is the structure schematic view of vehicle bottom spray device of the application.

[0056] Figure 15 It is the structure schematic view of atomizing nozzle of the application.

[0057] Figure 16 It is the structure schematic view of atomizing nozzle parts of the application.

[0058] Figure 17 It is the local structure schematic view of bottom high-speed rotating brush of the application.

[0059] Figures 18-19 It is the local structure schematic view of high-pressure water gun and its water source of the application.

[0060] Figure 20 It is the program flow chart of the operation method of unmanned sanitation car of the application.

[0061] Figure 21This is a flowchart of the real-time path planning method for the unmanned sanitation vehicle of the present invention. Detailed Implementation

[0062] The technical solution of the present invention will be further described below with reference to the accompanying drawings.

[0063] like Figures 1-6 As shown, the unmanned sanitation vehicle of the present invention includes a vehicle body 1, in which a battery 20, a garbage collection bin 14 and a water tank 16 are provided. It also includes a roof spraying device, a high-pressure blowing and suction device, a road sweeping device, a road washing device, a vehicle under spraying device, a garbage sorting device, a camera, a distance measuring and speed measuring instrument, a communication and GPS device and a processing module.

[0064] Water tank 16 is equipped with water injection device 11 and drain pipe 33; high pressure blowing and suction device, road sweeping device, road washing device and undercarriage spraying device are located under the vehicle body 1, and the road washing device and undercarriage spraying device are connected to water tank 16 through water pipes; high pressure blowing and suction device is connected to garbage sorting device through pipes, and garbage collection bin 14 is located under garbage sorting device.

[0065] The roof spraying device is located on the top of the vehicle body 1 and includes a foldable sprayer 2 and a high-pressure pump 29. The high-pressure pump 29 is connected to the water tank 16 through a water pipe.

[0066] Multiple cameras and rangefinders / speed sensors are installed around the vehicle body 1. In a specific embodiment, these include a front-facing camera 3 and a front-facing rangefinder / speed sensor 43 installed at the front of the vehicle body 1; side-facing cameras 41, side-facing rangefinders / speed sensors 44 and 47 installed on both sides of the vehicle body 1; and a rear-facing camera 42, rear-facing rangefinders / speed sensors 45 and 46 installed at the rear of the vehicle body 1. The rangefinders / speed sensors work in conjunction with the cameras to acquire information such as external vehicles, pedestrians, and road conditions. A communication and GPS device 48 and a processing module 49 are installed inside the vehicle body 1. The processing module 49 is responsible for task execution, and the communication and GPS device 48 is responsible for feeding back information to the working base station.

[0067] The vehicle body 1 is also equipped with an operation screen 4 and a charging port 5. In a specific embodiment, the operation screen 4 is attached to the front of the vehicle to facilitate operation by management personnel and acquisition of vehicle operation information.

[0068] like Figures 7-9As shown, in this embodiment, the water tank 16 is composed of two water tanks, and the water injection device 11 is provided with a clean water injection port 15, which is connected to a shunt water pipe 1103, the two ends of the shunt water pipe 1103 are connected to the two water tanks 16, and the water is filled into the two cylindrical water tanks through the shunt water pipe by injecting water into the clean water injection port 15. In a specific embodiment, the inlet of the drain pipe 33 is connected to the water tank 16, the outlet is connected to the drain valve 32, the drain pump is connected to the drain valve pipe 31, and the outlet of the drain valve pipe is connected to the clean water outlet 17. When it is necessary to empty the cylindrical water tank, the clean water outlet 17 and the drain valve 32 are opened, and the clean water can flow out of the vehicle.

[0069] The water injection device 11 also includes a disinfectant storage tank 1101 and a pesticide storage tank 1102, and the disinfectant storage tank 1101 and the pesticide storage tank 1102 are respectively provided with disinfectant / pesticide inlets 13, and the disinfectant storage tank 1101 and the pesticide storage tank 1102 are connected to disinfectant / pesticide outlet pipes 28 below, the disinfectant / pesticide outlet pipes 28 are connected to a high-pressure pump 29, and the high-pressure pump 29 is also connected to the two water tanks 16; the outlet of the high-pressure pump is connected to a high-pressure pump outlet pipe 30, and the lower part of the foldable sprayer 2 is connected to the high-pressure pump outlet pipe 30; in a specific embodiment, the high-pressure pump 29 is provided with rotatable umbrella leaves for mixing clean water and disinfectant / pesticide. In a specific operation process, disinfectant / pesticide is introduced from the two disinfectant / pesticide inlets 13 and stored in the disinfectant storage tank 1101 and the pesticide storage tank 1102, when it is necessary to spray disinfectant, the disinfectant / pesticide outlet pipe 28 below the disinfectant storage tank 1101 is connected to the inlet of the high-pressure pump 29, at this time the foldable sprayer 2 sprays disinfectant; when it is necessary to spray pesticide, the disinfectant / pesticide outlet pipe 28 below the pesticide storage tank 1102 is connected to the outlet of the high-pressure pump, at this time the foldable sprayer 2 sprays pesticide, the specific process is the same as spraying disinfectant; when it is necessary to use clean water, the high-pressure pump is closed at the connection with the disinfectant / pesticide outlet pipe, and is only connected to the water tank 16, at this time the foldable sprayer 2 sprays clean water.

[0070] As shown, Figure 10 In this embodiment, the foldable sprayer 2 includes a base box 202, a large arm 203, and a small arm 205, the large arm 203 is fixed to the base box 202 through a first drive shaft 201, so that the large arm 203 can rotate around the first drive shaft 201, the small arm 205 is fixed to the large arm 203 through a second drive shaft 204, so that the small arm 205 can rotate around the second drive shaft 204, and the small arm 205 is provided with a multi-selection nozzle at the upper end, in operation, the base box 202 is connected to the high-pressure pump outlet pipe 30, the water pipe fixed beside the large arm 203 is connected to the water pipe inside the small arm 205, and the multi-selection nozzle connected to the upper end of the small arm 205 can select columnar, misty, etc. liquid output.

[0071] AsFigures 11-13 As shown, the unmanned sanitation vehicle of the present application collects garbage through the high-pressure blowing and sucking device, then sends it into the garbage classification device, realizes garbage classification of the unmanned sanitation vehicle through the garbage classification device, and finally sends it into the garbage collection box 14. The high-pressure blowing and sucking device includes a high-pressure air gun 6, a high-pressure blowing and sucking machine 7, and a high-pressure blowing and sucking machine motor 21. The high-pressure blowing and sucking machine 7 is connected to the garbage classification device through a pipeline. The high-pressure air gun 6 obtains high pressure through a high-pressure air gun motor, first blows the garbage to the middle below the high-pressure blowing and sucking machine 7, at this time the high-pressure blowing and sucking machine motor 21 rotates at high speed to provide suction force, the leaves, garbage and other cleaning objects on the road surface are sucked into the high-pressure blowing and sucking machine 7, and then transported to the garbage classification device through the pipeline, and finally reach the garbage collection box 14 after classification.

[0072] Garbage classification consists of three parts: garbage scattering, garbage classification and data acquisition control.

[0073] Garbage scattering: separate the piled garbage into single pieces to provide a basis for subsequent garbage classification and placement. When the garbage is transported to the conveyor belt a50 by the pipeline due to the pressure difference, the garbage advances with the rotation of the conveyor belt. The two conveyor belts of the conveyor belt a50 are set to have a certain speed difference, i.e. the speed of the lower conveyor belt is greater than that of the upper conveyor belt. In the process of falling from the upper conveyor belt to the lower conveyor belt, the garbage will be lower than that on the upper conveyor belt due to the higher speed of the lower conveyor belt than that of the upper conveyor belt, while the overall volume of the garbage remains unchanged, i.e. the contact area between the garbage and the conveyor belt increases, realizing the separation of the piled garbage. Then the garbage is sent to the conveyor belt b51, which is also set to have a speed difference to further separate the garbage. At the same time, a partition is provided on the conveyor belt b51 to alleviate the gathering of the separated garbage due to friction and sudden speed change.

[0074] Garbage classification and placement: classify and place the single or scattered garbage into the corresponding position of the garbage collection box. In the initial state, the solid area 53-2 of the upper classification turntable covers the hollow area 52-1 of the lower classification turntable, so that the two hollow areas 53-1 can temporarily store the garbage transported by the conveyor belt b51. Then the lower classification turntable 52 and the upper classification turntable 53 are synchronously rotated to the upper side of the corresponding garbage placement position, and the lower classification turntable 52 is rotated alone so that the hollow area 53-1 of the upper classification turntable is aligned with the hollow area 52-1 of the lower classification turntable, and the garbage falls into the corresponding position of the garbage collection box.

[0075] Data Acquisition and Control: Images of the waste are acquired for target detection, generating control signals for the conveyor belt and sorting turntables. During normal operation, the system works as follows: First, the waste image acquisition device 54 acquires images and outputs control signals based on these images. Second, it drives the upper control wheel 55, causing the upper sorting turntable 53 to rotate, ensuring the relative positions of the upper and lower sorting turntables 53 and 52 are in the initial state described above. Third, the waste image acquisition device 54, based on these images, outputs control signals to drive the upper and lower control wheels 55 and 56 to rotate synchronously, causing the upper and lower sorting turntables to rotate, ensuring the hollow area 53-1 of the upper sorting turntable is below the waste landing point of the conveyor belt b51. Fourth, the waste image acquisition device 54, based on these images, outputs control signals to start the conveyor belt, and the waste, after being sorted into individual pieces, falls into the hollow area 53-1. If waste is detected as not effectively separated, the conveyor belt speed difference is increased to reduce the total amount of waste falling in a single descent. Once the waste image acquisition device 54 captures the expected changes in the image, the conveyor belt stops. Step 5: The image captured by the waste image collector 54 outputs a control signal to control the upper control wheel 55 and the lower control wheel 56 to rotate synchronously, driving the upper and lower sorting turntables to rotate, so that another hollow area 53-1 is below the conveyor belt b51. Step 6: The image captured by the waste image collector 54 outputs a control signal to start the conveyor belt, and the waste falls into the hollow area 53-1. Step 7: The image captured by the waste image collector 54 outputs a control signal to stop the conveyor belt, and marks the target based on the captured image. Step 8: Based on the marking, the upper control wheel 55 and the lower control wheel 56 are driven to rotate synchronously, so that the waste reaches the position above the corresponding waste collection bin. Step 9: The lower control wheel 56 is driven to rotate slowly, so that the hollow area 52-1 passes through the hollow area 53-1, forming a through hole, and the waste falls into the waste collection bin. When no more waste images are captured, the drive stops. The waste sorting process is now complete. Repeat the above procedure to complete the continuous waste sorting process.

[0076] like Figures 14-16 As shown, this is a vehicle under-car spray device. In this embodiment, a radial axial helical gear 25 is mounted on the rear drive shaft 26. The gear pump 22 is connected to the gear pump inlet pipe 27 and the gear pump booster pipe 23, and then to the radial axial helical gear 25. The rotation of the rear drive shaft 26 drives the radial axial helical gear 25 to rotate. The helical gear 25 then drives the gear pump, causing the gear pump 22 to draw water from the water tank 16 through the gear pump inlet pipe 27 and then lead it out through the gear pump booster pipe 23, and spray it out through the atomizing nozzle 19 at the bottom of the vehicle. This allows some of the energy wasted during the vehicle's operation to be reused. By using the gear structure to recover the mechanical energy of the wheel rotation and pressurize the water tank, the purpose of energy saving can be achieved.

[0077] The atomizing nozzle 19 comprises a spray chamber 1901, a four-head nozzle 1904, a blind plate 1902 and a swirl vane 1903. The spray chamber 1901 is fixed with the four-head nozzle 1904 by screwing, the blind plate 1902 and the swirl vane 1903 are fixed in the spray chamber 1901, the blind plate 1902 is above the swirl vane 1903, the high-speed flowing liquid impacts on the blind plate 1902 and then forms atomized particles after passing through the swirl vane 1903, and is sprayed out through the four-head nozzle 1904.

[0078] As shown in the figure, the road surface cleaning device comprises a high-speed rotating brush 9, a worm gear 35 and a worm 34 cooperate with each other to drive the high-speed rotating brush 9 to rotate, and through the analysis of the position of the garbage by the front camera, the high-speed rotating brush 9 is operated by a certain side mechanism, thereby saving energy consumption. Figure 17

[0079] As shown in the figure, it is a road surface washing device, the water pipe 37 is connected with the water tank 16 at the top and the booster pump 36 at the bottom, the outlet of the booster pump 36 is connected with the water pipe 38, the water pipe 38 is connected with the hollow boss 40, seven high-pressure water guns 18 are fixed on the inner side of the hollow boss 40 by a support, the water inlets of the high-pressure water guns 18 are connected with the hollow boss 40, the water in the water tank 16 is transported to the booster pump 36 through the water pipe 37, and the booster pump 36 sends the water to the hollow boss 40 through the water pipe 38 to provide clean water for the high-pressure water guns 18, so as to wash the oil stains and other stains on the road surface. Figures 18-19

[0080] As shown in the figure, the action flow of the unmanned sanitation vehicle comprises the driving path and the task execution of the unmanned sanitation vehicle. The starting point of the unmanned sanitation vehicle is in the specified parking area, the unmanned sanitation vehicle is charged in the parking area when the power is insufficient or the task is completed, when the task is implemented, the worker comes to the charging pile, pulls out the charger from the charging port 5, opens the garbage collection box 14 to check whether the garbage left after the last task is completed is cleaned, pours clean water into the two water tanks 16 through the special water inlet at the clean water inlet 15, then the worker can use the ladder 10 to pour disinfectant and pesticide into the two disinfectant and pesticide inlets 13 according to the task situation. Then, the worker checks the power condition of the unmanned sanitation vehicle and sets the planned route at the operation screen 4. The unmanned sanitation vehicle has a set of facilities to collect specific scene information and execute the task according to the initially set route. Figures 20-21 After the worker completes the planned route, the unmanned sanitation vehicle starts to implement the task according to the specified route. The implementation of the task comprises two parts.

[0081]

[0082] ​​​The first is the driving path of the unmanned sanitation vehicle: the unmanned sanitation vehicle leaves the base station and goes to the task execution section. In the process, the vehicle-mounted GPS, camera and speed and distance measuring instrument provide the base with the position information of the unmanned sanitation vehicle and the traffic situation around the unmanned sanitation vehicle, which is saved as the task log of the unmanned sanitation vehicle. First, the front camera 3 and the side cameras 41 of the unmanned sanitation vehicle judge whether the current road condition is a wide road section, a narrow road section or a crossroads (multi-intersection). If it is a wide road section, the stable vehicle speed is maintained, and the front camera 3 and the side camera 41 observe whether there are obstacles, pedestrians and vehicles. After discovering the situation, the processing module 49 opens the speed and distance measuring sensor according to the specific direction of the obstacle located on the vehicle to obtain detailed parameters. If the distance does not change or increases, the current vehicle driving state is maintained. If the distance continuously decreases, the unmanned sanitation vehicle takes measures such as deceleration or lane change according to the on-site situation under the control of the processing module 49.

[0083] If it is a narrow road section, the processing module 49 starts the ranging and speed measuring instruments 43-47 in four directions to collect information on vehicles and other dynamic objects within a certain distance (including whether there are pedestrians and special vehicles, whether there are obstacles on the road surface, the shape and size of the vehicle, speed, acceleration, attitude, etc.) around. The general process is as follows: first, the unmanned sanitation vehicle selects a vehicle within a certain range that will pass, calculates the time required for the unmanned sanitation vehicle to move from the starting position to the position of the oncoming vehicle and the time for the driver of the oncoming vehicle to react and park on the side, which is the passing time one. The same steps are taken to obtain the time required for the oncoming vehicle to move from the starting position to the position of the unmanned sanitation vehicle and the time for the unmanned sanitation vehicle to react and park on the side, which is the passing time two. The shorter passing time is selected by comparing the passing times. The calculation process of the specific passing time includes: first, the cameras 3, 41, 42 and the speed and distance measuring instruments 43-47 measure the distance from the starting position of the unmanned sanitation vehicle to the position of the oncoming vehicle, which is the distance one. The processing module 49 predicts the distance from the position of the oncoming vehicle to the stopping point by collecting real-time information, which is the distance two. The distance one and the distance two are respectively brought into the speed of the unmanned sanitation vehicle and the speed of the oncoming vehicle to calculate the time, and a time correction coefficient is added according to the actual situation to obtain the passing time one. Then, the distance from the position of the unmanned sanitation vehicle to the stopping point is measured, which is the distance three. The distance one and the distance three are respectively brought into the speed of the oncoming vehicle and the speed of the unmanned sanitation vehicle to calculate the time, and a time correction is made according to the actual situation to obtain the passing time two. The processing module 49 makes a conditional judgment based on the calculated information, and selects one vehicle as the leading vehicle after the judgment. If the unmanned sanitation vehicle is determined to be the leading vehicle, the screen 4 is used to inform the vehicle in front to pass directly, and the passing ends. In a specific embodiment, considering safety and reality, in the first case, when the oncoming vehicle does not actively avoid, if the distance between the two vehicles reaches a certain dangerous distance, the unmanned sanitation vehicle gives up the leading position and moves to the side of the road to avoid. After the oncoming vehicle passes, it is determined whether the conditions for the leading vehicle are met. If so, the vehicle continues to pass, and the passing ends. If not, the vehicle continues to be parked, and once the oncoming vehicle passes, the conditions for the leading vehicle are determined until the conditions for the leading vehicle are met, the screen 4 is used to inform the vehicle in front to continue to pass, and the passing ends. If it is determined that the other vehicle is the leading vehicle, the vehicle actively moves to the side of the road to avoid and park, and the screen 4 is used to inform the vehicle in front. After the oncoming vehicle passes, it is determined whether the conditions for the leading vehicle are met. If so, the screen 4 is used to inform the vehicle in front to continue to pass. If not, the vehicle continues to be parked, and once the oncoming vehicle passes, the conditions for the leading vehicle are determined until the conditions for the leading vehicle are met, the vehicle continues to pass, and the passing ends.

[0084] If the intersection section is judged, the unmanned sweeper first slows down to a suitable value at the intersection, the processing module 49 starts the ranging and speed measuring instrument 43-47 in four directions, and collects road condition information (note the pedestrians and obstacles on the road, special vehicles, etc., which are given priority, and also include the lights of the oncoming and rear vehicles, acceleration, speed, attitude, and the size of the vehicle), and confirms whether there is a traffic light or law enforcement police at the intersection. If there is, pass according to the indication of the traffic light or traffic police. If not, it is judged as a crossroad intersection. The general process is that the unmanned sweeper first acquires vehicle information within a certain range, the processing module 49 makes conditional judgments based on the information collected by the cameras 3, 41, 42 and the speed and distance measuring instrument 43-47, if the route of the oncoming vehicle and the route of the vehicle behind the unmanned sweeper have no intersection in the time span with the route of the unmanned sweeper, then the current driving parameters are maintained, and the information of the oncoming vehicle and the vehicle behind the unmanned sweeper is continuously acquired, and the specific situation of the route in the time span is predicted in real time until the end of the intersection, if the route in the intersection has an intersection in the time span, the speed is adjusted appropriately and the path is replanned until the path does not intersect and the current parameters are maintained, and the intersection is ended, if a suitable path and speed parameter is not found during the journey, the unmanned sweeper actively gives up the intersection and stops to wait when it drives to a certain distance from the intersection. Considering the traffic regulations and courtesy (turning to let straight ahead, etc.), when the routes of both parties have intersections in the time span, the information collected is used to judge the compliance with the regulations, and whether the oncoming vehicle has the tendency to slow down and stop is collected in real time to determine whether it can pass through the intersection according to the regulations. The judgment result of this program only serves as an auxiliary function, and the final execution priority is less than the judgment result of the intersection intersection program. The main process of route prediction is that the speed, light indication, and length and width of the vehicle of the oncoming vehicle are collected by the cameras 3, 41, 42 and the speed and distance measuring instrument 43-47, the oncoming vehicle is abstracted into a planar rectangle by the processing module 49 according to the collected information, two driving trajectories are generated based on the parameters of the unmanned sweeper and the oncoming vehicle without considering the influence of the time span, the intersection of the trajectories is taken as the center of the collision circle region, and then the time A when the front of the oncoming vehicle passes through this region, the time B when the tail of the oncoming vehicle passes through this region, and the time C when the front of the unmanned sweeper passes through this region and the time D when the tail of the unmanned sweeper passes through this region are calculated based on the region, the speed of the oncoming vehicle, and a large number of experimental and experience coefficients after being put into use.If time B is earlier than time C, it means that when the tail of the oncoming vehicle passes through the collision area, the head of the unmanned sanitation vehicle has not yet reached the collision area, and the meeting will not collide, and the driving parameters are kept, and the vehicle can pass; if time D is earlier than time A, it means that when the tail of the unmanned sanitation vehicle passes through the collision area, the head of the oncoming vehicle has not yet reached the collision area, and the meeting will not collide, and the driving parameters are kept, and the vehicle can pass; if time C is later than time A but earlier than time B, it means that before the oncoming vehicle passes through the collision area, the head of the unmanned sanitation vehicle will reach the collision area, and the meeting may collide, at this time, the speed is appropriately adjusted, if the collision still occurs, the prediction result shows that the meeting conditions are not met, and the vehicle is stopped before the intersection to wait, if the meeting conditions are met by adjusting the speed, the vehicle driving parameters are adjusted according to the preset before the meeting, and the intersection is passed; if time A is earlier than time D but later than time C, it means that before the unmanned sanitation vehicle passes through the collision area, the head of the oncoming vehicle will reach the collision area, and the meeting may collide, at this time, the speed is appropriately adjusted, if the collision still occurs, the prediction result shows that the meeting conditions are not met, and the vehicle is stopped before the intersection to wait, if the meeting conditions are met by adjusting the speed, the vehicle driving parameters are adjusted according to the preset before the meeting, and the intersection is passed.

[0085] Second, the task execution of the unmanned sanitation vehicle: the roadside flowers, grass and trees are observed through the front camera 3, the side camera 41 and the rear camera 42, the current position is fed back in real time through the communication and GPS device 48, when the green plant water spraying area planned by the task is reached, the foldable sprayer 2 starts to operate, and the foldable sprayer 2 adjusts the angle between the large arm 203 and the small arm 205 according to the need to spray the flowers, grass and trees. When clean water is needed, the high-pressure pump 29 is closed at the connection with the disinfectant water pesticide outlet pipe, and is connected with the water tank 16 only, at this time, clean water is sprayed; when disinfectant water needs to be sprayed, the high-pressure pump outlet connected with the disinfectant water pesticide outlet pipe 28 below the disinfectant liquid storage tank 1101 is opened, so that the foldable sprayer 2 sprays disinfectant water; when the green plants need to be sprayed with pesticides, the high-pressure pump outlet connected with the disinfectant water pesticide outlet pipe 28 below the pesticide storage tank 1102 is opened, so that the foldable sprayer 2 sprays a solution containing a certain amount of pesticides, and at this time, it is judged through the side camera 41 whether there are pedestrians, when there are pedestrians, the spraying is temporarily stopped, and the alarm lamp 12 is turned on, and when no pedestrians are detected, the spraying continues, and the alarm lamp is also turned on all the time. Thus, the flowers, grass and trees are effectively watered, disinfected and sprayed with pesticides. The camera 3 observes that the unmanned sanitation vehicle has left the planting area of the flowers, grass and trees, at this time, the high-pressure pump 29 is closed at the connection with the disinfectant water pesticide outlet pipe, the high-pressure pump outlet is closed at the connection with the high-pressure pump outlet pipe 30, and the foldable sprayer 2 is restored to the initial position according to the adjustment of the angle between the large arm 203 and the small arm 205.

[0086] At the same time, when the camera 3 finds that the road surface has garbage, the high-pressure air gun 6 obtains high pressure through the high-pressure air gun motor and first blows the garbage to the middle below the high-pressure blowing and sucking machine 7. At this time, the high-pressure blowing and sucking machine motor 21 rotates at high speed to provide suction force, and the garbage is sucked into the high-pressure blowing and sucking machine 7, and then the garbage classification device is used to realize the classification and collection of the garbage. After the garbage is cleaned, the worm gear 35 and the worm 34 cooperate with each other to drive the high-speed rotating brush 9 to rotate to clean the dust on the road surface. The rear camera 42 identifies the cleaned road, and if there is still garbage that has not been cleaned, the location is positioned for secondary cleaning in the later period, and if there is no garbage, the positioning is not needed. The atomizing nozzle 19 of the bottom spray device of the unmanned sanitation vehicle sprays to purify the dust. When the camera 3 observes that there is no garbage near the unmanned sanitation vehicle but there is still dust, the high-pressure air gun 6 and the high-pressure blowing and sucking machine motor 21 stop working, and the atomizing nozzle 19 at the bottom of the unmanned sanitation vehicle still works; when there is neither garbage nor dust near the unmanned sanitation vehicle, the high-pressure air gun 6, the high-pressure blowing and sucking machine motor 21 and the atomizing nozzle all stop working.

[0087] When the camera 3 identifies a suspected lost object in the middle of the way, the camera 3 will take a photo and upload the photo to the base station, and the positioning information will be sent to the base station. This short distance needs to clean the road to detour, record the positioning information, and perform secondary cleaning in the later period.

[0088] When the camera 3 identifies a person with dangerous action or collects a sensitive keyword related to help, the alarm lamp 12 will alarm with a warning sound to remind the security personnel to investigate and inform the location to share the real-time picture. The alarm lamp will also sound when multiple cameras identify that there is a person in the dangerous range near the vehicle body, so as to prevent accidents.

[0089] When passing through the community garbage collection place, the ground has stubborn oil stains and garbage, which are not easy to be treated by the high-pressure blowing and sucking machine 7 and the high-speed rotating brush 9, the high-pressure water gun 18 starts to work, the water in the water tank 16 is delivered to the booster pump through the water pipe 37, and the booster pump delivers the water to the hollow boss through the water pipe 38 to provide clean water for the high-pressure water gun. The high-pressure water gun 18 starts to clean the ground with high intensity. When the camera 3 leaves the community garbage collection place, the connection between the water tank 16 and the water pipe 37 is closed, and the high-pressure water gun stops working.

[0090] After completing a planned route, the unmanned sanitation vehicle automatically plans an optimal route to the marked position for secondary cleaning.

[0091] After the unmanned sanitation vehicle completes the task, it will return to the specified parking area, and the operator will arrive at the specified parking area to check the basic vehicle condition of the unmanned sanitation vehicle, then open the garbage collection box 14 to collect and clean the garbage inside, and then check the operation screen 4 to understand the remaining power and the remaining water in the cylindrical water tank. When it is necessary to empty the cylindrical water tank, open the clean water discharge port 17 and the water pump 32, and the clean water will flow out of the vehicle through the drain pipe 33, the water pump and the water pump pipe. If the power is insufficient, the unmanned sanitation vehicle is started and the charger is inserted into the charging port 5 to charge the unmanned sanitation vehicle.

Claims

1. A method for operating an unmanned sanitation vehicle, comprising a vehicle body, wherein the vehicle body is equipped with a battery, a garbage collection bin, and a water tank, characterized in that, It also includes a roof spraying device, a high-pressure blowing and suction device, a road sweeping device, a road washing device, a vehicle under spraying device, a garbage sorting device, a camera, a distance measuring and speed measuring instrument, a communication and GPS device, and a processing module; The water tank is equipped with a water injection and material injection device and a drain pipe; the high-pressure blowing and suction device, the road sweeping device, the road washing device and the under-vehicle spraying device are located under the vehicle body, and the road washing device and the under-vehicle spraying device are both connected to the water tank through water pipes; the high-pressure blowing and suction device is connected to the waste sorting device through a pipe, and a waste collection bin is located below the waste sorting device; The roof spraying device is located above the vehicle body and includes a foldable sprayer and a high-pressure pump. The high-pressure pump is connected to the water tank through a water pipe. There are multiple cameras and rangefinders / speed meters, which are respectively set around the vehicle body. The cameras include front cameras, side cameras and rear cameras. The rangefinders / speed meters work with the cameras to obtain information on external vehicles, pedestrians and road conditions. The communication and GPS devices and the processing module are set inside the vehicle body. The processing module is responsible for task execution, and the communication and GPS devices are responsible for feeding back information to the working base station. Includes the following steps: S1: Preparatory work: Check the battery level of the unmanned sanitation vehicle and the garbage collection bins, fill the corresponding equipment with clean water, disinfectant and pesticides, and set the planned route; S2: During the journey: The vehicle uses GPS, camera and speed measuring and distance measuring device to provide the base station with the location information of the unmanned sanitation vehicle and the traffic conditions around the unmanned sanitation vehicle, and makes corresponding instructions for passing and avoiding oncoming traffic. S3: Task execution: Observe the roadside and road surface conditions through the front camera, side camera and rear camera, start the corresponding working mode, and at the same time, the GPS provides real-time feedback on the current location and marks the road sections that need to be cleaned again; S4: After completing a planned route, if a section of the road that needs to be cleaned a second time is marked, the optimal route will be automatically planned to go to the marked point and repeat step S3. Otherwise, the path cleaning is completed and the vehicle returns to the designated parking area. S5: After returning to the designated parking area, the operator will clean up the trash and recharge the device; The road conditions in S2 include narrow road sections, wide road sections, and intersections; When the road is narrow S2101: Detect if there is an oncoming vehicle. If not, maintain the speed and proceed through the intersection. If yes, then... S2102: Calculate the time required for the approaching vehicle to stop and analyze whether the time required for the unmanned sanitation vehicle is shorter. If not, the approaching vehicle goes first, and then the unmanned sanitation vehicle proceeds and crosses the intersection. If so, then... S2103: Detect whether oncoming vehicles yield. If so, the unmanned sanitation vehicle has the right of way and passes through the intersection. Otherwise, the oncoming vehicle has the right of way and then the unmanned sanitation vehicle passes through the intersection. When the road conditions are wide sections S2201: Detect whether the distance between the unmanned sanitation vehicle and the oncoming vehicle has decreased. If not, the unmanned sanitation vehicle maintains its speed and passes through the intersection; if so, then... S2202: Decelerate or change lanes and then repeat S2201; When the road condition is a crossroads S2301: Check for traffic lights or traffic police. If present, proceed according to the signs and cross the intersection; otherwise, S2302: Detect whether the trajectory of the approaching vehicle intersects with that of the unmanned sanitation vehicle over a time span. If not, proceed through the intersection; if so, proceed... S2303: Calculate the time it takes for the unmanned sanitation vehicle and the oncoming vehicle to pass through the intersection, and the time it takes for the rear of the vehicle to pass through. If the conditions for passing are met, then pass through the intersection; otherwise, adjust the speed of the unmanned sanitation vehicle and continue with S2302.

2. The working method of the unmanned sanitation vehicle according to claim 1, characterized in that, The water injection and material injection device is equipped with a clean water injection port. The water injection and material injection device also includes a disinfectant storage tank and a pesticide storage tank. The disinfectant storage tank and the pesticide storage tank are respectively equipped with disinfectant and pesticide inlets. The disinfectant storage tank and pesticide storage tank are connected to a disinfectant / pesticide outlet pipe, which is connected to the high-pressure pump. The high-pressure pump is also connected to the water tank. The outlet of the high-pressure pump is connected to the high-pressure pump outlet pipe, and the lower part of the foldable sprayer is connected to the high-pressure pump outlet pipe.

3. The working method of the unmanned sanitation vehicle according to claim 2, characterized in that, The waste sorting device includes conveyor belt a, conveyor belt b, a sorting turntable, and a waste image collector. The waste image collector is located in front of the sorting turntable. Conveyor belt a is located below the connecting pipe of the high-pressure blowing and suction device. Conveyor belt b delivers the waste from conveyor belt a to the sorting turntable, which is located above the waste collection bin. Conveyor belt a consists of an upper conveyor belt and a lower conveyor belt, which separate waste by setting a speed difference. Conveyor belt b has a partition, and there is also a speed difference between conveyor belt b and conveyor belt a. The sorting turntable includes an upper sorting turntable and a lower sorting turntable, which rotate under the control of an upper control wheel and a lower control wheel, respectively. The upper sorting turntable has a solid area and a hollow area, and the lower sorting turntable has a corresponding hollow area.

4. The working method of the unmanned sanitation vehicle according to claim 3, characterized in that, The foldable sprayer includes a base box, a large arm, and a small arm. The large arm is fixed to the base box via a first drive shaft, allowing the large arm to rotate around the first drive shaft. The large arm is fixed to the small arm via a second drive shaft, allowing the small arm to rotate around the second drive shaft. The upper end of the small arm is provided with multiple selectable nozzles.

5. The working method of the unmanned sanitation vehicle according to claim 4, characterized in that, The undercarriage spraying device includes an atomizing nozzle, which includes a spray chamber, four nozzles, a blind plate, and a swirl vane. The spray chamber and the four nozzles are fixed together by threads. The blind plate and the swirl vane are fixed inside the spray chamber. The blind plate is above the swirl vane. The high-speed flowing liquid impacts the blind plate and passes through the swirl vane to form atomized particles, which are then sprayed out through the four nozzles.

6. The working method of the unmanned sanitation vehicle according to claim 5, characterized in that, The unmanned sanitation vehicle is also equipped with an alarm device.

7. The working method of the unmanned sanitation vehicle according to claim 6, characterized in that, S3 includes: S310: Arrive at the designated greenery watering area and activate the foldable sprayer; S320: When the front-facing camera detects litter on the road surface; S330: After the garbage is swept up, the high-speed rotating brush of the road sweeping device is turned on to clean the dust on the road. The rear camera identifies the road after it has been swept. If there is still garbage that has not been swept up, the location of the garbage that has not been swept up will be located and the area will be cleaned again. If there is no garbage, the location does not need to be located. S340: When the camera observes that there is no garbage but there is still dust near the unmanned sanitation vehicle, the high-pressure air gun and high-pressure suction motor of the high-pressure blowing and suction device will stop working, but the atomizing nozzle at the bottom of the unmanned sanitation vehicle will still work; when there is neither garbage nor dust near the unmanned sanitation vehicle, the high-pressure air gun, high-pressure suction motor and atomizing nozzle will all stop working. S350: When the camera detects a person engaging in dangerous actions or collects sensitive keywords related to a distress call, the alarm light will sound and an alarm will be activated to alert security personnel to conduct an investigation and to share the location with real-time video feed. S360: When passing through community garbage collection areas, where there are stubborn oil stains and garbage on the ground, the high-pressure water gun begins to clean the ground with high intensity.

8. The working method of the unmanned sanitation vehicle according to claim 7, characterized in that, In S3, the road sections that require secondary cleaning include: road sections where the rear camera identifies that there is still garbage that has not been cleaned, and road sections where there are suspected lost items that have been bypassed and not cleaned; when a lost item is identified, a photo is taken and uploaded to the property management.

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