Path distance measuring structure for unmanned trolley and unmanned trolley

Abstract

The invention relates to the technical field of cleaning robots, in particular to a path distance measuring structure for an unmanned trolley and the unmanned trolley. Comprising a path distance measuring structure, a driving system is installed at the lower end of a vehicle body, a plurality of side brushes are installed at the front end of the vehicle body, the lower end of the vehicle body is rotationally connected with a rolling shaft, multiple rows of bristles are evenly distributed and fixed to the periphery of the outer edge of the rolling shaft, a fixing rod is fixed to the portion, above the rolling shaft, of the vehicle body, and the fixing rod is sleeved with a plurality of rotating rings which are elastically and rotationally connected with the fixing rod. The rotating rings are provided with through holes, the through holes in the plurality of rotating rings are concentric, the plurality of rotating rings form a detection roller, a laser transmitter is fixed in the through hole of the rotating ring at the end part of one side of the detection roller, and a laser receiver is fixed in the through hole of the rotating ring at the end part of the other side of the detection roller. Whether the bristles are wound by hair or threads or not can be more accurately detected, and the detection accuracy is effectively improved.

Description

Technical Field

[0001] The invention relates to the technical field of cleaning robots, and in particular to a path distance measuring structure for an unmanned vehicle and an unmanned vehicle. Background Art

[0002] In today's era of rapid commercial development, there are many office buildings, hospitals, industrial parks and other parks everywhere. Cleaning the ground, flower beds and other environments inside the parks is essential, and the cleaning task is heavy and repetitive.

[0003] The existing cleaning methods include: asking cleaning staff to clean, and the cleaning staff use simple cleaning tools, which is not efficient, the cleaning staff has heavy work, and the labor cost is too high. There are also manually driven sweepers for cleaning, which require operators to sit on the sweeper and manually drive the machine, which is less intelligent; the operator repeats driving every day, the work is relatively boring, and with the continuous increase in labor costs, users have difficulty in recruiting workers, difficult personnel management, and high labor costs. Due to the above problems, unmanned cleaning cars came into being.

[0004] The unmanned cleaning car can automatically clean the opposite side without manual driving, which can reduce cleaning costs. The unmanned cleaning car needs to plan the path before working. After the path planning, the path needs to be measured in real time during the automatic driving process to ensure that the unmanned cleaning car can move along the planned path and clean the ground. The unmanned cleaning car also needs to detect obstacles on the ground during the automatic driving process to prevent collision with obstacles.

[0005] However, when there is hair or thread-like objects on the ground, the unmanned cleaning vehicle cannot effectively detect the hair or thread-like objects. During the operation of the unmanned cleaning vehicle, the roller brush can easily be entangled by hair or thread-like objects. Once the roller brush is entangled, the cleaning efficiency of the roller brush will be reduced, and even a large load will be placed on the motor, damaging the motor. Related technologies usually determine whether the roller brush is entangled by detecting changes in the voltage or current of the motor. However, when the roller brush cleans floors of different materials, the friction between the roller brush and the ground is different. The friction will cause the voltage or current of the motor to change. The detection result can easily be misjudged as the result of the roller brush being entangled, and the detection result is inaccurate. Summary of the invention

[0006] The technical problem to be solved by the present invention is to provide a path distance measurement structure for an unmanned vehicle and an unmanned vehicle, which can conveniently detect whether a roller brush is entangled by hair or linear objects and can improve the detection accuracy.

[0007] In order to achieve the above object, the technical solution provided by the present invention is:

[0008] A path distance measurement structure for an unmanned vehicle comprises a vehicle body, a multi-line laser radar is fixed on the upper end of the vehicle body, a front binocular vision camera is installed on the upper side of the front end of the vehicle body, a front camera is installed on the front end of the vehicle body below the front binocular vision camera, two sets of ultrasonic rangefinders are installed on the front end of the vehicle body below the front camera, and the two sets of ultrasonic rangefinders are symmetrically arranged on the left and right, a 2D laser radar is installed on the lower side of the front end of the vehicle body, side binocular vision cameras are installed on the front and rear sides of the vehicle body, side cameras are installed on the front and rear sides of the vehicle body, a rear camera and a rear binocular vision camera are installed on the rear side of the vehicle body, a multi-line laser radar, a 2D laser radar, a front camera The head, rear camera, side camera, front binocular vision camera, rear binocular vision camera, side binocular vision camera and ultrasonic rangefinder are electrically connected to the control host in the vehicle body. The built-in program of the control host cooperates with the multi-line laser radar, 2D laser radar, front camera, rear camera and side camera to realize environmental map construction and path planning. When the vehicle is driving according to the planned path, the ultrasonic rangefinder can measure the height of obstacles at the low point on the front side of the vehicle body, and the front binocular vision camera, rear binocular vision camera and side binocular vision camera can measure the distance between people or objects moving around the vehicle body and the vehicle body in real time.

[0009] An unmanned vehicle comprises a path distance measuring structure for an unmanned vehicle, a driving system is installed at the lower end of the vehicle body, a built-in program of a control host cooperates with a multi-line laser radar, a 2D laser radar, a front camera, a rear camera, a side camera and a driving system to realize automatic driving of the vehicle body according to a planned path, a plurality of side brushes are installed at the front end of the vehicle body, a roller is rotatably connected to the lower end of the vehicle body, a driving assembly for driving the roller to rotate is arranged on the vehicle body, a plurality of rows of bristles are evenly distributed and fixed on the circumference of the outer edge of the roller, a fixed rod is fixed on the vehicle body above the roller, a plurality of rotating rings are sleeved on the fixed rod, two adjacent rotating rings are in contact, the rotating ring is elastically rotatably connected to the fixed rod, and the inner edge of the rotating ring An arc groove is provided, which is concentric with the fixed rod. A limit block corresponding to the rotating ring is fixed on the fixed rod. The limit block is located in the arc groove and contacts one end of the arc groove. Through holes are provided on the rotating ring. The through holes on multiple rotating rings are concentric. In the process of the roller driving the bristles to rotate, multiple rows of bristles can sequentially drive multiple rotating rings to rotate synchronously at the same angle. Multiple rotating rings constitute a detection roller. A laser transmitter is fixed in the through hole of the rotating ring at one end of the detection roller, and a laser receiver is fixed in the through hole of the rotating ring at the other end of the detection roller. The laser transmitter and the laser receiver are electrically connected to the control host, and the control host is electrically connected to the alarm fixed on the vehicle body.

[0010] Specifically, a groove is provided at the lower end of the vehicle body, and the roller, the fixing rod and the rotating ring are located in the groove. When the roller drives the bristles to rotate, the bristles can contact the ground.

[0011] Specifically, the driving assembly includes a motor, which is fixed on the vehicle body, the motor is concentric with the roller, the output shaft of the motor is fixedly connected to the roller, and the motor is electrically connected to the control host.

[0012] Specifically, a rubber sleeve is fixedly sleeved on the outer side of the rotating ring.

[0013] Specifically, the rotating ring is connected to the fixed rod via a torsion spring, one end of the torsion spring is fixedly connected to the rotating ring, and the other end of the torsion spring is fixedly connected to the fixed rod.

[0014] Specifically, the drive system includes a driving wheel, a universal wheel, a motor, a reducer and a driver. The motor is connected to the reducer to output a larger torque. The reducer is connected to the driving wheel. The driving wheel rotates with the reducer. There are at least two driving wheels that are symmetrical to each other and are connected to independent reducers respectively. A differential drive method is adopted to control the forward movement and steering of the robot by adjusting the different speeds of the motor. The motor is electrically connected to the control host through the driver.

[0015] Specifically, a remote control device is installed in the vehicle body, and the remote control device consists of a remote control receiver and a handheld remote control. The remote control receiver and the handheld remote control are wirelessly connected. The remote control receiver is connected to the control host through an input and output interface. The remote control receiver receives instructions issued by the handheld remote control and reports them to the control host through the input and output interface.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] 1. When the bristles are entangled by hair or thread-like objects, the part of the bristles entangled by the hair or thread-like objects will bend. Therefore, the bent part of the bristles cannot contact the ground as the roller rotates, and the bent part of the bristles cannot drive the corresponding rotating ring to rotate, while the part of the bristles not entangled by hair or thread-like objects can still drive other rotating rings to rotate. In the process of the roller driving the bristles to rotate, the rotation angles of the multiple rotating rings on the fixed rod will be different, the through holes on the multiple rotating rings will be misaligned, the laser receiver will not be able to receive the laser emitted by the laser transmitter, and the alarm will sound to remind the operator to clean the hair or thread-like objects on the bristles. It can more accurately detect whether the bristles are entangled, effectively improving the detection accuracy.

[0018] 2. When the vehicle moves along the planned path, the ultrasonic rangefinder can measure the height of obstacles at the lower part of the front side of the vehicle. When the height of obstacles at the lower part of the front side of the vehicle is greater than the height set in the control host, the control host turns off the motor and the motor, and the vehicle stops moving. This prevents the vehicle from colliding with objects placed or left on the ground.

[0019] 3. When the vehicle is moving on the planned path, the front binocular vision camera, rear binocular vision camera, and side binocular vision camera can measure the distance between the vehicle and the people or objects moving around the vehicle in real time. When the distance between the people or objects moving around the vehicle and the vehicle is less than the safe distance for the vehicle to work, the control host will shut down the motor to avoid safety accidents during the movement of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the present invention.

[0021] Figure 2 It is a side view of the present invention.

[0022] Figure 3 A cross-sectional view of a rotating ring.

[0023] Figure 4 This is a diagram showing the position relationship between the bristles and the rotating ring.

[0024] Figure 5 It is a side view of the cooperation between the rotating ring and the fixed rod.

[0025] Figure 6 It is a schematic diagram of the control structure of the present invention.

[0026] The names of the parts in the attached drawings are:

[0027] 1. Vehicle body; 2. Driving wheel; 3. Universal wheel; 4. Front camera; 5. Front binocular vision camera; 6. 2D laser radar; 7. Side camera; 8. Side binocular vision camera; 9. Rear camera; 10. Rear binocular vision camera; 11. Multi-line laser radar; 12. Ultrasonic rangefinder; 13. Side brush; 14. Motor; 15. Roller; 16. Bristles; 17. Fixed rod; 18. Rotating ring; 19. Rubber sleeve; 20. Limit block; 21. Arc groove; 22. Through hole; 23. Laser transmitter; 24. Laser receiver. DETAILED DESCRIPTION

[0028] like Figure 1-Figure 2As shown, a path distance measurement structure for an unmanned vehicle includes a vehicle body 1, and a multi-line laser radar 11 is fixed on the upper end of the vehicle body 1. The multi-line laser radar 11 can detect obstacles within 200 meters in the circumference at most and output three-dimensional point cloud data of the surrounding environment. A front binocular vision camera 5 is installed on the upper side of the front end of the vehicle body 1. A front camera 4 is installed on the front end of the vehicle body 1 below the front binocular vision camera 5. Two sets of ultrasonic rangefinders 12 are installed on the front end of the vehicle body 1 below the front camera 4, and the two sets of ultrasonic rangefinders 12 are symmetrically arranged on the left and right. A 2D laser radar 6 is installed on the lower side of the front end of the vehicle body 1. The 2D laser radar 6 is used to complement the blind spot and identify and locate with the multi-line laser radar 11. Side binocular vision cameras 8 are installed on both sides of the vehicle body 1. Side cameras 7 are installed on both sides of the vehicle body 1. A rear camera 9 and a rear binocular vision camera 10 are installed on the rear side of the vehicle body 1.

[0029] The multi-line laser radar 11, 2D laser radar 6, front camera 4, rear camera 9, side camera 7, front binocular vision camera 5, rear binocular vision camera 10, side binocular vision camera 8, and ultrasonic range finder 12 are electrically connected to the control host in the vehicle body 1. The built-in program of the control host cooperates with the multi-line laser radar 11, 2D laser radar 6, front camera 4, rear camera 9, and side camera 7 to realize environmental map construction and path planning.

[0030] When the vehicle 1 is traveling along the planned path, the ultrasonic rangefinder 12 can measure the distance of obstacles at the lower part in front of the vehicle 1. The front binocular vision camera 5, the rear binocular vision camera 10, and the side binocular vision camera 8 can measure the distance between the vehicle 1 and people or objects moving around the vehicle 1 in real time.

[0031] like Figure 3-Figure 6 As shown, an unmanned vehicle includes the path distance measurement structure for the unmanned vehicle.

[0032] The driving system is installed at the lower end of the vehicle body 1. The built-in program of the control host cooperates with the multi-line laser radar 11, the 2D laser radar 6, the front camera 4, the rear camera 9, the side camera 7 and the driving system to realize the automatic driving of the vehicle body 1 according to the planned path.

[0033] A plurality of side brushes 13 are installed at the front end of the vehicle body 1 , a roller 15 is rotatably connected to the lower end of the vehicle body 1 , and a driving component for driving the roller 15 to rotate is arranged on the vehicle body 1 .

[0034] The driving assembly includes a motor 14 , which is fixed on the vehicle body 1 , the motor 14 is concentric with the roller 15 , the output shaft of the motor 14 is fixedly connected to the roller 15 , and the motor 14 is electrically connected to the control host.

[0035] The outer edge of the roller 15 is evenly fixed with multiple rows of bristles 16, and a fixed rod 17 is fixed on the vehicle body 1 above the roller 15. The fixed rod 17 is sleeved with multiple rotating rings 18, and two adjacent rotating rings 18 are in contact. A rubber sleeve 19 is sleeved and fixed on the outer side of the rotating ring 18.

[0036] A groove is formed at the lower end of the vehicle body 1. The roller 15, the fixing rod 17 and the rotating ring 18 are arranged in the groove. When the roller 15 drives the bristles 16 to rotate, the bristles 16 can contact the ground.

[0037] The rotating ring 18 is elastically rotatably connected to the fixed rod 17. Specifically, the rotating ring 18 is connected to the fixed rod 17 via a torsion spring, one end of the torsion spring is fixedly connected to the rotating ring 18, and the other end of the torsion spring is fixedly connected to the fixed rod 17. The torsion spring is sleeved on the fixed rod 17.

[0038] The inner edge of the rotating ring 18 is provided with an arc groove 21, which is concentric with the fixed rod 17. A stopper 20 corresponding to the rotating ring 18 is fixed on the fixed rod 17, and the stopper 20 is located in the arc groove 21, and the stopper 20 contacts one end of the arc groove 21. Through holes 22 are provided on the rotating ring 18, and the through holes 22 on multiple rotating rings 18 are concentric. When the roller 15 drives the bristles 16 to rotate, the multiple rows of bristles 16 can sequentially drive the multiple rotating rings 18 to rotate synchronously at the same angle.

[0039] A plurality of rotating rings 18 constitute a detection roller, and a laser emitter 23 is fixed in a through hole 22 of the rotating ring 18 at one end of the detection roller. A laser receiver 24 is fixed in a through hole 22 of the rotating ring 18 at the other end of the detection roller. The laser emitter 23 and the laser receiver 24 are electrically connected to a control host. The control host is electrically connected to an alarm fixed on the vehicle body 1.

[0040] When the bristles 16 are entangled by hair or thread, the bristles 16 parts entangled by the hair or thread will bend. Therefore, the bristles 16 parts bent during the rotation of the roller 15 cannot contact the ground.

[0041] The bristle 16 portion that is bent cannot drive the corresponding rotating ring 18 to rotate, while the bristle 16 portion that is not entangled by the hair or thread-like object can continue to drive the other rotating rings 18 to rotate.

[0042] When part of the bristles 16 are entangled with hair or thread-like objects, the roller 15 drives the bristles 16 to rotate, and the rotation angles of the multiple rotating rings 18 on the fixed rod 17 are different, and the through holes 22 on the multiple rotating rings 18 are misaligned. The laser receiver 24 cannot receive the laser emitted by the laser transmitter 23, and the alarm alarms to remind the operator to clean the hair or thread-like objects on the bristles 16. At the same time, the control host turns off the motor 14 and the motor. This trolley can more accurately detect whether the bristles 16 are entangled, effectively improving the detection accuracy.

[0043] When the bristles 16 drive the rotating ring 18 to rotate, the torsion spring accumulates force, and the cooperation between the stop block 20 and the arc groove 21 can limit the rotating ring 18. After the rotating ring 18 rotates a certain angle, the rotating ring 18 stops rotating under the blocking effect of the stop block 20. When the bristles 16 are separated from the rubber sleeve 19 outside the rotating ring 18, the rotating ring 18 can be restored under the action of the torsion spring.

[0044] The driving system includes a driving wheel 2, a universal wheel 3, a motor, a reducer and a driver. The reducer and the universal wheel 3 are installed at the lower end of the vehicle body 1. The motor is connected to the reducer to output a larger torque. The reducer is connected to the driving wheel 2, and the driving wheel 2 rotates with the rotation of the reducer. There are at least two driving wheels 2 that are symmetrically located to each other and are connected to independent reducers respectively. A differential drive method is adopted to control the forward movement and steering of the robot by adjusting the different speeds of the motor. The motor is electrically connected to the control host through the driver.

[0045] A remote control device is installed in the vehicle body 1, and the remote control device consists of a remote control receiver and a handheld remote control. The remote control receiver and the handheld remote control are wirelessly connected. The remote control receiver is connected to the control host through an input and output interface. The remote control receiver receives instructions issued by the handheld remote control and reports them to the control host through the input and output interface.

[0046] The built-in program of the control host cooperates with the multi-line laser radar 11, 2D laser radar 6, front camera 4, rear camera 9 and side camera 7 to realize environmental map construction and path planning. When the vehicle body 1 enters the working area for the first time, it is necessary to manually remotely control the robot to drive a circle in the working area to complete the map construction. After that, the control host can use the built-in software for path planning, or it can manually plan the path. After the path planning is completed, the built-in program of the control host can drive the motor 14 to start. After the motor 14 is started, the control host can control the motor to rotate, so that the vehicle body 1 moves according to the planned path.

[0047] When the vehicle body 1 is moving on the planned path, the side brush 13 starts to clean the road surface. The ultrasonic rangefinder 12 can measure the height of the obstacle at the lower part of the front side of the vehicle body 1. When the height of the obstacle at the lower part of the front side of the vehicle body 1 is greater than the height set in the control host, the control host turns off the motor 14 and the motor, and the vehicle body 1 stops moving. This prevents the vehicle body 1 from colliding with objects placed or left on the ground.

[0048] When the vehicle 1 is moving on the planned path, the front binocular vision camera 5, the rear binocular vision camera 10, and the side binocular vision camera 8 can measure the distance between the vehicle 1 and the person or object moving around the vehicle 1 in real time. When the distance between the person or object moving around the vehicle 1 and the vehicle 1 is less than the safe distance for the vehicle 1 to work, the control host turns off the motor 14 and the motor to avoid safety accidents during the movement of the vehicle 1. The safe distance for the vehicle 1 to work can be set in the control host.

[0049] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A path distance measurement structure for an unmanned vehicle, comprising a vehicle body (1), a multi-line laser radar (11) being fixed on the upper end of the vehicle body (1), characterized in that: A front binocular vision camera (5) is installed on the upper front side of the front end of the vehicle body (1); a front camera (4) is installed on the front end of the vehicle body (1) below the front binocular vision camera (5); two groups of ultrasonic rangefinders (12) are installed on the front end of the vehicle body (1) below the front camera (4); the two groups of ultrasonic rangefinders (12) are symmetrically arranged on the left and right; a 2D laser radar (6) is installed on the lower front side of the front end of the vehicle body (1); side binocular vision cameras (8) are installed on both the front and rear sides of the vehicle body (1); side cameras (7) are installed on both the front and rear sides of the vehicle body (1); a rear camera (9) and a rear binocular vision camera (10) are installed on the rear side of the vehicle body (1); a multi-line laser radar (11), a 2D laser radar (6), a front camera (4), a rear camera (9), a side camera (7) ), a front binocular vision camera (5), a rear binocular vision camera (10), a lateral binocular vision camera (8), and an ultrasonic rangefinder (12) are electrically connected to a control host in a vehicle body (1); a built-in program of the control host cooperates with a multi-line laser radar (11), a 2D laser radar (6), a front camera (4), a rear camera (9), and a lateral camera (7) to realize environmental map construction and path planning; when the vehicle body (1) is traveling along the planned path, the ultrasonic rangefinder (12) can measure the height of obstacles at a low position in front of the vehicle body (1); and the front binocular vision camera (5), the rear binocular vision camera (10), and the lateral binocular vision camera (8) can measure the distance between the vehicle body (1) and a person or object moving around the vehicle body (1) in real time.

2. An unmanned vehicle, characterized in that: The invention comprises the path distance measurement structure for an unmanned vehicle as claimed in claim 1, wherein a driving system is installed at the lower end of the vehicle body (1), and a built-in program of a control host cooperates with a multi-line laser radar (11), a 2D laser radar (6), a front camera (4), a rear camera (9), a side camera (7) and the driving system to realize automatic driving of the vehicle body (1) according to a planned path, a plurality of side brushes (13) are installed at the front end of the vehicle body (1), a roller (15) is rotatably connected to the lower end of the vehicle body (1), a driving assembly for driving the roller (15) to rotate is arranged on the vehicle body (1), a plurality of rows of bristles (16) are evenly distributed and fixed on the outer edge of the roller (15), a fixed rod (17) is fixed on the vehicle body (1) above the roller (15), a plurality of rotating rings (18) are sleeved on the fixed rod (17), two adjacent rotating rings (18) are in contact, the rotating ring (18) is elastically rotatably connected to the fixed rod (17), an arc groove (21) is opened on the inner edge of the rotating ring (18), and the arc groove ( The fixing rod (21) is concentric with the fixing rod (17), a limit block (20) corresponding to the rotating ring (18) is fixed on the fixing rod (17), the limit block (20) is located in the arc groove (21), the limit block (20) is in contact with one end of the arc groove (21), and a through hole (22) is provided on each of the rotating rings (18), and the through holes (22) on the plurality of rotating rings (18) are concentric, and when the roller (15) drives the bristles (16) to rotate, the plurality of rows of bristles (16) can sequentially drive the plurality of rows of bristles (16) to rotate. The plurality of rotating rings (18) rotate synchronously at the same angle, the plurality of rotating rings (18) constitute a detection roller, a laser emitter (23) is fixed in a through hole (22) of the rotating ring (18) at one end of the detection roller, a laser receiver (24) is fixed in a through hole (22) of the rotating ring (18) at the other end of the detection roller, the laser emitter (23) and the laser receiver (24) are electrically connected to a control host, and the control host is electrically connected to an alarm fixed on a vehicle body (1).

3. The unmanned vehicle according to claim 2, characterized in that: A groove is provided at the lower end of the vehicle body (1), and the roller (15), the fixing rod (17) and the rotating ring (18) are located in the groove. When the roller (15) drives the bristles (16) to rotate, the bristles (16) can contact the ground.

4. The unmanned vehicle according to claim 2, characterized in that: The driving assembly comprises a motor (14), the motor (14) is fixed on the vehicle body (1), the motor (14) is concentric with the roller (15), the output shaft of the motor (14) is fixedly connected to the roller (15), and the motor (14) is electrically connected to the control host.

5. The unmanned vehicle according to claim 2, characterized in that: A rubber sleeve (19) is sleeved and fixed on the outer side of the rotating ring (18).

6. The unmanned vehicle according to claim 2, characterized in that: The rotating ring (18) is connected to the fixed rod (17) via a torsion spring, one end of the torsion spring is fixedly connected to the rotating ring (18), and the other end of the torsion spring is fixedly connected to the fixed rod (17).

7. The unmanned vehicle according to claim 2, characterized in that: The drive system comprises a drive wheel (2), a universal wheel (3), a motor, a reducer and a driver. The motor is connected to the reducer to output a greater torque. The reducer is connected to the drive wheel (2). The drive wheel (2) rotates as the reducer rotates. The drive wheels (2) are at least two and are symmetrically located with each other. They are respectively connected to independent reducers. A differential drive method is adopted to control the forward movement and steering of the robot by adjusting the different rotation speeds of the motors. The motor is electrically connected to a control host through the driver.

8. The unmanned vehicle according to claim 2, characterized in that: A remote control device is installed in the vehicle body (1), and the remote control device consists of a remote control receiver and a handheld remote control. The remote control receiver and the handheld remote control are wirelessly connected, and the remote control receiver is connected to a control host via an input / output interface. The remote control receiver receives instructions sent by the handheld remote control and reports them to the control host via the input / output interface.

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