Intelligent unmanned charging vehicle based on visual detection

Abstract

The invention discloses an intelligent unmanned charging vehicle based on visual inspection in the technical field of unmanned driving, and the intelligent unmanned charging vehicle comprises a vehicle body and a visual acquisition end arranged on the vehicle body, the vehicle body is provided with a track, the track is provided with a walking mechanism, the walking mechanism is provided with a mounting plate, and the mounting plate is connected with the visual acquisition end. A cleaning assembly, a cleaning roller and a fan are arranged on the mounting plate, and the walking mechanism is used for driving the mounting plate to move on the track, so that the cleaning assembly, the cleaning roller and the fan clean the visual collection end in sequence; the walking mechanism drives the mounting plate to move on the track, so that the cleaning assembly, the cleaning roller and the fan sequentially clean the visual collection end, it is ensured that a large amount of dust and impurities cannot be accumulated on the visual collection end, it is ensured that images obtained by the visual collection end are clear, and normal work of the unmanned charging vehicle is ensured.

Description

Technical Field

[0001] The present invention relates to the field of unmanned driving technology, and in particular to an intelligent unmanned driving charging vehicle based on visual detection. Background Art

[0002] With the rapid development of science and technology, especially the breakthroughs in artificial intelligence, machine vision and sensor technology, driverless technology has become a hot topic in current research and the future development direction of the automotive industry. As an important application field of driverless technology, intelligent driverless charging vehicles are widely used in the field of sanitation, with the aim of reducing manual work, minimizing manual operations and reducing costs. In the process of the driverless car using the cleaning component to clean up garbage on the road, the cleaning component rotates on the ground, which is easy to cause dust in the cleaning area, causing dust and impurities to easily adhere to the camera of the driverless car. Since the driverless car uses the camera for visual collection to judge the road condition, when the camera is blocked, the image obtained by the driverless car will be unclear, affecting the normal operation of the driverless car. Summary of the invention

[0003] The purpose of the present invention is to provide an intelligent unmanned charging vehicle based on visual detection to solve the problem that the cleaning component proposed in the above background technology rotates on the ground, which easily causes dust in the cleaning area, resulting in dust and impurities easily adhering to the camera of the unmanned vehicle.

[0004] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an intelligent unmanned charging vehicle based on visual detection, comprising: a vehicle body and a visual collection terminal arranged on the vehicle body, the vehicle body is provided with a track, the track is provided with a walking mechanism, the walking mechanism is provided with a mounting plate, the mounting plate is provided with a cleaning component, a cleaning roller and a fan, the walking mechanism is used to drive the mounting plate to move on the track so that the cleaning component, the cleaning roller and the fan clean the visual collection terminal in turn.

[0005] Preferably, the cleaning assembly comprises two groups of nozzles and a storage tank connected to the nozzles, the two groups of nozzles are respectively located on both sides of the cleaning roller, and there are two groups of fans, which are respectively located between the cleaning roller and the two groups of nozzles.

[0006] Preferably, the outlet of the nozzle is inclined toward a side away from the cleaning roller.

[0007] Preferably, the mounting plate is hinged on the walking mechanism, and a second driving member for driving the mounting plate to flip is provided on the mounting plate. Two shielding covers and a first driving member for driving the shielding covers to move are symmetrically provided on the vehicle body, and the shielding covers are used to cover the laid-down mounting plate.

[0008] Preferably, the shielding cover is connected with a conduit, and the end of the conduit is connected with a diffusion cover;

[0009] Wherein, a mounting opening is provided at the connection portion between the mounting plate and the fan, the fan rotates in the mounting opening, and a driving device for driving the fan to rotate is provided in the mounting opening.

[0010] Preferably, a rotating rod is rotatably provided inside the diffusion cover, a flap is provided on the side wall of the rotating rod, one end of the rotating rod extends to the outside of the diffusion cover and is connected to the baffle, and the flap utilizes the power of air passing through the diffusion cover to drive the rotating rod and the baffle to rotate.

[0011] Preferably, a protective plate is provided on the track above the visual acquisition end.

[0012] Preferably, the walking mechanism is provided with a collecting box below the cleaning assembly, and the collecting box is connected to the storage tank.

[0013] Compared with the prior art, the present invention has the following beneficial effects:

[0014] In this application, the walking mechanism moves the mounting plate on the track, so that the cleaning component, the cleaning roller and the fan clean the visual acquisition end in turn, ensuring that a large amount of dust and impurities will not accumulate on the visual acquisition end, ensuring that the image obtained by the visual acquisition end is clear, and ensuring the normal operation of the unmanned charging vehicle;

[0015] In the present application, the mounting plate is covered by a shielding cover, and the air blown out by the fan is guided by a duct and a diffusion cover to form an airflow wall on the front side of the visual collection end, thereby reducing the probability of dust and impurities adhering to the visual collection end. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the structure of the intelligent unmanned charging vehicle of the present invention;

[0017] Figure 2 This is a schematic diagram of the connection structure between the vehicle body and the shielding cover of the present invention;

[0018] Figure 3 This is a schematic diagram of the connection structure between the track and the traveling mechanism of the present invention;

[0019] Figure 4 This is a schematic diagram of the connection structure between the mounting plate and the cleaning roller of the present invention;

[0020] Figure 5 This is a schematic diagram of the connection structure between the shielding cover and the diffusion cover of the present invention;

[0021] Figure 6 It is a schematic diagram of the connection structure between the rotating rod and the baffle of the present invention.

[0022] In the figure: 1. vehicle body; 2. visual acquisition end; 3. track; 4. mounting plate; 5. shielding cover; 6. protective plate; 7. duct; 8. first driving member; 9. walking mechanism; 10. second driving member; 11. collecting box; 12. storage box; 13. nozzle; 14. cleaning roller; 15. fan; 16. mounting port; 17. diffusion cover; 18. baffle; 19. rotating rod; 20. flap. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0024] Example 1

[0025] See also Figure 1 , an intelligent unmanned charging vehicle based on visual detection, comprising: a vehicle body 1, a visual acquisition terminal 2 (camera) is installed on the top wall of the vehicle body 1, the visual acquisition terminal 2 obtains images around the vehicle and feeds them back to the vehicle body 1 to analyze and identify obstacles (there is also a radar on the vehicle body 1, and the laser radar can emit a laser beam and receive the reflected signal to measure the distance and angle of the object, build a high-precision three-dimensional environment map, and identify obstacles such as pedestrians, vehicles, and buildings). The perceived road, traffic signal, vehicle position and obstacle information are used to plan the predetermined target, control the steering and speed of the vehicle, thereby realizing the anthropomorphic driving of the unmanned vehicle according to its own intentions and environment. This technology belongs to the prior art and is not described in detail here.

[0026] It should be noted that a cleaning component is installed on the vehicle body 1 of the present application for cleaning garbage on the road.

[0027] See also Figure 1 , Figure 2 and Figure 3A track 3 is provided on the top wall of the vehicle body 1, and a traveling mechanism 9 is provided on the track 3 (the traveling mechanism 9 includes a mounting frame, the mounting frame is slidably arranged on the outer wall of the track 3, and the mounting frame is driven to move by a linear moving module), a mounting plate 4 is provided on the top of the traveling mechanism 9, and a cleaning component, a cleaning roller 14 and a fan 15 are provided on the side wall of the mounting plate 4, wherein the cleaning component includes two groups of nozzles 13 and a storage tank 12 (the storage tank 12 is filled with water or cleaning agent, and a pump is installed inside the storage tank 12, and the outlet of the pump is connected to the inlet of the nozzle 13 through a conduit), the two groups of nozzles 13 are respectively located on both sides of the cleaning roller 14, there are two groups of fans 15, and the two groups of fans 15 are respectively located between the cleaning roller 14 and the two groups of nozzles 13; the cleaning roller 14 includes a roller body and a sponge layer sleeved on the outer wall of the roller body.

[0028] It should be noted that the vehicle body 1 moves and uses its own cleaning components to clean up garbage on the road. During the working process, the visual acquisition end 2 will collect images around the vehicle and feed them back to the vehicle body 1 to analyze and identify obstacles (such as encountering people) so that the vehicle body 1 can avoid them; and during the working process, the walking mechanism 9 will move on the track 3 with the mounting plate 4, and at the same time the pump will work to spray the water or cleaning agent in the storage tank 12 onto the front surface of the visual acquisition end 2, and then the cleaning roller 14 will contact the surface of the visual acquisition end 2. As the mounting plate 4 moves, the cleaning roller 14 will rotate to the visual acquisition The collecting end 2 is wiped, and then the fan 15 blows air to the wiped visual collection end 2 to dry it; the mounting plate 4 stops after it moves from one end of the track 3 to the other end; after a period of time, the walking mechanism 9 moves in the opposite direction again, so that the mounting plate 4 moves back and forth on the track 3 regularly to clean the visual collection end 2 to ensure that the image collected by the visual collection end 2 is clear; first use water to flush the visual collection end 2 to wash off the dust and impurities attached to it, so that during the wiping process of the cleaning roller 14, it will not slide on the surface of the visual collection end 2 with impurities, thereby avoiding scratches on the visual collection end 2.

[0029] It is also necessary to note that, please refer to Figure 1 and Figure 2 A protective plate 6 is provided on the track 3, and the protective plate 6 is located directly above the visual acquisition terminal 2; the probability of an object hitting the visual acquisition terminal 2 is reduced to protect it.

[0030] In this embodiment, as a further optimized solution, please refer to Figure 4 , the outlet of the nozzle 13 is inclined toward the side away from the cleaning roller 14; the nozzle 13 sprays the liquid obliquely toward the surface of the visual collection end 2, reducing the degree of splashing after the liquid contacts the visual collection end 2, and also facilitating the washing away of impurities attached to the surface of the visual collection end 2.

[0031] In this embodiment, as a further optimized solution, please refer to Figure 3A collecting box 11 is provided on the walking mechanism 9. The collecting box 11 is directly below the nozzle 13 of the cleaning component. The top of the collecting box 11 is open. The collecting box 11 is connected to the storage tank 12 through a pipeline. A filter is installed in the pipeline. The liquid generated by cleaning falls into the interior of the collecting box 11 and is collected. After being filtered by the filter, it returns to the storage tank 12 for recycling.

[0032] In this embodiment, as a further optimized solution, please refer to Figure 1 , Figure 2 , Figure 3 and Figure 5 The mounting plate 4 is hinged on the top wall of the traveling mechanism 9, and a second driving member 10 is installed on the traveling mechanism 9 (the second driving member 10 is a motor, and the output shaft of the motor is connected to the mounting plate 4, and the mounting plate 4 is rotated by the operation of the motor). Two shielding covers 5 are symmetrically arranged on the top wall of the vehicle body 1, and two first driving members 8 (cylinders) are installed on the top wall of the vehicle body 1. The moving ends of the two first driving members 8 are respectively connected to the two shielding covers 5; after the second driving member 10 puts the mounting plate 4 down, the first driving member 8 works to move the shielding cover 5 to cover the mounting plate 4; when the visual acquisition end 2 is cleaned, the first driving member 8 drives the shielding cover 5 to move in the opposite direction to expose the mounting plate 4, and then the second driving member 10 drives the mounting plate 4 to rotate and stand up.

[0033] In this embodiment, as a further optimized solution, please refer to Figure 2 and Figure 5 A duct 7 is connected to the top wall of the shielding cover 5, and a diffusion cover 17 (the diffusion cover 17 is funnel-shaped) is connected to the end of the duct 7; a mounting port 16 is provided at the connecting portion between the mounting plate 4 and the fan 15, and a driving device (motor) is installed in the mounting port 16, and the fan 15 is installed on the output shaft of the driving device; when the mounting plate 4 begins to fall, the driving device drives the fan 15 to rotate 180°, and when the shielding cover 5 covers the mounting plate 4, the fan 15 continues to work and blows air upward, and the flowing air is ejected from the diffusion cover 17 through the duct 7, forming a flowing air wall on the front side of the visual collection end 2, thereby reducing the probability of impurities adhering to the visual collection end 2.

[0034] In this embodiment, as a further optimized solution, please refer to Figure 5 and Figure 6A rotating rod 19 is rotatably provided in the inner cavity of the diffusion cover 17, and a plurality of flaps 20 are provided on the side wall of the rotating rod 19. One end of the rotating rod 19 extends to the outside of the diffusion cover 17 and is connected to the baffle 18. When the air passes through the diffusion cover 17, it will contact the flap 20, which is used to rotate the rotating rod 19 and the baffle 18, so that the baffle 18 intercepts the air discharged from the diffusion cover 17, so that the air blown out of the diffusion cover 17 is dispersed on the front side of the visual collection end 2, preventing impurities from adhering to the visual collection end 2, and ensuring that the visual collection end 2 can obtain a clear image.

[0035] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An intelligent unmanned charging vehicle based on visual detection, comprising: A vehicle body (1) and a visual collection end (2) arranged on the vehicle body (1), characterized in that: a track (3) is arranged on the vehicle body (1), a walking mechanism (9) is arranged on the track (3), a mounting plate (4) is arranged on the walking mechanism (9), a cleaning component, a cleaning roller (14) and a fan (15) are arranged on the mounting plate (4), and the walking mechanism (9) is used to drive the mounting plate (4) to move on the track (3) so that the cleaning component, the cleaning roller (14) and the fan (15) clean the visual collection end (2) in sequence.

2. According to claim 1, the intelligent unmanned charging vehicle based on visual detection is characterized in that: The cleaning assembly comprises two groups of nozzles (13) and a storage tank (12) connected to the nozzles (13), the two groups of nozzles (13) are respectively located on both sides of a cleaning roller (14), and there are two groups of fans (15), the two groups of fans (15) are respectively located between the cleaning roller (14) and the two groups of nozzles (13).

3. According to claim 2, the intelligent unmanned charging vehicle based on visual detection is characterized in that: The outlet of the nozzle (13) is inclined toward a side away from the cleaning roller (14).

4. According to claim 1, the intelligent unmanned charging vehicle based on visual detection is characterized in that: The mounting plate (4) is hinged on a walking mechanism (9), and a second driving member (10) is provided on the mounting plate (4) for driving the mounting plate (4) to flip over. Two shielding covers (5) and a first driving member (8) for driving the shielding covers (5) to move are symmetrically provided on the vehicle body (1), and the shielding covers (5) are used to cover the tilted mounting plate (4).

5. The intelligent driverless charging vehicle based on visual detection according to claim 4 is characterized in that: The shielding cover (5) is connected to a conduit (7), and the end of the conduit (7) is connected to a diffusion cover (17); A mounting opening (16) is provided at the connection portion between the mounting plate (4) and the fan (15), the fan (15) is rotatably arranged in the mounting opening (16), and a driving device for driving the fan (15) to rotate is provided in the mounting opening (16).

6. The intelligent driverless charging vehicle based on visual detection according to claim 5 is characterized in that: A rotating rod (19) is rotatably provided in the diffusion cover (17), a flap (20) is provided on the side wall of the rotating rod (19), one end of the rotating rod (19) extends to the outside of the diffusion cover (17) and is connected to the baffle (18), and the flap (20) utilizes the power of air passing through the diffusion cover (17) to drive the rotating rod (19) and the baffle (18) to rotate.

7. The intelligent unmanned charging vehicle based on visual detection according to claim 1 is characterized in that: The track (3) is provided with a protective plate (6) located above the visual collection end (2).

8. The intelligent unmanned charging vehicle based on visual detection according to claim 1 is characterized in that: The walking mechanism (9) is provided with a collecting box (11) located below the cleaning assembly, and the collecting box (11) is connected to the storage box (12).

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