Rubbish sweeper with remotely-controllable sweeping suction cup and sweeping system

Abstract

The invention discloses a garbage sweeper with a remotely-controllable sweeping sucker and a sweeping system, and relates to the technical field of urban environmental sanitation equipment, the garbage sweeper comprises a seat and the sweeping sucker, wheels are mounted on the seat, a frame is fixedly arranged at the upper end of the seat, a garbage can is fixedly arranged on the frame, a fan is mounted on the garbage can, and the sweeping sucker is mounted on the fan. The feeding end of the fan is fixedly connected with a dust collection hose, the end, away from the fan, of the dust collection hose is fixedly connected to the sweeping suction cup, and a driver seat for a driver to sit and a control console for controlling the sweeping vehicle are fixedly installed at the upper end of the vehicle seat. The garbage sweeper is connected with a dust collection system of the garbage sweeper through the hose, and the garbage sweeper can conduct common sweeping near a sweeper body and can enter a narrow space and a complex terrain to independently work, so that the working range is remarkably expanded.

Description

Technical Field

[0001] The invention relates to the technical field of urban sanitation equipment, and in particular to a garbage cleaning vehicle and a cleaning system with a remote-controlled cleaning suction cup. Background Art

[0002] The cleaning devices (such as suction ports or cleaning brushes) in traditional garbage sweepers are usually fixed to the bottom of the vehicle body. Although this design can effectively clean up garbage on urban roads, it has the problem of limited operating range. For example, on narrow sidewalks, non-motorized vehicle lanes, or complex roads with many obstacles, fixed cleaning devices are difficult to reach and effectively clean. In addition, the efficiency of existing cleaning equipment decreases in slope environments, and it may even be impossible to go uphill or lose stability. Therefore, the development of a cleaning device that can move independently and has intelligent obstacle avoidance and autonomous operation capabilities has become the key to solving this problem. Summary of the invention

[0003] The purpose of the present invention is to provide a garbage sweeper and cleaning system with a remote-controlled cleaning suction cup, and an intelligent garbage sweeping system connected to the garbage sweeper through a hose. The cleaning suction cup can realize autonomous movement and obstacle avoidance cleaning, and is particularly suitable for operation on sidewalks, narrow areas and complex road conditions, solving the technical problem that fixed cleaning devices are difficult to reach and effectively clean on narrow sidewalks, non-motorized vehicle lanes or complex roads with many obstacles.

[0004] The purpose of the present invention can be achieved through the following technical solutions:

[0005] A garbage sweeper with a remote-controlled cleaning suction cup comprises a seat and a cleaning suction cup, wherein wheels are mounted on the seat, a frame is fixedly disposed on the upper end of the seat, a garbage bin is fixedly disposed on the frame, a fan is mounted on the garbage bin, a dust suction hose is fixedly connected to the feed end of the fan, an end of the dust suction hose away from the fan is fixedly connected to the cleaning suction cup, a driver's seat for a driver to sit on and a control console for controlling the sweeper are fixedly mounted on the upper end of the seat.

[0006] Preferably, a pipe hanging mechanism for hanging a vacuum hose is installed on the frame.

[0007] Preferably, the cleaning suction cup comprises a suction cup seat, a dust hood is arranged on the suction cup seat, the dust hood is connected to the dust hose, and a driving wheel is installed at the lower end of the suction cup seat.

[0008] Preferably, a plurality of sensors are arranged on the outer periphery of the suction cup seat.

[0009] Preferably, a camera is fixedly mounted on the upper end of the suction cup seat.

[0010] Preferably, the pipe hanging mechanism includes a lifting motor fixedly mounted on a frame, the output end of the lifting motor is fixedly connected to a lifting reel, the lifting reel is fixedly connected to a lifting belt, the other end of the lifting belt is fixedly connected to a lifting ring, and the lifting ring is sleeved on the dust suction hose.

[0011] Preferably, the pipe hanging mechanism comprises a guide wheel 1 and a guide wheel 2 rotatably mounted on the frame, and the sling is slidably connected to the guide wheel 1 and the guide wheel 2.

[0012] Preferably, the pipe hanging mechanism comprises a plurality of limiting rings fixedly mounted on the vehicle seat, and the limiting rings are sleeved on the outer circumference of the dust suction hose.

[0013] A cleaning system of a garbage cleaning vehicle with a remote-controlled cleaning suction cup, comprising:

[0014] A collection module, which is used to collect data around the sweeper;

[0015] A processing module receives the data acquired by the acquisition module and adjusts the cleaning path of the garbage cleaning vehicle according to the data;

[0016] A transmission module, which is used to transmit the data of the acquisition module to the processing module;

[0017] The cleaning module receives the cleaning path determined by the processing module and cleans the road.

[0018] Preferably, it further comprises an interaction module, which is connected to the processing module via the transmission module, and is arranged on a control console, which is equipped with a touch screen or a mobile application, so that an operator can monitor the position, state and obstacle avoidance process of the cleaning suction cup in real time, and perform manual intervention when necessary;

[0019] An alarm unit is also provided. When encountering a complex obstacle avoidance situation or system failure that cannot be resolved autonomously, the alarm unit automatically sounds an alarm and prompts the operator to take corresponding measures.

[0020] Beneficial effects of the present invention:

[0021] (1) The present invention provides a cleaning suction cup that does not need to be fixed on the garbage cleaning vehicle body. The suction cup is connected to the dust collection system on the cleaning vehicle through a hose and realizes autonomous movement by its own driving mechanism. The cleaning suction cup is equipped with an obstacle avoidance system and an intelligent camera, which can perceive the surrounding road conditions in real time, thereby autonomously adjusting the path and expanding the operating range, especially in narrow or complex terrain areas. It is more flexible and reliable.

[0022] (2) The garbage sweeper of the present invention has the characteristics of independent drive, intelligent obstacle avoidance, and flexible operation, which breaks through the limitations of traditional fixed cleaning devices and significantly improves the cleaning efficiency of garbage sweepers under complex road conditions. By connecting the dust collection system of the garbage sweeper with a hose, the device can not only perform ordinary cleaning near the vehicle body, but also enter narrow spaces and complex terrains to operate independently, achieving a significant expansion of the operating range. The present invention is of great significance to the convenience and efficiency of modern urban sanitation work, and is widely applicable to the cleaning and maintenance of urban roads, community blocks, sidewalks and other environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The present invention will be further described below in conjunction with the accompanying drawings.

[0024] Figure 1 It is a structural schematic diagram of a garbage cleaning vehicle and a cleaning system with a remote-controlled cleaning suction cup according to the present invention;

[0025] Figure 2 It is a structural schematic diagram of a garbage cleaning vehicle and a cleaning system with a remote-controlled cleaning suction cup according to the present invention;

[0026] Figure 3 The utility model is a structural schematic diagram of a garbage cleaning vehicle with a cleaning suction cup capable of being remotely controlled and a cleaning system of the present invention.

[0027] In the figure: 10, seat; 20, wheel; 30, trash can; 40, fan; 50, frame; 60, dust hose; 70, cleaning suction cup; 71, suction cup seat; 72, dust hood; 73, driving wheel; 74, sensor; 75, camera; 80, pipe hanging mechanism; 81, lifting motor; 82, lifting reel; 83, guide wheel 1; 84, lifting belt; 85, guide wheel 2; 86, lifting ring; 87, limit ring; 90, driver's seat; 100, control console. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the present invention / invention to clearly and completely describe the technical solutions in the embodiments of the present invention / invention. Obviously, the described embodiments are only part of the embodiments of the present invention / invention, not all of them. Based on the embodiments of the present invention / invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention / invention.

[0029] In the description of the present invention / invention, it should be understood that the terms "upper", "lower", "left", "right", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, and a specific direction structure and operation, and therefore, cannot be understood as a limitation on the present invention. In addition, "first" and "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0030] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", etc. should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0031] See also Figure 1-Figure 2 As shown, a first aspect of an embodiment of the present invention provides a garbage sweeper with a remote-controlled cleaning suction cup, comprising a seat 10 and a cleaning suction cup 70, the seat 10 being provided with wheels 20, the upper end of the seat 10 being fixedly provided with a frame 50, the frame 50 being fixedly provided with a garbage bin 30, the garbage bin 30 being installed with a fan 40, the feed end of the fan 40 being fixedly connected with a dust suction hose 60, the end of the dust suction hose 60 away from the fan 40 being fixedly connected to the cleaning suction cup 70, the upper end of the seat 10 being fixedly provided with a driving seat 90 for the driver to sit on and a control console 100 for controlling the sweeper.

[0032] The cleaning suction cup 70 is made of lightweight materials to ensure good mobility. Two sets of wheel drive devices are provided at the bottom, which are controlled by a motor to give the suction cup autonomous mobility. The top is connected to the garbage cleaning vehicle fan 40 through a dust suction hose 60, which is responsible for conveying garbage and providing the necessary power source and control signal transmission.

[0033] The dust suction hose 60 is made of a high-toughness material and can be freely extended and retracted with the movement of the suction cup to avoid entanglement or damage. The garbage enters the dust suction hose 60 through the suction port at the bottom of the suction cup, and is thus transferred to the storage container of the garbage sweeper.

[0034] In an optional embodiment, the cleaning suction cup 70 includes a suction cup seat 71 , a dust hood 72 is provided on the suction cup seat 71 , the dust hood 72 is connected to the dust hose 60 , and a driving wheel 73 is installed at the lower end of the suction cup seat 71 .

[0035] It should be noted that at least two independent drive wheels 73 are installed at the bottom of the cleaning suction cup 70, each drive wheel 73 is equipped with an independent motor, and the steering and forward / backward movement are realized through differential control. The motor adopts a brushless DC motor to improve energy efficiency and response speed.

[0036] Furthermore, a rechargeable battery pack is used as a power source to support long-term operation. The battery pack is designed to be easily replaced or automatically docked at a charging station for charging, ensuring continuous operation capabilities.

[0037] A microprocessor or single-chip microcomputer is integrated as a control unit, which receives instructions from a wireless controller and adjusts the speed and direction of the driving wheel according to the instructions to achieve precise movement.

[0038] In an optional embodiment, a plurality of sensors 74 are disposed on the outer periphery of the suction cup seat 71 .

[0039] It should be noted that a plurality of sensors 74 are integrated on the cleaning suction cup 70, including ultrasonic waves, infrared radars, etc., for detecting the position and distance of surrounding obstacles. When an obstacle is detected, the system will choose to bypass or avoid it according to a predetermined strategy to avoid collision with the obstacle.

[0040] In an optional embodiment, a camera 75 is fixedly mounted on the upper end of the suction cup seat 71 .

[0041] It should be noted that the cleaning suction cup 70 is also equipped with a camera 75, which can collect road information in real time and transmit the data back to the microprocessor to determine whether there are obstacles ahead through an algorithm.

[0042] The control unit of the cleaning suction cup 70 is equipped with a path planning algorithm, which dynamically adjusts the route based on the obstacle information fed back by the sensor 74 and the terrain features captured by the camera. The system can not only perform cleaning tasks according to the predetermined route, but also adjust the path according to real-time conditions. For example, when it is found that a section of the road originally planned to be traveled is blocked by an obstacle, the cleaning suction cup 70 will immediately activate the detour function and select a new passable path to continue the operation. At the same time, the cleaning suction cup 70 has a highly flexible terrain adaptive capability, and can adjust the output power of the drive device according to the slope of the road surface to ensure its safe uphill and downhill operation.

[0043] In an optional embodiment, a pipe hanging mechanism 80 for hanging the dust suction hose 60 is installed on the vehicle frame 50. The pipe hanging mechanism 80 includes a hanging motor 81 fixedly installed on the vehicle frame 50, and the output end of the hanging motor 81 is fixedly connected to a hanging reel 82, and the hanging reel 82 is fixedly connected to a hanging belt 84, and the other end of the hanging belt 84 is fixedly connected to a hanging ring 86, and the hanging ring 86 is sleeved on the dust suction hose 60.

[0044] It should be noted that the lifting motor 81 drives the lifting reel 82 to rotate, so that the lifting reel 82 is used to control the retraction and extension of the lifting belt 84, thereby ensuring the adjustment of the height of the lifting ring 86. The height of the dust suction hose 60 can be adjusted according to the different cleaning positions of the cleaning suction cup 70, thereby ensuring that the dust suction hose 60 remains unobstructed to clean the garbage.

[0045] In an optional embodiment, the pipe hanging mechanism 80 includes a guide wheel 1 83 and a guide wheel 2 85 rotatably mounted on the frame 50 , and the sling 84 is slidably connected to the guide wheel 1 83 and the guide wheel 2 85 .

[0046] It should be noted that the guide wheel 1 83 and the guide wheel 2 85 are provided to guide the retraction and extension of the sling 84 , thereby ensuring stable height adjustment of the dust suction hose 60 .

[0047] In an optional embodiment, the pipe hanging mechanism 80 includes a plurality of limiting rings 87 fixedly mounted on the vehicle seat 10 , and the limiting rings 87 are sleeved on the outer circumference of the dust suction hose 60 .

[0048] It should be noted that the vacuum hose 60 is fixedly connected to the vehicle seat 10 by providing a limiting ring 87, thereby ensuring that one end of the vacuum hose 60 remains fixed when the vacuum hose 60 is pulled.

[0049] See also Figure 3 As shown, the second aspect of the present invention provides a cleaning system of a garbage cleaning vehicle with a remote-controlled cleaning suction cup, which comprises:

[0050] The acquisition module is used to collect data around the sweeper. Specifically, the ultrasonic sensor is used to measure the distance to the front and side obstacles, with a wide coverage range, suitable for rapid detection of close-range obstacles. The infrared radar provides obstacle detection with higher accuracy and angular resolution, especially in environments with large light changes. The high-definition camera captures road images, combines image processing algorithms to identify obstacle types, and evaluates their dynamic changes.

[0051] The processing module receives the data obtained by the collection module and adjusts the cleaning path of the garbage sweeper according to the data; specifically, it adopts a high-performance embedded processor and integrates AI algorithms to analyze sensor data in real time, identify obstacles and predict their paths.

[0052] Dynamic path planning calculates the optimal obstacle avoidance path in real time based on the location, type and movement trend of obstacles, including detours, pauses and waits, or finding alternative paths.

[0053] Emergency Braking and Avoidance In the event of sudden obstacles or pedestrians, the emergency braking mechanism is immediately activated and the direction of the drive wheels is adjusted for emergency avoidance.

[0054] Set a safety distance threshold. When an obstacle is detected approaching the threshold, the vehicle will automatically slow down or adjust direction to ensure a safe operating distance.

[0055] The transmission module is used to transmit the data of the collection module to the processing module; specifically, Wi-Fi or Bluetooth low energy technology is used to ensure stable and low-latency communication with the main body of the garbage sweeper.

[0056] The cleaning module receives the cleaning path determined by the processing module and cleans the road.

[0057] In an optional embodiment, an interaction module is further included, the interaction module is connected to the processing module via the transmission module, the interaction module is arranged on the console 100, the console 100 is equipped with a touch screen or a mobile application, and an operator monitors the position, state and obstacle avoidance process of the cleaning suction cup in real time, and performs manual intervention when necessary;

[0058] An alarm unit is also provided. When encountering a complex obstacle avoidance situation or system failure that cannot be resolved autonomously, the alarm unit automatically sounds an alarm and prompts the operator to take corresponding measures.

[0059] Take obstacle detection and tracking as an example:

[0060] Use cameras, lidar, ultrasonic sensors and other sensors to detect obstacles in real time, identify the type of obstacles (such as static obstacles, dynamic obstacles) and track their positions. For dynamic obstacles, predict their movement trends, such as speed and direction.

[0061] Use path planning algorithms such as the A algorithm, Dijkstra algorithm, or Dlista algorithm to calculate the optimal obstacle avoidance path in real time based on the location, type, and movement trend of obstacles, considering the feasibility and safety of the path. For the detour strategy, calculate the length and complexity of the detour path, and select the optimal detour plan. For the pause and wait strategy, evaluate the waiting time and safety, and determine whether to wait for the obstacle to pass. For the strategy of finding an alternative path, search and evaluate other possible paths, and select the optimal alternative path.

[0062] The planned path is converted into instructions that can be executed by the cleaning suction cup, such as steering angle, driving speed, etc. During the execution process, obstacle changes are monitored in real time and the path is dynamically adjusted; if new obstacles or environmental changes are encountered, the path is re-planned.

[0063] A specific example of path planning using algorithm A is as follows:

[0064] Consider a two-dimensional grid map with the starting point at (0,0) and the end point at (7,7). Obstacles in the grid are represented by black and traversable areas are represented by white. The goal is to find the shortest path from the starting point to the end point while avoiding obstacles.

[0065] Create an OPEN table to store the current candidate search nodes, sorted by potential value, i.e., the current shortest path estimate value.

[0066] Create a CLOSE table to store the nodes that have been searched so far.

[0067] Set the starting point as the current node and calculate the heuristic distance H(n) from the starting point to the end point.

[0068] Add the starting point to the OPEN table and set its actual cost G(n) to 0.

[0069] The node with the smallest potential value F(n) is taken from the OPEN table as the current search node U, and added to the CLOSE table, where F(n) = G(n) + H(n).

[0070] For each node V that is connected to U:

[0071] If V is already in the CLOSE table, the search is skipped.

[0072] If V is not in the OPEN table, calculate F(V), add V to the OPEN table, and set its predecessor node to U.

[0073] If V is in the OPEN table, compare the cost of G(U)+U to V with G(V). If the cost of G(U)+U to V is less than G(V), update G(V) to the cost of G(U)+U to V, and update F(V) and the predecessor node.

[0074] Repeat the above steps until the search node U is the end point.

[0075] Starting from the end point, trace back to the starting point based on the predecessor node information to obtain the shortest path.

[0076] Through the above steps, algorithm A can find a shortest path from the starting point (0,0) to the end point (7,7) while avoiding all obstacles.

[0077] Working principle of the present invention: During urban sanitation operations, the garbage sweeper drives to the roadside and starts the autonomous mobile sweeping suction cup 70. The sweeping suction cup 70 can detach from the vehicle body and reach the nearby narrow sidewalk for cleaning. Due to the intelligent obstacle avoidance system, the sweeping suction cup 70 can bypass obstacles such as pedestrians and bicycles on its own without causing operational obstructions. When encountering a ramp, the driving system of the sweeping suction cup 70 will automatically adjust the power to smoothly complete the uphill and downhill operations. During the entire process, the sweeping suction cup 70 remains connected to the sweeper to transmit garbage and control information in real time.

[0078] The above is a detailed description of an embodiment of the present invention, but the content is only a preferred embodiment of the present invention and cannot be considered to limit the scope of implementation of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the scope of the patent coverage of the present invention.

Claims

1. A garbage cleaning vehicle with a remote-controlled cleaning suction cup, characterized in that: The vehicle comprises a seat (10) and a cleaning suction cup (70), wherein a wheel (20) is mounted on the seat (10), a frame (50) is fixedly mounted on the upper end of the seat (10), a garbage bin (30) is fixedly mounted on the frame (50), a fan (40) is mounted on the garbage bin (30), a dust suction hose (60) is fixedly connected to the feed end of the fan (40), an end of the dust suction hose (60) away from the fan (40) is fixedly connected to the cleaning suction cup (70), and a driver's seat (90) for a driver to sit on and a control console (100) for controlling the cleaning vehicle are fixedly mounted on the upper end of the seat (10).

2. The garbage sweeper with a remote-controlled cleaning suction cup according to claim 1, characterized in that: The vehicle frame (50) is provided with a pipe hanging mechanism (80) for hanging and pulling the dust suction hose (60).

3. The garbage cleaning vehicle with a remote-controlled cleaning suction cup according to claim 1, characterized in that: The cleaning suction cup (70) comprises a suction cup seat (71), a dust cover (72) is arranged on the suction cup seat (71), the dust cover (72) is connected to the dust suction hose (60), and a driving wheel (73) is installed at the lower end of the suction cup seat (71).

4. The garbage sweeper with a remote-controlled cleaning suction cup according to claim 3, characterized in that: A plurality of sensors (74) are arranged on the outer periphery of the suction cup seat (71).

5. The garbage cleaning vehicle with a remote-controlled cleaning suction cup according to claim 4, characterized in that: A camera (75) is fixedly mounted on the upper end of the suction cup seat (71).

6. The garbage cleaning vehicle with a remote-controlled cleaning suction cup according to claim 2, characterized in that: The pipe hanging mechanism (80) comprises a hanging motor (81) fixedly mounted on a vehicle frame (50); the output end of the hanging motor (81) is fixedly connected to a hanging reel (82); the hanging reel (82) is fixedly connected to a hanging belt (84); the other end of the hanging belt (84) is fixedly connected to a hanging ring (86); the hanging ring (86) is sleeved on a dust suction hose (60).

7. The garbage cleaning vehicle with a remote-controlled cleaning suction cup according to claim 6, characterized in that: The pipe hanging mechanism (80) comprises a guide wheel 1 (83) and a guide wheel 2 (85) rotatably mounted on the vehicle frame (50), and the hanging belt (84) is slidably connected to the guide wheel 1 (83) and the guide wheel 2 (85).

8. The garbage cleaning vehicle with a remote-controlled cleaning suction cup according to claim 7, characterized in that: The pipe hanging mechanism (80) comprises a plurality of limiting rings (87) fixedly mounted on the vehicle seat (10), and the limiting rings (87) are sleeved on the outer circumference of the dust suction hose (60).

9. The cleaning system of a garbage cleaning vehicle with a remote-controlled cleaning suction cup according to claim 1, characterized in that: include: A collection module, which is used to collect data around the sweeper; A processing module receives the data acquired by the acquisition module and adjusts the cleaning path of the garbage cleaning vehicle according to the data; A transmission module, which is used to transmit the data of the acquisition module to the processing module; The cleaning module receives the cleaning path determined by the processing module and cleans the road.

10. The cleaning system of a garbage cleaning vehicle with a remote-controlled cleaning suction cup according to claim 9, characterized in that: It also includes an interaction module, the interaction module is connected to the processing module via the transmission module, the interaction module is arranged on a control console (100), the control console (100) is equipped with a touch screen or a mobile application, and an operator monitors the position, state and obstacle avoidance process of the cleaning suction cup in real time, and performs manual intervention when necessary; An alarm unit is also provided. When encountering a complex obstacle avoidance situation or system failure that cannot be resolved autonomously, the alarm unit automatically sounds an alarm and prompts the operator to take corresponding measures.

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