Unmanned sweeping vehicle for park scene

Abstract

The invention discloses an unmanned sweeping vehicle for a park scene in the technical field of unmanned driving, and the unmanned sweeping vehicle comprises an unmanned vehicle main body, an adjusting support is arranged on the unmanned vehicle main body, a sweeping brush and a driving part used for driving the sweeping brush to rotate are arranged on the adjusting support, an annular part sleeves the outer side of the sweeping brush, and the annular part is arranged on the outer side of the annular part. The change of pressure applied to the annular piece by the cleaning brush is monitored in real time through the detector, so that the adjusting bracket drives the cleaning brush to move upwards or downwards according to the change of pressure, it is ensured that proper contact pressure is always kept between bristles and the ground, and cleaning failure caused by too large or too small pressure is avoided; the sweeping uniformity and cleanliness on an uneven road surface are remarkably improved, the service life of the bristles is prolonged, and the maintenance and replacement frequency and the operation cost are reduced.

Description

Technical Field

[0001] This invention relates to the field of autonomous driving, specifically to an autonomous sweeping vehicle for park scenarios. Background Technology

[0002] With the rapid development of artificial intelligence and autonomous driving technology, unmanned sweeping vehicles have been widely used in park scenarios. At present, most unmanned sweeping vehicles use a rotating sweeping brush in conjunction with a dust collection device to collect garbage. The sweeping brush is usually driven by a motor to rotate at high speed, sweeping dust, debris and other debris on the road into the dust collection box. However, in actual park applications, roads often have varying degrees of unevenness. When the unmanned sweeper travels to these uneven areas, the relative height between the sweeping brush and the ground fluctuates dynamically. This fluctuation causes the contact pressure between the brush bristles and the ground to change continuously. On raised areas of the road, the brush bristles are subjected to excessive pressure, resulting in excessive bending or even deformation, which shortens the service life of the sweeping brush. On sunken areas, the brush bristles may detach from the ground and fail to effectively contact the garbage, resulting in uneven sweeping force, incomplete cleaning of some areas, missed areas, and floating dust residue, which affects the overall cleaning quality. Summary of the Invention

[0003] The purpose of this invention is to provide an unmanned sweeper for park scenarios, which solves the problems existing in the sweeping brushes of existing unmanned sweepers.

[0004] The present invention achieves the above-mentioned objective through the following technical solution: an unmanned sweeping vehicle for a park setting, comprising: an unmanned vehicle body, an adjustable bracket on the unmanned vehicle body, a sweeping brush and a driving component for driving the sweeping brush to rotate on the adjustable bracket, an annular component sleeved on the outer side of the sweeping brush, a detector on the annular component, the adjustable bracket being used to drive the sweeping brush to move upward when the detector detects that the pressure applied by the sweeping brush to the annular component is greater than a first threshold, and the adjustable bracket being used to drive the sweeping brush to move downward when the detector detects that the pressure applied by the sweeping brush to the annular component is less than a second threshold.

[0005] Preferably, there are several detectors, and the detectors are arranged in a ring at the bottom of the ring.

[0006] Preferably, the bottom of the annular component is provided with a plurality of mounting slots, each corresponding to one of the plurality of detectors; The detector includes a pressing block and a first pressure sensor disposed in the mounting slot.

[0007] Preferably, the cleaning brush is provided with a ring bracket, and the ring bracket is provided with a lifting component, which is located on the moving end of the lifting component.

[0008] Preferably, the annular bracket is connected to the cleaning brush via a connector, which is a buffer component.

[0009] Preferably, the connector includes two fixing blocks and an airbag disposed between the two fixing blocks, and a second pressure sensor is disposed inside the airbag.

[0010] Preferably, the annular component includes a plurality of arc-shaped plates and a connecting block disposed between adjacent arc-shaped plates. Both ends of the arc-shaped plates are provided with slots. The end of the connecting block is slidably inserted into the slot. An elastic element is provided between the connecting block and the slot. The end of the connecting block is provided with a metal element. An electromagnet for attracting the metal element is provided in the slot.

[0011] Preferably, the thickness of the connecting block is less than the thickness of the arc plate, and the width of the connecting block is less than the width of the arc plate.

[0012] The beneficial effects of this invention are as follows: 1. By monitoring the pressure changes applied by the sweeping brush to the ring component in real time through the detector, the adjusting bracket drives the sweeping brush to move up or down according to the pressure changes, ensuring that the bristles always maintain appropriate contact pressure with the ground, avoiding sweeping failure caused by excessive or insufficient pressure, significantly improving the uniformity and cleanliness of sweeping on uneven roads, extending the service life of the bristles, and reducing the frequency of maintenance and replacement and operating costs. 2. The annular part is placed on the outer periphery of the sweeping brush to form a physical limiting structure, which effectively restricts the radial outward expansion of the bristles during high-speed rotation, preventing them from being excessively opened or bent due to centrifugal force or ground reaction force. In addition, the annular part can also shape the bristles of the sweeping brush when it stops working, reduce the range of bristle deformation, and extend its service life. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the unmanned sweeper vehicle of the present invention; Figure 2 This is a schematic diagram of the connection structure between the annular bracket and the annular component of the present invention; Figure 3 This is a schematic diagram of the connection structure between the annular support and the detector of the present invention; Figure 4 This is a schematic diagram of the detector structure of the present invention; Figure 5 This is a schematic diagram of the connector structure of the present invention.

[0014] In the diagram: 1. Unmanned vehicle body; 2. Sweeping brush; 3. Drive component; 4. Adjustment bracket; 5. Ring component; 501. Arc plate; 502. Connecting block; 503. Slot; 504. Elastic component; 505. Electromagnet; 506. Metal component; 507. Mounting slot; 6. Detector; 601. Pressing block; 602. First pressure sensor; 7. Ring bracket; 8. Connecting component; 801. Fixing block; 802. Airbag; 803. Second pressure sensor; 9. Lifting component. Detailed Implementation

[0015] The present application will now be described in further detail with reference to the accompanying drawings. It should be noted that the following specific embodiments are only used to further illustrate the present application and should not be construed as limiting the scope of protection of the present application. Those skilled in the art can make some non-essential improvements and adjustments to the present application based on the above application content.

[0016] Example 1 Please see Figure 1 An unmanned sweeping vehicle for a park setting includes: an unmanned vehicle body 1, which refers to the unmanned vehicle. The unmanned vehicle perceives the environment through onboard sensors (LiDAR, millimeter-wave radar, cameras, etc.) and combines high-precision maps and positioning systems to achieve path planning and vehicle control. This equipment belongs to existing technology and will not be described in detail here. An adjustment bracket 4 (including a frame hinged to the unmanned vehicle body 1 and a hydraulic cylinder, which drives the frame to move by extending and retracting the hydraulic cylinder to change the height of the sweeping brush 2) is provided on the front side of the unmanned vehicle body 1. A drive component 3 (such as a motor) is provided on the adjustment bracket 4. The sweeping brush 2 is provided on the output shaft of the drive component 3. The drive component 3 is used to drive the sweeping brush 2 to rotate, so that the sweeping brush 2 sweeps the park ground.

[0017] It should be noted that the adjustable bracket 4 can not only change the height of the cleaning brush 2, but also its angle.

[0018] Please see Figure 1 , Figure 2 and Figure 3 A ring-shaped part 5 is fitted on the outer side of the cleaning brush 2. The ring-shaped part 5 is located on the outer side of the bristles of the cleaning brush 2, and a detector 6 is provided on the ring-shaped part 5.

[0019] It should be noted that the height of the sweeping brush 2 is adjusted by the adjusting bracket 4 so that after the sweeping brush 2 contacts the ground, the driving component 3 drives it to rotate and sweep the ground. At the same time, the unmanned vehicle body 1 travels on the road in the park, allowing the sweeping brush 2 to clean the road. During the cleaning process, the bristles of the sweeping brush 2 will bend to a certain extent when they contact the ground. The bent bristles will apply pressure to the ring component 5. The detector 6 is used to detect the amount of pressure applied by the sweeping brush 2 to the ring component 5 and feed it back to the unmanned vehicle body 1. If the detector 6 detects that the pressure applied by the sweeping brush 2 to the ring component 5 is greater than the first threshold, the adjusting bracket 4 drives the sweeping brush 2 to move upward until the pressure is lower than the first threshold. If the detector 6 detects that the pressure applied by the sweeping brush 2 to the ring component 5 is less than the second threshold, the adjusting bracket 4 drives the sweeping brush 2 to move downward until the pressure is greater than the second threshold.

[0020] It should be noted that the information detected by detector 6 is transmitted to the control unit of the unmanned vehicle body 1, which then controls the adjustment bracket 4.

[0021] In this embodiment, as a further optimization, please refer to... Figure 3 There are several detectors 6, which are arranged in a ring at the bottom of the ring 5. By evenly installing several detectors 6 at the bottom of the ring 5, the pressure applied by the cleaning brush 2 to the ring 5 can be accurately detected, thereby determining the force on each area (one ring) of the bristles of the cleaning brush 2. When the pressure in one area of ​​the bristles is greater than the first threshold, the cleaning brush 2 will be controlled to move upward. When the pressure in all areas of the bristles is lower than the second threshold, the cleaning brush 2 will be controlled to move downward.

[0022] It should be noted that when the difference between the pressure values ​​detected by several detectors 6 is greater than the set value, the unmanned vehicle body 1 controls the adjustment bracket 4 to change the angle of the sweeping brush 2 to ensure that the brush bristles make full contact with the ground and ensure the cleaning effect.

[0023] In this embodiment, as a further optimization, please refer to... Figure 3 and Figure 4 The bottom of the annular component 5 has several mounting slots 507, which correspond one-to-one with several detectors 6. The detector 6 includes a pressing block 601 and a first pressure sensor 602. The pressing block 601 is slidably inserted into the inner cavity of the mounting slot 507, and the first pressure sensor 602 is installed in the inner cavity of the mounting slot 507 and is located above the pressing block 601. The bending of the bristles of the cleaning brush 2 will push the pressing block 601 upward to apply pressure to the first pressure sensor 602. The first pressure sensor 602 is used to detect the magnitude of the pressure applied to the annular component 5 by the bending of the bristles.

[0024] In this embodiment, as a further optimization, please refer to... Figure 1 , Figure 2 and Figure 3 The sweeping brush 2 is equipped with a ring bracket 7, and the ring bracket 7 is equipped with a lifting component 9 (such as an electric telescopic rod). The ring component 5 is located on the moving end of the lifting component 9. By extending and retracting the lifting component 9, the ring component 5 is moved up or down to adjust the height of the ring component 5, so as to control the adjustment timing of the bracket 4 according to the needs. Furthermore, by moving the ring component 5 down, the ring component 5 restricts the bristles when not in use, so as to shape the bristles of the sweeping brush 2, reduce its bending range, and extend its service life.

[0025] It should be noted that the annular bracket 7 can be fixed on the side wall of the outer shell of the sweeping brush 2, so that the annular bracket 7 can rotate together with the sweeping brush 2; the annular bracket 7 can also be fixed on the outside of the drive component 3, so that the annular bracket 7 is fixed and does not rotate together with the sweeping brush 2.

[0026] Example 2 As a further optimization of Example 1, please refer to Figure 1 , Figure 2 and Figure 5 The ring bracket 7 is connected to the cleaning brush 2 (or the drive component 3) via the connector 8, and the connector 8 is a buffer component; The connector 8 includes two fixed blocks 801 and an airbag 802 located between the two fixed blocks 801. The two fixed blocks 801 are respectively connected to the ring bracket 7 and the cleaning brush 2 (connected by bolts). The airbag 802 is equipped with a second pressure sensor 803. When the unmanned vehicle body 1 moves, the connector 8 can act as a buffer to reduce the impact force on the cleaning brush 2 when the ring component 5 collides with the outside. When the connector 8 buffers, the airbag 802 is compressed, which increases the air pressure inside the airbag 802. At this time, the second pressure sensor 803 detects this information and feeds it back to the unmanned vehicle body 1, so that the unmanned vehicle body 1 controls the cleaning brush 2 to move upward or to turn itself.

[0027] Example 3 As a further optimization of Example 1, please refer to Figure 2 , Figure 3 and Figure 4The annular component 5 includes several arc-shaped plates 501 and connecting blocks 502 disposed between adjacent arc-shaped plates 501. Both ends of the arc-shaped plates 501 are provided with slots 503. The ends of the connecting blocks 502 are slidably inserted into the inner cavities of the slots 503. An elastic element 504 (such as rubber) is provided between the connecting blocks 502 and the slots 503. A metal element 506 (made of a metal that can be magnetically attracted, such as iron) is provided at the end of the connecting blocks 502. The slots 503... An electromagnet 505 is installed in the inner cavity. When the ring part 5 is used to shape the bristles of the unused cleaning brush 2, the power supply of the electromagnet 505 is turned on, so that it generates a magnetic force to attract the metal part 506, causing the connecting block 502 to move into the groove 503. This is used to pull several arc plates 501 together, reduce the overall diameter of the ring part 5, and improve the shaping effect of the ring part 5 on the bristles. After the electromagnet 505 is de-energized, the elastic part 504 will reset the connecting block 502.

[0028] It should be noted that the connecting block 502 is made of a flexible material that can be bent to a certain extent, such as polyethylene; while the curved plate 501 is made of a rigid material, such as metal or rigid plastic.

[0029] In this embodiment, as a further optimization, please refer to... Figure 2 and Figure 3 The thickness of the connecting block 502 is less than the thickness of the arc plate 501, and the width of the connecting block 502 is less than the width of the arc plate 501. It is used to clean the bristles of the cleaning brush 2, so that the inner wall and bottom of the ring part 5 are uneven. When the cleaning brush 2 is driven to rotate, but the ring part 5 does not rotate (the ring bracket 7 is fixed on the driving part 3), the bristles will be collided when passing through different areas of the ring part 5, reducing the probability of impurities adhering to the bristles and achieving a cleaning effect.

[0030] The embodiments described above are merely examples of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention.

Claims

1. An unmanned cleaning vehicle for a park setting, comprising: The unmanned vehicle body (1) is provided with an adjustment bracket (4), and the adjustment bracket (4) is provided with a cleaning brush (2) and a driving component (3) for driving the cleaning brush (2) to rotate. The cleaning brush (2) is characterized in that an annular component (5) is sleeved on the outside of the cleaning brush (2), and a detector (6) is provided on the annular component (5). The adjustment bracket (4) is used to drive the cleaning brush (2) to move upward when the detector (6) detects that the pressure applied by the cleaning brush (2) to the annular component (5) is greater than a first threshold. The adjustment bracket (4) is also used to drive the cleaning brush (2) to move downward when the detector (6) detects that the pressure applied by the cleaning brush (2) to the annular component (5) is less than a second threshold.

2. The unmanned sweeping vehicle for a park setting according to claim 1, characterized in that, There are several detectors (6), and the detectors (6) are arranged in a ring at the bottom of the ring (5).

3. The unmanned sweeping vehicle for a park setting according to claim 2, characterized in that, The bottom of the annular component (5) is provided with a number of mounting slots (507) that correspond one-to-one with a number of detectors (6). The detector (6) includes a pressing block (601) and a first pressure sensor (602) disposed in the mounting groove (507).

4. The unmanned sweeping vehicle for a park setting according to claim 1, characterized in that, The cleaning brush (2) is provided with a ring bracket (7), and the ring bracket (7) is provided with a lifting component (9). The ring component (5) is located on the moving end of the lifting component (9).

5. The unmanned sweeping vehicle for a park setting according to claim 4, characterized in that, The ring bracket (7) is connected to the cleaning brush (2) via a connector (8), which is a buffer.

6. The unmanned sweeping vehicle for a park setting according to claim 5, characterized in that, The connector (8) includes two fixing blocks (801) and an airbag (802) disposed between the two fixing blocks (801), wherein a second pressure sensor (803) is provided inside the airbag (802).

7. The unmanned sweeping vehicle for a park setting according to claim 1, characterized in that, The annular component (5) includes several arc-shaped plates (501) and connecting blocks (502) disposed between adjacent arc-shaped plates (501). Both ends of the arc-shaped plates (501) are provided with slots (503). The end of the connecting block (502) is slidably inserted into the slot (503). An elastic element (504) is provided between the connecting block (502) and the slot (503). The end of the connecting block (502) is provided with a metal part (506). An electromagnet (505) for attracting the metal part (506) is provided in the slot (503).

8. The unmanned sweeping vehicle for a park setting according to claim 7, characterized in that, The thickness of the connecting block (502) is less than the thickness of the arc plate (501), and the width of the connecting block (502) is less than the width of the arc plate (501).

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