Unmanned cleaning robot and glass atomization system thereof

Abstract

The utility model discloses an unmanned cleaning robot and a glass atomization system thereof, and belongs to the field of cleaning equipment, the unmanned cleaning robot comprises a cab, the front side of the cab is provided with a front windshield, the two sides of the cab are respectively provided with a cab door, the interior of the cab is provided with a camera and a seat, and the cab door is provided with door glass; the glass atomization system comprises an atomization control device, and a first atomization film, a second atomization film and a third atomization film which are electrically connected with the atomization control device; the first atomization film is pasted on door glass, the second atomization film and the third atomization film are pasted on a front windshield, and the pasting position of the second atomization film on the front windshield is matched with the view field of the camera on the front windshield; the atomization control device is used for controlling the power-on and power-off states of the first atomization film, the second atomization film and the third atomization film. The system is simple in structure and reasonable in design, technical secrets can be hidden more easily, the cruising ability is guaranteed, and the maintenance cost is not increased.

Description

Technical Field

[0001] The utility model relates to the field of driverless cleaning robots, and particularly relates to a driverless cleaning robot and its glass atomization system. Background Art

[0002] With the development of technology, the application of driverless technology is becoming more and more widespread in various fields. As a new type of cleaning equipment, the driverless cleaning robot (or driverless cleaning vehicle) has the advantages of high automation degree and high working efficiency.

[0003] However, in the actual use process, even a cleaning robot with a driverless level of L4 has not yet achieved fully unmanned operation. This is because the cleaning area of the driverless cleaning robot is mainly on non-motor vehicle lanes and sidewalks, and the road surface conditions of such roads are complex, pedestrians and non-motor vehicles have a high degree of freedom and strong uncertainty. Therefore, based on safety considerations and regulatory requirements, some operating areas require the driverless cleaning robot to be equipped with a dedicated safety officer, so that in some operating areas, manual intervention is required to help the driverless cleaning robot get out of trouble or manually bypass obstacles.

[0004] For the above reasons, the driverless cleaning robot is reserved with a cab configuration for manual driving operation. However, due to the reservation of the cab, the driverless cleaning robot has the following defects:

[0005] 1. Due to the existence of the cab glass, the internal structure of the cab of the driverless cleaning robot is completely visible in the unmanned operation state, and the internal hardware devices and layout schemes are easy to observe, resulting in risks in the confidentiality of technical products.

[0006] 2. When the cab glass is exposed to direct sunlight, the temperature inside the cab will rise, which will require more energy to cool down the devices arranged inside the cab, thus reducing the cleaning endurance of the driverless cleaning robot to a certain extent.

[0007] 3. Similarly, when the cab glass is exposed to direct sunlight, various sensors, cameras and various system controllers inside the cab will also have their service life reduced due to long-term exposure to sunlight, thus increasing the use and maintenance costs of the driverless cleaning robot additionally.

[0008] It can be seen that due to the existence and light transmission properties of the cab glass, the driverless cleaning robot has certain defects in terms of technical confidentiality, endurance and maintenance costs. Summary of the Invention

[0009] In view of the problems that the cab glass of the driverless cleaning robot in the prior art is not easy to hide due to its light-transmitting property, the battery life is reduced, and the maintenance cost is high, the purpose of the present utility model is to provide a glass atomization system for a driverless cleaning robot and a driverless cleaning robot, so as to at least partially solve the above problems.

[0010] To achieve the above purpose, the technical solution of the present utility model is as follows:

[0011] In a first aspect, the present utility model provides a glass atomization system for a driverless cleaning robot. The driverless cleaning robot includes a cab, a front windshield is provided on the front of the cab, cab doors are respectively provided on both sides, a camera and a seat are provided inside, a door glass is provided on the cab door, and the glass atomization system includes an atomization control device and a first atomization film, a second atomization film, and a third atomization film that are electrically connected to the atomization control device; the first atomization film is attached to the door glass, the second atomization film and the third atomization film are both attached to the front windshield, and the attachment position of the second atomization film on the front windshield is adapted to the field of view of the camera on the front windshield; the atomization control device is used to control the on-off states of the first atomization film, the second atomization film, and the third atomization film.

[0012] In some preferred embodiments, a door switch sensor and a seat pressure sensor are further included; the door switch sensor is installed on the cab door to detect the position of the cab door, and the seat pressure sensor is installed on the seat to detect the pressure received by the seat; the atomization control device is also electrically connected to the controller of the driverless cleaning robot, and the atomization control device is used to control the on-off states of the first atomization film, the second atomization film, and the third atomization film according to the state mode of the driverless cleaning robot and the detection data of the door switch sensor and the seat pressure sensor.

[0013] In some preferred embodiments, the atomization control device includes a power module, and a communication module, a DC output module, a sensing module, and a processing module electrically connected to the power module; the communication module is used to connect to the controller of the driverless cleaning robot so as to obtain the status mode of the driverless cleaning robot, and the status mode includes an unsupervised autonomous driving working mode, a supervised autonomous driving working mode, and a manned driving working mode; the DC output module is electrically connected to the first atomization film, the second atomization film, and the third atomization film; the sensing module is electrically connected to the door switch sensor and the seat pressure sensor, and the sensing module is used to convert the analog data detected by the door switch sensor and the seat pressure sensor into digital data adapted to the processing module; the processing module is electrically connected to the communication module, the DC output module, and the sensing module, and the processing module is used to control the DC output module according to the data sent by the communication module and the sensing module.

[0014] In some preferred embodiments, the second atomization film and the third atomization film are mutually connected and cover the entire front windshield; the first atomization film covers the door glass.

[0015] In some preferred embodiments, the door switch sensor is fixedly installed on the cab, and the door switch sensor is used to detect whether the cab door is in the closed position.

[0016] In a second aspect, the present invention also provides a driverless cleaning robot, including the glass atomization system as described above.

[0017] By adopting the above technical solutions, the beneficial effects of the present utility model are as follows: By attaching atomization films that become transparent after being electrified to the glass of the cab, the present utility model can realize energizing or de-energizing the corresponding atomization films according to the working state of the driverless cleaning robot, and thus can flexibly control whether the glasses of the cab are transparent, so that technical secrets are more easily hidden, the battery life is guaranteed, and the maintenance cost will not increase. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is the front view of the cab of the driverless cleaning robot equipped with the glass atomization system.

[0019] Figure 2 It is the left view of the cab of the driverless cleaning robot equipped with the glass atomization system.

[0020] Figure 3 It is the right view of the cab of the driverless cleaning robot equipped with the glass atomization system.

[0021] Figure 4This is the electrical principle schematic diagram of the glass atomization system in the second embodiment of the present utility model.

[0022] Figure 5 This is the electrical connection block diagram of the glass atomization system in the second embodiment of the present utility model.

[0023] In the figure: 1 - atomization control device, 11 - power supply module, 12 - communication module, 13 - DC output module, 14 - processing module, 15 - sensing module, 2 - first atomization film, 3 - second atomization film, 4 - third atomization film, 5 - seat pressure sensor, 6 - door switch sensor. Specific embodiments

[0024] The following further describes the specific embodiments of the present utility model with reference to the accompanying drawings. It should be noted here that the description of these embodiments is for helping to understand the present utility model, but does not constitute a limitation to the present utility model. In addition, the technical features involved in the following various embodiments of the present utility model can be combined with each other as long as they do not conflict with each other.

[0025] It should be noted that in the description of the present utility model, the orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", "front", "rear", etc. is the description of the structure of the present utility model based on the accompanying drawings, only for the convenience of describing the present utility model simply, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present utility model.

[0026] For the "first" and "second" in this technical solution, they are only the appellation distinctions for the same or similar structures, or the corresponding structures with similar functions, not the arrangement of the importance of these structures, nor do they have the meaning of sorting, or comparing sizes, or other meanings.

[0027] In addition, unless otherwise clearly specified and limited, the terms "installation" and "connection" should be understood in a broad sense. For example, the connection 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 directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two structures. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to the general idea of the present utility model and in connection with the specific situation of this solution.

[0028] Embodiment 1

[0029] The embodiment of the present utility model provides a glass atomization system for an unmanned sweeping robot.

[0030] Such as Figures 1-3As shown, it shows the cab of an autonomous cleaning robot. The front of the cab is provided with a front windshield, cab doors are respectively arranged on both sides, and a camera and a seat are arranged inside. Among them, the camera is usually configured as a binocular camera and is arranged at the upper position of the front windshield, such as at the upper middle position. There is a door glass on the cab door.

[0031] The glass atomization system provided by the embodiment of the present invention specifically includes an atomization control device 1 and a first atomization film 2, a second atomization film 3 and a third atomization film 4 that are electrically connected to the atomization control device 1.

[0032] The first atomization film 2 is pasted on the door glass, and the first atomization film 2 is pasted on each door glass, and the shape and size of the first atomization film 2 are both adapted to the door glass, so that the first atomization film 2 completely covers the door glass.

[0033] The second atomization film 3 and the third atomization film 4 are both pasted on the front windshield. The second atomization film 3 and the third atomization film 4 are connected to each other, and after they are connected to each other, they completely cover the front windshield. It is easy to understand that when the camera observes the external environment through the front windshield, its field of view will correspondingly be formed on the front windshield, and the pasting position of the second atomization film 3 on the front windshield 1 just matches the field of view formed by the camera on the front windshield.

[0034] The atomization control device 1 is used to respectively control the on-off states of the first atomization film 2, the second atomization film 3 and the third atomization film 4. The input end of the atomization control device 1 is connected to the power supply of the autonomous cleaning robot, and its output end is connected to the voltage conversion module and then respectively connected to the first atomization film 2, the second atomization film 3 and the third atomization film 4 when necessary (when the power supply voltage of the autonomous cleaning robot is not applicable). The atomization control device 1 can be arranged at a position in the cab convenient for personnel to operate, such as on the support seat of the seat. Therefore Figure 1 and 2 the atomization control device 1 is not shown in. A simple control method is that switches are respectively arranged between the first atomization film 2 and the atomization control device 1, between the second atomization film 3 and the atomization control device 1, and between the third atomization film 4 and the atomization control device 1, and the on-off states of the first atomization film 2, the second atomization film 3 and the third atomization film 4 are respectively controlled by operating the corresponding switches. These switches can be manually controlled or remote control switches suitable for remote operation.

[0035] For the atomization film, when the atomization film is powered on, it will become transparent; when it is not powered on, it will present an atomized state, making it impossible for light to be transmitted between the inside and outside of the cab.

[0036] The working process of the glass atomization system for the autonomous cleaning robot provided by the embodiment of the present invention is as follows:

[0037] Mode 1. When the driverless cleaning robot is in the unmanned working mode (i.e., the unmanned automatic driving working mode), the switch connected between the atomization control device 1 and the first atomization film 2 is turned off, the switch connected between the atomization control device 1 and the third atomization film 4 is turned off, and the switch connected between the atomization control device 1 and the second atomization film 3 is turned on. In this way, only the second atomization film 3 is electrified and becomes transparent, enabling the camera to normally observe the external environment, thus ensuring the normal operation of the driverless cleaning robot. The door glass and the front windshield (the part outside the camera's viewing field) are in the atomized state, thus ensuring that the environment inside the cab cannot be observed casually and effectively reducing the direct sunlight into the cab.

[0038] Mode 2. When the driverless cleaning robot is in the manned working mode and the person in the cab is a safety officer, in fact, the driverless cleaning robot is in the manned supervised automatic driving working mode. At this time, the switch connected between the atomization control device 1 and the first atomization film 2 is turned on, the switch connected between the atomization control device 1 and the third atomization film 4 is turned on, and the switch connected between the atomization control device 1 and the second atomization film 3 is turned on. That is, the atomization films on all the glasses of the cab are electrified and become transparent, which not only ensures that the camera can normally observe the external environment but also ensures that the safety officer can observe the external environment.

[0039] Mode 3. When the driverless cleaning robot is in the manned working mode and the person in the cab is a driver, in fact, the driverless cleaning robot is in the manned driving working mode. At this time, the switch connected between the atomization control device 1 and the first atomization film 2 is turned on, the switch connected between the atomization control device 1 and the third atomization film 4 is turned on, and the switch connected between the atomization control device 1 and the second atomization film 3 is turned off. That is, the camera does not need to work at this time. Therefore, by cutting off the power supply of the second atomization film 3 to make it atomized, the camera is effectively protected from direct sunlight. The door glass and the front windshield (the part outside the camera's viewing field) are in the electrified transparent state, thus facilitating the driver to observe the external environment.

[0040] It is easy to understand that the working premise of the glass atomization system for the driverless cleaning robot provided by the embodiment of the present invention is that the atomization control device 1 is connected to the power supply of the driverless cleaning robot.

[0041] Embodiment 2

[0042] To improve the degree of automation, on the basis of Embodiment 1, as Figures 4-5 shown, the atomization control device 1 configured in this embodiment specifically includes a power supply module 11 and a communication module 12, a DC output module 13, and a processing module 14 that are electrically connected to the power supply module 11.

[0043] Among them, the power module 11 is connected to the power supply of the driverless sweeping robot, and the power module 11 is used to supply power to the communication module 12, the DC output module 13, and the processing module 14.

[0044] The communication module 12 is communicatively connected to the controller of the driverless sweeping robot, for example, connected via CAN. The communication module 12 is used to obtain the status mode of the driverless sweeping robot from the controller of the driverless sweeping robot. The status mode includes an unsupervised automatic driving working mode, a supervised automatic driving working mode, and a manned driving working mode, corresponding to Way 1, Way 2, and Way 3 in Embodiment 1 respectively.

[0045] The input end of the DC output module 13 is connected to the power module 11. The DC output module 13 is used to convert the voltage of the power module 11 into a voltage suitable for use with the atomization film, for example, converting 12V to 48V. The DC output module 13 is provided with three output ends, and the first atomization film 2, the second atomization film 3, and the third atomization film 4 are respectively electrically connected to the three output ends of the DC output module 13.

[0046] The processing module 14 is also electrically connected to the communication module 12 and the DC output module 13. The processing module 11 is used to control the DC output module 13 according to the status mode of the driverless sweeping robot obtained by the communication module 12. The processing module 14 is configured as a Shangyu SY VCU V01 type CPU.

[0047] It is easy to understand that for whether there is a person in the cab of the driverless sweeping robot, the specific configuration of the glass atomization system in this embodiment further includes a seat pressure sensor 5, and the additional configuration of the atomization control device 1 further includes a sensing module 15. Among them, the seat pressure sensor 5 is arranged on the seat, and it is used to detect the magnitude of the pressure received by the seat. Generally, when the pressure value detected by the seat pressure sensor 5 exceeds 30KG, it is considered that there is a person sitting on the seat, that is, there is a person in the cab of the driverless sweeping robot. The input end of the sensing module 15 is electrically connected to the seat pressure sensor 5, and the output end of the sensing module 15 is electrically connected to the processing module 14. The sensing module 15 is also powered by the power module 11. The sensing module 15 is used to convert the analog data detected by the seat pressure sensor 5 into digital data suitable for the processing module 14.

[0048] Thus, before controlling the power on / off of each atomization film, the processing module 14 obtains from the controller of the driverless cleaning robot whether the driverless cleaning robot is in the automatic driving state. If it is in the automatic driving state, it is also necessary to determine whether there is a person sitting on the seat based on the detection value of the seat pressure sensor 5, so as to identify which one of the unmanned supervised automatic driving working mode, the manned supervised automatic driving working mode, and the manned driving working mode the driverless cleaning robot is in, and thus control the power on / off of each atomization film. The seat pressure sensor 5 is preferably a 4kgXIUDq type sensor.

[0049] That is, the working process of the glass atomization system for the driverless cleaning robot provided by the embodiment of the present invention is as follows:

[0050] Mode 1-1. When the processing module 14 learns from the controller of the driverless cleaning robot that it is in the automatic driving state and the detection value of the seat pressure sensor 5 is less than 30KG, the switch connected between the atomization control device 1 and the first atomization film 2 is closed, the switch connected between the atomization control device 1 and the third atomization film 4 is closed, and the switch connected between the atomization control device 1 and the second atomization film 3 is opened. In this way, only the second atomization film 3 is powered on and becomes transparent, enabling the camera to normally observe the external environment, thus ensuring that the driverless cleaning robot can work normally. The door glass and the front windshield (except for the part within the camera's viewing field) are in the atomized state, thus ensuring that the environment inside the cab cannot be casually observed and effectively reducing the direct sunlight into the cab. This mode is also called the unmanned driving working mode.

[0051] Mode 2-1. When the processing module 14 learns from the controller of the driverless cleaning robot that it is in the automatic driving state and the detection value of the seat pressure sensor 5 is greater than 30KG, the driverless cleaning robot is actually in the manned supervised automatic driving working mode. At this time, the switch connected between the atomization control device 1 and the first atomization film 2 is opened, the switch connected between the atomization control device 1 and the third atomization film 4 is opened, and the switch connected between the atomization control device 1 and the second atomization film 3 is opened. That is, the atomization films on all the glasses in the cab are powered on and become transparent, which not only ensures that the camera can normally observe the external environment but also ensures that the safety officer can observe the external environment.

[0052] Mode 3-1. When the processing module 14 learns from the controller of the driverless cleaning robot that it is in a non-autonomous driving state and the detection value of the seat pressure sensor 5 is greater than 30 KG, the driverless cleaning robot is actually in the manned working mode. At this time, the switch connected between the atomization control device 1 and the first atomization film 2 is turned on, the switch connected between the atomization control device 1 and the third atomization film 4 is turned on, and the switch connected between the atomization control device 1 and the second atomization film 3 is turned off. That is, the camera does not need to work at this time, so the second atomization film 3 is powered off to atomize, effectively protecting the camera from direct sunlight. The door glass and the front windshield (except for the part within the camera's viewing field) are in the powered-on transparent state, facilitating the driver to observe the external environment.

[0053] It is easy to understand that, to improve safety, the glass atomization system for the driverless cleaning robot is further configured to include a door switch sensor 6. The door switch sensor 6 is fixedly installed on the cab. The door switch sensor 6 is used to detect whether the cab door is in the closed position, and each cab door is equipped with a door switch sensor 6. The door switch sensor 6 is connected to the input end of the sensing module 15, so that the sensing module 15 can convert the analog data detected by the door switch sensor 6 into digital data adapted to the processing module 14. The door switch sensor 6 is preferably a sensor of model LXW5 produced by WZAZDQ / Aozun.

[0054] In this way, only when both cab doors are in the closed position will the processing module 14 control the DC output module 13 according to the above working process, and then control whether each atomization film is powered on. That is, regardless of the state mode of the driverless cleaning robot, after determining that both cab doors are in the closed position, the processing module 14 will control whether each atomization film is powered on according to the specific state mode of the driverless cleaning robot and the detection value of the seat pressure sensor 6.

[0055] Embodiment III

[0056] An embodiment of the present utility model provides a driverless cleaning robot, which includes a cab, and the glass atomization system disclosed in the above embodiment is arranged in the cab. When the driverless cleaning robot is working, the carried glass atomization system can correspondingly control the power-on and power-off states of each atomization film according to the working state mode of the driverless cleaning robot.

[0057] The above has described the embodiments of the present utility model in detail in conjunction with the accompanying drawings, but the present utility model is not limited to the described embodiments. For those skilled in the art, without departing from the principles and spirit of the present utility model, various changes, modifications, substitutions, and variations to these embodiments still fall within the protection scope of the present utility model.

Claims

1. A glass atomization system for an autonomous cleaning robot, the autonomous cleaning robot comprising a cab, the front of the cab being provided with a front windshield, cab doors being respectively arranged on both sides, a camera and a seat being arranged inside, and door glasses being arranged on the cab doors, characterized in that: The glass atomization system includes an atomization control device, a first atomization film, a second atomization film, and a third atomization film that are electrically connected to the atomization control device; the first atomization film is attached to the door glass, the second atomization film and the third atomization film are both attached to the front windshield, and the attachment position of the second atomization film on the front windshield is adapted to the field of view of the camera on the front windshield; the atomization control device is used to control the on / off states of the first atomization film, the second atomization film, and the third atomization film.

2. The system according to claim 1, wherein: It further includes a door switch sensor and a seat pressure sensor; the door switch sensor is installed on the cab door to detect the position of the cab door, and the seat pressure sensor is installed on the seat to detect the pressure on the seat; the atomization control device is also electrically connected to the controller of the driverless cleaning robot, and the atomization control device is used to control the on / off states of the first atomization film, the second atomization film, and the third atomization film according to the state mode of the driverless cleaning robot and the detection data of the door switch sensor and the seat pressure sensor.

3. The system according to claim 2, wherein: The atomization control device includes a power supply module, a communication module, a DC output module, a sensing module, and a processing module that are electrically connected to the power supply module; the communication module is used to connect to the controller of the driverless cleaning robot to facilitate obtaining the state mode of the driverless cleaning robot, and the state mode includes an unsupervised automatic driving working mode, a supervised automatic driving working mode, and a manned driving working mode; the DC output module is electrically connected to the first atomization film, the second atomization film, and the third atomization film; the sensing module is electrically connected to the door switch sensor and the seat pressure sensor, and the sensing module is used to convert the analog data detected by the door switch sensor and the seat pressure sensor into digital data adapted to the processing module; the processing module is electrically connected to the communication module, the DC output module, and the sensing module, and the processing module is used to control the DC output module according to the data sent by the communication module and the sensing module.

4. The system according to claim 1, wherein: The second atomization film and the third atomization film are connected to each other and cover the entire front windshield; the first atomization film covers the entire door glass.

5. The system according to claim 2, characterized in that: The door switch sensor is fixedly installed on the cab, and the door switch sensor is used to detect whether the cab door is in the closed position.

6. An unmanned sweeping robot, characterized in that: It includes the glass atomization system according to any one of claims 1-5.

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