Unmanned cleaning vehicle

Abstract

The utility model belongs to the technical field of electric locomotive cleaning, and discloses an unmanned cleaning vehicle which comprises a vehicle body, a vertical rolling brush mechanism, a distance measuring mechanism and a monitoring mechanism. Wherein the vertical rolling brush mechanism comprises a first motor and a vertical rolling brush, the vertical rolling brush is arranged on the vehicle body, and the first motor is used for driving the vertical rolling brush to rotate so as to conduct rolling cleaning on the side face of the vehicle body to be cleaned. The distance measuring mechanism is arranged on the vehicle body to measure the distance between the vehicle body and a to-be-cleaned vehicle body. The monitoring mechanism is arranged on the vehicle body and is in communication connection with the first motor, and the monitoring mechanism can monitor the current of the first motor. The moving path of the vehicle body is adjusted according to the distance measured by the distance measuring mechanism system and the current monitored by the monitoring mechanism. When the unmanned cleaning vehicle cleans the to-be-cleaned vehicle body, the moving path of the vehicle body can be continuously corrected, so that the optimal distance can be kept between the vehicle body and the to-be-cleaned vehicle body, the cleaning effect is guaranteed, and the situation of overload or improper cleaning is avoided.

Description

Technical Field

[0001] The utility model relates to the technical field of electric locomotive cleaning, in particular to an unmanned cleaning vehicle. Background Art

[0002] Harmony electric locomotives are the main locomotives for fast and heavy-duty freight transportation on my country's railways. Generally, after a certain mileage is reached, the vehicle needs to be prepared or maintained. Body cleaning is one of the preparation operations. Generally, in order to cooperate with the body cleaning operation, a fixed brush is usually designed for cleaning at the depot section, and the purpose of vehicle cleaning is achieved by coordinating water spraying and blowing.

[0003] The above-mentioned cleaning operation requires entering a specific area to clean the vehicle body, which has certain limitations. In order to solve the above problem, an unmanned cleaning vehicle is proposed in the prior art. By adding a navigation system to the vehicle body, the vehicle body can automatically move, and a distance measuring mechanism is used to maintain a set distance from the vehicle body to be cleaned. However, when the unmanned cleaning vehicle is moving to clean the vehicle body, if it encounters a protrusion on the vehicle body to be cleaned, the distance measuring mechanism detects the protrusion and determines that the distance between the vehicle body and the vehicle body to be cleaned is too close, resulting in a misjudgment. The controller controls the vehicle body to move away from the vehicle body to be cleaned, thereby driving the roller brush away from the vehicle body to be cleaned, resulting in poor cleaning effect of the roller brush on the part of the vehicle body to be cleaned with the protrusion. Utility Model Content

[0004] The purpose of the utility model is to provide an unmanned cleaning vehicle, which can correct the moving trajectory of the vehicle body and ensure the cleaning effect.

[0005] To achieve this purpose, the present invention adopts the following technical solutions:

[0006] Unmanned car cleaning, including:

[0007] Vehicle body;

[0008] A vertical rolling brush mechanism includes a first motor and a vertical rolling brush, wherein the vertical rolling brush is arranged on the vehicle body and extends in a vertical direction, and the first motor is used to drive the vertical rolling brush to rotate to roll and clean the side of the vehicle body to be cleaned;

[0009] A distance measuring mechanism is provided on the vehicle body, and is used to measure the distance between the vehicle body and the vehicle body to be cleaned;

[0010] A monitoring mechanism is provided on the vehicle body, the monitoring mechanism is communicatively connected to the first motor, and the monitoring mechanism is used to monitor the current of the first motor.

[0011] As an optional solution, the monitoring mechanism includes a frequency converter, which is communicatively connected to the first motor and can monitor the current of the first motor in real time.

[0012] As an optional solution, the monitoring mechanism further includes an alarm, which is communicatively connected to the frequency converter and is configured to sound an alarm after the current of the first motor exceeds a set threshold and lasts for a set time.

[0013] As an optional solution, the distance measuring mechanism includes a plurality of distance measuring sensors arranged on the vehicle body at intervals along the horizontal direction.

[0014] As an optional solution, a protective cover is provided on the vehicle body;

[0015] The vertical roller brush mechanism also includes a mounting plate, a swing arm assembly and a transverse driving member. The mounting plate is arranged in the protective cover. The swing arm assembly includes a vertical rod and a swing arm hinged at both ends of the vertical rod in the vertical direction. The end of the swing arm facing away from the vertical rod is hinged to the mounting plate. The vertical roller brush is installed on the vertical rod. The transverse driving member can drive the vertical rod to drive the vertical roller brush to extend out of the protective cover or retract into the protective cover.

[0016] As an optional solution, the vertical roller brush mechanism also includes a vertical driving member, the mounting plate is slidingly connected to the inner wall of the protective cover along the vertical direction, and the vertical driving member is arranged in the protective cover and can drive the mounting plate to rise and fall along the vertical direction to drive the vertical roller brush to rise and fall along the vertical direction.

[0017] As an optional solution, the vertical rod is provided with a limiting sliding groove extending along the vertical direction, and the output end of the transverse driving member is provided with a sliding block slidably connected to the limiting sliding groove.

[0018] As an optional solution, a limit switch is provided on the inner wall of the shield, and the limit switch is used to limit the rising height of the mounting plate.

[0019] As an optional solution, a transverse rolling brush mechanism is also included, which includes a second motor and a transverse rolling brush. The second motor is arranged at the upper end of the protective cover, and the transverse rolling brush is arranged at the output end of the second motor. The second motor can drive the transverse rolling brush to rotate to clean the top surface of the vehicle body to be cleaned.

[0020] As an optional solution, a spraying system is further included, and the spraying system is used to spray cleaning liquid toward the vehicle body to be cleaned.

[0021] Beneficial effects of the utility model:

[0022] The unmanned cleaning vehicle provided by the present utility model continuously corrects the moving path of the vehicle body when cleaning the vehicle body to be cleaned by measuring the distance between the vehicle body and the vehicle body to be cleaned by a distance measuring mechanism and monitoring the current of the first motor by a monitoring mechanism, so as to maintain an optimal distance between the vehicle body and the vehicle body to be cleaned, thereby ensuring the cleaning effect and avoiding overloading or inadequate cleaning. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a first structural diagram of the unmanned cleaning vehicle provided by an embodiment of the utility model;

[0024] Figure 2 This is a second structural schematic diagram of the unmanned cleaning vehicle provided by an embodiment of the present utility model.

[0025] In the picture:

[0026] 1. Vehicle body; 11. Protective cover;

[0027] 2. Vertical roller brush mechanism; 21. First motor; 22. Vertical roller brush; 23. Mounting plate; 24. Horizontal drive member; 25. Vertical rod; 26. Rocker arm; 27. Vertical drive member; 28. Limit switch;

[0028] 3. Distance measuring mechanism; 31. Distance measuring sensor;

[0029] 4. Monitoring mechanism; 41. Frequency converter; 42. Alarm;

[0030] 5. Horizontal rolling brush mechanism; 51. Second motor; 52. Horizontal rolling brush;

[0031] 6. LiDAR;

[0032] 7. Spray pipe. DETAILED DESCRIPTION

[0033] The following describes in detail embodiments of the present invention. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar components or components having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to explain the present invention, and should not be construed as limiting the present invention.

[0034] In the description of this utility model, unless otherwise expressly specified or limited, the terms "connected," "connect," and "fixed" should be understood in a broad sense. For example, they may refer to fixed or detachable connections, mechanical or electrical connections, direct or indirect connections through an intermediate medium, and internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on specific circumstances.

[0035] In the description of the present utility model, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first feature and the second feature being in direct contact, or may include the first feature and the second feature being in contact not directly but through another feature between them. Moreover, a first feature being "above," "above," and "above" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature includes the first feature being directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0036] The technical solution of the present invention will be further described below with reference to the accompanying drawings and through specific implementation methods.

[0037] like Figure 1-Figure 2 As shown, an embodiment of the utility model provides an unmanned cleaning vehicle, comprising a vehicle body 1, a vertical roller brush mechanism 2, a distance measuring mechanism 3 and a monitoring mechanism 4. The vertical roller brush mechanism 2 comprises a first motor 21 and a vertical roller brush 22. The vertical roller brush 22 is arranged on the vehicle body 1. The first motor 21 is used to drive the vertical roller brush 22 to rotate so as to perform rolling cleaning on the side of the vehicle body to be cleaned. The distance measuring mechanism 3 is arranged on the vehicle body 1 to measure the distance between the vehicle body 1 and the vehicle body to be cleaned. The monitoring mechanism 4 is arranged on the vehicle body 1 and is communicatively connected to the first motor 21. The monitoring mechanism 4 can monitor the current of the first motor 21. The moving path of the vehicle body 1 is adjusted according to the distance measured by the distance measuring mechanism 3 and the current monitored by the monitoring mechanism 4. That is, the controller controls the moving path of the vehicle body 1 by measuring the distance between the vehicle body 1 and the vehicle body to be cleaned by the distance measuring mechanism 3 and the current of the first motor 21 measured by the monitoring mechanism 4.

[0038] For example, when an unmanned cleaning vehicle is cleaning a vehicle body to be cleaned, the vehicle body 1 moves along a predetermined route, and the distance measuring mechanism 3 measures the distance between the vehicle body 1 and the vehicle body to be cleaned in real time. When the distance measuring mechanism 3 detects that the distance is decreasing, but the current of the first motor 21 monitored by the monitoring mechanism 4 does not change, it is determined that there is a protrusion on the side of the vehicle body to be cleaned, and there is no need to adjust the moving path. When the distance measuring mechanism 3 detects that the distance is decreasing, but the current of the first motor 21 monitored by the monitoring mechanism 4 increases by more than a set threshold, it is determined that the distance between the vehicle body to be cleaned and the vehicle body 1 is too close, and the moving path of the vehicle body 1 is adjusted to move the vehicle body 1 away from the vehicle body to be cleaned. It should be explained that when there is a protrusion on the side of the vehicle body to be cleaned, the protrusion does not form a significant resistance effect on the vertical roller brush 22, and the current of the first motor 21 will not change. If the distance between the vehicle body 1 and the vehicle body to be cleaned is close, the friction resistance of the vertical roller brush 22 increases, and the current of the first motor 21 increases.

[0039] When the unmanned cleaning vehicle is cleaning a vehicle body to be cleaned, the distance between the vehicle body 1 and the vehicle body to be cleaned is measured by the distance measuring mechanism 3 and the current of the first motor 21 is monitored by the monitoring mechanism 4 to continuously correct the moving path of the vehicle body 1 so that the optimal distance between the vehicle body 1 and the vehicle body to be cleaned can be maintained, thereby ensuring the cleaning effect and avoiding overloading or inadequate cleaning.

[0040] The unmanned cleaning vehicle also includes a laser radar 6, which enables the unmanned cleaning vehicle to autonomously explore an unknown environment and create a map of the environment, while determining its position in the generated map to ensure the automatic driving of the unmanned cleaning vehicle.

[0041] Specifically, the monitoring mechanism 4 includes a frequency converter 41, which is communicatively connected to the first motor 21. The frequency converter 41 adjusts the speed of the first motor 21 by changing the input voltage of the first motor 21. Therefore, during the operation of the frequency converter 41, the current change of the first motor 21 reflects the load condition and operating status of the first motor 21, that is, the frequency converter 41 has a built-in current monitoring function, and can also directly display the real-time current of the first motor 21 through the display panel of the frequency converter 41. When the load of the first motor 21 increases, it is reflected as an increase in the current of the frequency converter 41, thereby realizing real-time monitoring of the current of the first motor 21 through the frequency converter 41.

[0042] Optionally, the monitoring mechanism 4 further includes an alarm 42, which is communicatively connected to the frequency converter 41 of the monitoring mechanism 4. When the frequency converter 41 detects that the current exceeds a set threshold and persists for a set time, indicating that the unmanned cleaning vehicle has a fault, the alarm 42 issues an alarm. In this embodiment, the alarm 42 includes an alarm light and a buzzer. When the alarm 42 issues an alarm, the alarm light flashes and the buzzer sounds an alarm.

[0043] Specifically, refer to Figure 2 The distance measuring mechanism 3 includes multiple distance measuring sensors 31 spaced horizontally on the vehicle body 1. These sensors are located on the side of the vehicle body 1 facing the vehicle to be cleaned. When the unmanned cleaning vehicle is operating, these sensors simultaneously measure the distance between the vehicle body 1 and the vehicle to be cleaned, ensuring that the vehicle body 1 and the vehicle to be cleaned remain parallel. More specifically, at least three distance measuring sensors 31 may be provided. Two distance measuring sensors 31 may be located at the front and rear of the vehicle body 1, respectively. A third distance measuring sensor 31 may be located in the middle of the vehicle body 1 along the horizontal direction. It should be noted that when the unmanned cleaning vehicle is moving, if the distance measuring sensor 31 located at the front of the vehicle first detects that the distance is getting closer (such as encountering a protrusion), and the other distance measuring sensors 31 do not detect the protrusion, it is also necessary to determine whether the current of the first motor 21 increases. That is, when any one or all of the distance measuring sensors 31 detect that the distance is getting closer, it is necessary to check whether the current of the first motor 21 increases, and then control the vehicle body 1 according to the distance and current.

[0044] Optionally, refer to Figure 1 The vehicle body 1 is provided with a protective cover 11. The vertical roller brush mechanism 2 further includes a mounting plate 23, a swing arm assembly, and a transverse drive member 24. The swing arm assembly includes a vertical rod 25 and a swing arm 26 vertically hinged to both ends of the vertical rod 25. The end of the swing arm 26 facing away from the vertical rod 25 is hinged to the mounting plate 23. The vertical roller brush 22 is mounted on the vertical rod 25. The transverse drive member 24 is disposed within the protective cover 11 and is capable of driving the vertical rod 25 to cause the vertical roller brush 22 to extend out of the protective cover 11 or retract into the protective cover 11. This structure allows the vertical roller brush 22 to extend out of the protective cover 11 when the unmanned washing vehicle is in operation to facilitate cleaning of the vehicle body being washed. When the unmanned washing vehicle is finished, the vertical roller brush 22 can be retracted into the protective cover 11 for storage.

[0045] Specifically, a slider is provided at the output end of the transverse driving member 24, and a limiting groove extending in the vertical direction is provided on the side of the vertical rod 25 away from the vertical roller brush 22. The slider is slidably arranged in the limiting groove, and the slider can slide in the limiting groove in the vertical direction. The limiting groove does not impose any vertical restriction on the slider. When the output end of the transverse driving member 24 is extended, the vertical rod 25 drives the vertical roller brush 22 to swing up and extend. When the output end of the transverse driving member 24 is retracted, the vertical rod 25 drives the vertical roller brush 22 to swing down and retract.

[0046] In order to enable the unmanned cleaning vehicle to adapt to vehicles of different heights to be cleaned, the vertical roller brush mechanism 2 also includes a vertical drive member 27. The mounting plate 23 is arranged in the protective cover 11 and is slidingly connected to the inner wall of the protective cover 11. The vertical drive member 27 is arranged in the protective cover 11, and the output end of the vertical drive member is connected to the mounting plate 23, so that the vertical drive member can drive the mounting plate 23 to rise and fall in the vertical direction, thereby driving the vertical roller brush 22 to rise and fall, so that the vertical roller brush 22 can rise and fall in the vertical direction.

[0047] Furthermore, in order to prevent the vertical roller brush 22 from rising to a height exceeding a limit, a limit switch 28 is provided on the upper portion of the inner wall of the protective cover 11. After the mounting plate 23 triggers the limit switch 28 in the vertical direction, the vertical drive member 27 stops driving to limit the rising height of the mounting plate 23, thereby limiting the rising height of the vertical roller brush 22 and ensuring the safety of the unmanned cleaning vehicle.

[0048] Optionally, the unmanned cleaning vehicle also includes a transverse rolling brush mechanism 5, which includes a second motor 51 and a transverse rolling brush 52. The second motor 51 is arranged at the upper end of the protective cover 11, and the transverse rolling brush 52 is arranged at the output end of the second motor 51. The second motor 51 can drive the transverse rolling brush 52 to rotate to clean the top surface of the vehicle body to be cleaned.

[0049] Optionally, in order to enable the vertical roller brush 22 and the transverse roller brush 52 to clean more areas, the first motor 21 controls the vertical roller brush 22 to rotate alternately in the clockwise and counterclockwise directions; the second motor 51 controls the transverse roller brush 52 to rotate alternately in the clockwise and counterclockwise directions.

[0050] Optionally, both the transverse driving member 24 and the vertical driving member 27 may be hydraulic cylinders or electric push rods.

[0051] The unmanned cleaning vehicle also includes a spray system, which includes a spray pipe 7, a pump and a water tank. The water tank is arranged in the vehicle body 1, and the spray pipe 7 is arranged in the protective cover 11 and extends in the vertical direction. The spray pipe 7 is provided with nozzles spaced apart in the vertical direction. The pump is connected between the water tank and the spray pipe 7 through a pipeline. The pump can spray the cleaning liquid in the water tank through the nozzle of the spray pipe 7 onto the vehicle body to be cleaned to ensure the cleaning effect of the vertical roller brush 22 and the horizontal roller brush 52.

[0052] Obviously, the above embodiments of the present invention are merely examples for the purpose of clearly illustrating the present invention, and are not intended to limit the implementation methods of the present invention. Those skilled in the art will appreciate that other variations or modifications can be made based on the above description. It is not necessary and impossible to enumerate all implementation methods here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the claims of the present invention.

Claims

1. Unmanned cleaning vehicle, characterized by: include: Vehicle body (1); A vertical rolling brush mechanism (2) comprises a first motor (21) and a vertical rolling brush (22), wherein the vertical rolling brush (22) is arranged on the vehicle body (1) and extends in a vertical direction, and the first motor (21) is used to drive the vertical rolling brush (22) to rotate so as to roll and clean the side of the vehicle body to be cleaned; A distance measuring mechanism (3) is provided on the vehicle body (1), and the distance measuring mechanism (3) is used to measure the distance between the vehicle body (1) and the vehicle body to be cleaned; A monitoring mechanism (4) is provided on the vehicle body (1), the monitoring mechanism (4) is communicatively connected with the first motor (21), and the monitoring mechanism (4) is used to monitor the current of the first motor (21).

2. The unmanned cleaning vehicle according to claim 1, characterized in that: The monitoring mechanism (4) includes a frequency converter (41), the frequency converter (41) is communicatively connected to the first motor (21), and the frequency converter (41) is capable of monitoring the current of the first motor (21) in real time.

3. The unmanned cleaning vehicle according to claim 2, characterized in that: The monitoring mechanism (4) further comprises an alarm (42), wherein the alarm (42) is communicatively connected to the frequency converter (41), and the alarm (42) is used to sound an alarm when the current of the first motor exceeds a set threshold value and lasts for a set time.

4. The unmanned cleaning vehicle according to claim 1, characterized in that: The distance measuring mechanism (3) comprises a plurality of distance measuring sensors (31) arranged on the vehicle body (1) at intervals along the horizontal direction.

5. The unmanned cleaning vehicle according to claim 1, characterized in that: The vehicle body (1) is provided with a protective cover (11); The vertical roller brush mechanism (2) further comprises a mounting plate (23), a swing arm assembly and a transverse driving member (24); the mounting plate (23) is arranged in the protective cover (11); the swing arm assembly comprises a vertical rod (25) and a swing arm (26) hinged to both ends of the vertical rod (25) in a vertical direction; one end of the swing arm (26) facing away from the vertical rod (25) is hinged to the mounting plate (23); the vertical roller brush (22) is mounted on the vertical rod (25); and the transverse driving member (24) can drive the vertical rod (25) to drive the vertical roller brush (22) to extend out of the protective cover (11) or retract into the protective cover (11).

6. The unmanned cleaning vehicle according to claim 5, characterized in that: The vertical roller brush mechanism (2) further comprises a vertical driving member (27), the mounting plate (23) is slidably connected to the inner wall of the shield (11) along the vertical direction, and the vertical driving member (27) is arranged in the shield (11) and can drive the mounting plate (23) to rise and fall along the vertical direction, thereby driving the vertical roller brush (22) to rise and fall along the vertical direction.

7. The unmanned cleaning vehicle according to claim 5, characterized in that: The vertical rod (25) is provided with a limiting sliding groove extending along the vertical direction, and the output end of the transverse driving member (24) is provided with a sliding block slidably connected to the limiting sliding groove.

8. The unmanned cleaning vehicle according to claim 6, characterized in that: A limit switch (28) is provided on the inner wall of the protective cover (11), and the limit switch (28) is used to limit the rising height of the mounting plate (23).

9. The unmanned cleaning vehicle according to claim 5, characterized in that: The invention also includes a transverse rolling brush mechanism (5), wherein the transverse rolling brush mechanism (5) includes a second motor (51) and a transverse rolling brush (52), wherein the second motor (51) is arranged at the upper end of the protective cover (11), and the transverse rolling brush (52) is arranged at the output end of the second motor (51), and the second motor (51) can drive the transverse rolling brush (52) to rotate so as to clean the top surface of the vehicle body to be cleaned.

10. The unmanned cleaning vehicle according to any one of claims 1 to 9, characterized in that: It also includes a spraying system, which is used to spray cleaning fluid toward the vehicle body to be cleaned.

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