Unmanned commercial ground washing vehicle

Abstract

The utility model discloses an unmanned commercial ground washing vehicle which is characterized in that a drive-by-wire chassis is transformed, and a mode change-over switch, an emergency stop switch, a liquid level sensor, an encoder, a relay, a whole vehicle controller, a steering motor and a brake push rod are added; according to the utility model, the system can be matched with existing industrial ground washing vehicles of different models and different types, unmanned transformation is carried out on the basis of an existing manually-driven ground washing vehicle of a certain model, an experimental sample vehicle is tried, the system has the functions of positioning, mapping, planning, obstacle avoidance and the like, and meanwhile, the original manually-driven function is reserved. According to the invention, the cost can be saved, and old equipment can be reused.

Description

Technical Field

[0001] This utility model belongs to the field of cleaning technology, specifically relating to an unmanned commercial floor scrubbing vehicle. Background Technology

[0002] Unmanned floor scrubbers are constantly entering the market, and replacing traditional manually driven floor scrubbers has become a trend. Unmanned floor scrubbers can handle a variety of scenarios and various types of surfaces. At present, although various commercial unmanned cleaning equipment in the market is easy to operate and intelligently managed, the price is very high. If traditional industrial enterprises use commercial equipment on a large scale, the cost will be too high.

[0003] For many traditional industrial production enterprises, there are currently many manually driven industrial floor scrubbers in operation. If unmanned floor scrubbers are used to replace manual driving, the market price of a single commercial unmanned floor scrubber is around 200,000 yuan, which is too high. If the unmanned floor scrubber is redesigned as an integrated unit, the research and development cycle is long and the research and development cost is high, the product production cost is high, and at the same time, it leads to the waste of existing manually driven floor scrubber resources. Utility Model Content

[0004] This utility model provides an unmanned commercial floor scrubbing vehicle. The technical problem to be solved is to modify existing commercial floor scrubbing vehicles to be unmanned, so as to realize unmanned floor scrubbing operations, while retaining the original manual driving function.

[0005] To solve the above technical problems, this utility model provides an unmanned commercial floor scrubbing vehicle, characterized by: modifying the drive-by-wire chassis and adding a mode switching switch, an emergency stop switch, a liquid level sensor, an encoder, a relay, a vehicle controller, a steering motor, and a brake push rod;

[0006] The mode switch is used to switch between manual and autonomous cleaning modes for the floor scrubber.

[0007] Emergency stop switch: In autonomous mode, the floor scrubber can be stopped in an emergency.

[0008] The liquid level sensor collects liquid level data from the water tank and sewage tank.

[0009] Encoders are installed on the left and right sides of the floor scrubber to collect process data.

[0010] The vehicle controller controls relays, which in turn control the operation of the suction, brush, and flushing motors.

[0011] The vehicle controller sends an analog throttle signal to the motor controller, which then controls the motor.

[0012] The steering motor communicates with the vehicle controller via CAN to enable steering in autonomous mode while retaining manual driving functionality.

[0013] The vehicle controller sends a braking signal to the brake push rod, which then controls the existing mechanical brakes.

[0014] Furthermore, the battery voltage signal is connected to the vehicle controller, the remaining battery power is calculated, and the remaining power data is sent to the industrial control computer.

[0015] Furthermore, the industrial control computer sends control commands to the vehicle controller via CAN, and the vehicle controller controls the floor scrubber's driving, steering, braking, and the operation of the vacuuming, brushing, and rinsing motors.

[0016] Furthermore, it also includes a single-line lidar installed directly above the floor scrubber for laser scanning and mapping; the inertial navigation system and industrial control computer are installed inside the floor scrubber, with the inertial navigation system used to calculate and output the roll angle, pitch angle and yaw angle of the floor scrubber.

[0017] Furthermore, the mode switching switch separates the manned control circuit from the unmanned control circuit.

[0018] Furthermore, the pedal control voltage line is disconnected and connected to the manned control circuit of the mode switching switch. Simultaneously, the vehicle controller directly outputs an analog voltage signal, which is connected to the unmanned control circuit of the mode switching switch and paralleled with the pedal line. In unmanned mode, this controls the drive motor speed. A brake push rod and relay are installed on the brake pedal. The relay control terminal is directly connected to the vehicle controller, which controls the brake push rod to achieve braking. A normally open emergency stop switch is also added, with its normally open terminal connected in parallel to the relay control terminal on the brake pedal, and its closed terminal connected to the throttle control circuit. When the emergency stop switch is activated, the throttle is disengaged, and the brakes are applied simultaneously to achieve an emergency stop. The mode switching switch is connected to the controlled terminal of this relay, enabling the separation of manned and unmanned circuits in the vehicle. The steering motor is connected to the vehicle controller, receiving steering control commands and motor enable commands from the vehicle controller to achieve steering control in unmanned mode. In manned mode, the steering motor is inactive.

[0019] Beneficial effects: This invention can be matched with existing industrial floor scrubbing vehicles of different models and types. It transforms existing manually driven floor scrubbing vehicles into unmanned systems while retaining all original manual operation functions. In unmanned mode, it features intelligent unmanned cleaning, voice prompts, emergency stop, intelligent collision avoidance, and alarms for low battery, insufficient water tank, and full wastewater tank, automatically returning to the charging and water exchange room. The prototype vehicle has completed trial use and possesses functions such as positioning, mapping, planning, and obstacle avoidance, while retaining the original manual driving functions. This invention saves costs and allows for the reuse of old equipment.

[0020] In unmanned mode, a mini electronically controlled steering device is added to the original steering mechanical structure to achieve precise and intelligent steering control of the floor scrubber in unmanned mode; multi-sensor fusion technology such as odometer, inertial navigation, lidar, and ultrasonic radar is used to improve positioning accuracy and increase the safety of the unmanned floor scrubber; a communication networking interface is reserved to realize intelligent scheduling of multiple vehicles, collaborative work, and real-time monitoring of vehicle data. Attached Figure Description

[0021] Figure 1 Overall architecture diagram of the floor scrubber

[0022] Figure 2 This is a diagram of the drive-by-wire chassis architecture. Detailed Implementation

[0023] To make the purpose, content and advantages of this utility model clearer, the specific embodiments of this utility model will be described in further detail below.

[0024] This utility model proposes an unmanned commercial floor scrubbing vehicle, which modifies the drive-by-wire chassis and adds a mode switching switch, an emergency stop switch, a liquid level sensor, an encoder, a relay, a vehicle controller, a steering motor, and a brake push rod.

[0025] Add a mode switching switch to allow the floor scrubber to switch between manual and autonomous cleaning modes;

[0026] An emergency stop switch has been added to enable the floor scrubber to stop in emergency mode; a liquid level sensor has also been added to collect liquid level data from the water tank and wastewater tank.

[0027] Add encoders to the left and right sides of the floor scrubber to complete the process data collection;

[0028] Add relays, and control the operation of the vacuum, brush, and flushing motors through the vehicle controller;

[0029] Add a vehicle controller to send an analog throttle signal to the motor controller, and complete motor control through the original motor controller;

[0030] A steering motor is added, which communicates with the vehicle control via CAN to realize steering function in autonomous mode, while retaining manual driving function;

[0031] Add a brake push rod, and the vehicle controller sends a brake signal to the brake push rod, which then controls the original mechanical brakes.

[0032] The battery voltage signal is connected to the vehicle controller, the remaining battery power is calculated, and the remaining power data is sent to the industrial control computer. The industrial control computer sends control commands to the vehicle controller via CAN, and the vehicle controller controls the floor scrubber's driving, steering, braking, and the operation of the vacuuming, brushing, and rinsing motors.

[0033] Specifically, eight ultrasonic sensors with a range of 3cm-450cm are arranged in the front, rear, left, and right of the floor scrubber for near-range obstacle detection; incremental photoelectric encoders are installed on the output shafts of the two drive wheels to detect the distance the floor scrubber has moved; a single-line lidar is installed on the top of the floor scrubber for laser scanning and mapping; an inertial navigation system and an industrial control computer are installed inside the floor scrubber. The inertial navigation system includes a three-axis gyroscope, a three-axis accelerometer, and a three-axis magnetometer, which can calculate and output the roll angle, pitch angle, and yaw angle of the floor scrubber.

[0034] Drive-by-wire chassis architecture Figure 2 As shown, in the original chassis control circuit, various switches and buttons on the control panel control the relays. The controlled end of the relays controls the forward and reverse rotation of the brush motor, the suction motor, the flushing motor, the drive motor, and the retraction of the brush push rod. The control panel switch and the original relays are connected to the mode switching switch, corresponding to the manned control circuit. The mode switching switch switches the manned control circuit and the unmanned control circuit. This utility model adds two ordinary relays and two three-way relays to the unmanned control circuit. The control end is connected to the controller, and the controlled end is connected in parallel with the switch on the control panel. In the unmanned mode, the ordinary relays control the operation of the brush motor, the suction motor, and the flushing motor, and the three-way relays control the forward and reverse rotation of the drive motor and the retraction of the brush push rod.

[0035] The original chassis used the accelerator pedal to simulate voltage and control the speed of the drive motor to control the vehicle speed. This utility model disconnects the pedal control voltage line and connects it to the manned control circuit of the mode switching switch. At the same time, the controller directly outputs the simulated voltage signal and connects it to the unmanned control circuit of the mode switching switch and connects it in parallel with the pedal line to complete the drive motor speed control in unmanned mode.

[0036] The original vehicle chassis brake is a mechanical structure. This utility model installs a brake push rod and a relay on the brake pedal. The control terminal of the relay is directly connected to the controller. The controller controls the push rod to achieve the braking purpose. At the same time, a normally open emergency stop switch is added. The normally open terminal is connected in parallel to the control terminal of the brake relay, and the closed terminal is connected to the throttle control circuit. When the emergency stop switch is pressed, the throttle is disengaged and the brake is applied simultaneously to achieve the purpose of emergency stop.

[0037] The original chassis controlled the relay to operate via a key switch, which controlled the power supply to the whole vehicle. This utility model connects the mode switching switch to the controlled end of the relay, realizing the division of the whole vehicle into two circuits: one for people and one for unmanned people.

[0038] Regarding steering, the original vehicle uses a mechanical structure. This invention installs a drive-by-wire electric steering motor, connects it to the vehicle controller, and receives steering control commands and motor enable commands from the vehicle controller. This enables steering control in unmanned mode. In manned mode, the motor does not work and is ineffective, thus not affecting manual driving functions.

[0039] This invention incorporates level sensors in water tanks and sewage tanks to monitor changes in the liquid level in real time and connects to a controller to complete data acquisition.

[0040] This utility model is a modified wire-controlled chassis that retains all the functions of the original manual mode while adding various interfaces for unmanned mode control.

[0041] The floor scrubbing vehicle has the following functions in unmanned mode:

[0042] (1) Autonomous cleaning function, including positioning, mapping, planning, obstacle avoidance and vehicle control capabilities;

[0043] (2) Emergency stop / reset function: In case of an emergency, the floor scrubber can be stopped by the emergency stop switch and can be resumed by the reset button;

[0044] (3) Collision avoidance function, which uses ultrasonic radar around the vehicle body to prevent safety accidents;

[0045] (4) Low battery alarm function: When the floor scrubber is working in unmanned mode, it will automatically alarm if the battery is low and automatically return to the charging room to wait for charging.

[0046] This utility model is an upgrade and transformation of the existing floor scrubbing vehicle to be unmanned, while retaining all the original functions of manual operation. In unmanned mode, it has intelligent unmanned cleaning, voice prompts, emergency stop, intelligent anti-collision function, as well as low battery, insufficient water tank, and sewage tank full alarm prompts, and automatically returns to the charging and water exchange room.

[0047] This invention features both unmanned and manned cleaning modes, with a simple and easy-to-operate human-machine interface. There are no specific requirements for the various added devices, making them highly replaceable. The modification scheme is highly portable and can be matched with various manually driven floor scrubbers to allow for the reuse of existing equipment. The product has low cost and is easy to upgrade and maintain.

[0048] The above description is only a preferred embodiment of the present utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present utility model, and these improvements and modifications should also be considered within the protection scope of the present utility model.

Claims

1. An unmanned commercial floor scrubbing vehicle, characterized in that: Modify the drive-by-wire chassis by adding a mode switching switch, emergency stop switch, liquid level sensor, encoder, relay, vehicle controller, steering motor, and brake push rod; The mode switch is used to switch between manual and autonomous cleaning modes for the floor scrubber. Emergency stop switch: In autonomous mode, the floor scrubber can be stopped in an emergency. The liquid level sensor collects liquid level data from the water tank and sewage tank. Encoders are installed on the left and right sides of the floor scrubber to collect process data. The vehicle controller controls relays, which in turn control the operation of the suction, brush, and flushing motors. The vehicle controller sends an analog throttle signal to the motor controller, which then controls the motor. The steering motor communicates with the vehicle controller via CAN to enable steering in autonomous mode while retaining manual driving functionality. The vehicle controller sends a braking signal to the brake push rod, which then controls the existing mechanical brakes.

2. The unmanned commercial floor scrubbing vehicle according to claim 1, characterized in that: The battery voltage signal is connected to the vehicle controller, the remaining battery power is calculated, and the remaining power data is sent to the industrial control computer.

3. The unmanned commercial floor scrubbing vehicle according to claim 1, characterized in that: The industrial control computer sends control commands to the vehicle controller via CAN. The vehicle controller controls the floor scrubber's movement, steering, braking, and the operation of the vacuuming, brushing, and rinsing motors.

4. The unmanned commercial floor scrubbing vehicle according to claim 1, characterized in that: Eight ultrasonic sensors were installed in the front, back, left, and right of the floor scrubber to detect obstacles at close range.

5. The unmanned commercial floor scrubbing vehicle according to claim 4, characterized in that: The ultrasonic sensor has a measurement range of 3cm-450cm.

6. The unmanned commercial floor scrubbing vehicle according to claim 1, characterized in that: The encoder is mounted on the output shaft of the two drive wheels.

7. The unmanned commercial floor scrubbing vehicle according to claim 6, characterized in that: The encoder is an incremental photoelectric encoder.

8. The unmanned commercial floor scrubbing vehicle according to claim 1, characterized in that: It also includes a single-line lidar installed directly above the floor scrubber for laser scanning and mapping; the inertial navigation system and industrial control computer are installed inside the floor scrubber, with the inertial navigation system used to calculate and output the roll angle, pitch angle and heading angle of the floor scrubber.

9. The unmanned commercial floor scrubbing vehicle according to claim 1, characterized in that: The mode switching switch separates the manned control circuit from the unmanned control circuit.

10. The unmanned commercial floor scrubbing vehicle according to claim 9, characterized in that: Disconnect the pedal control voltage line and connect it to the manned control circuit of the mode switching switch. Simultaneously, use the vehicle controller to directly output an analog voltage signal and connect it to the unmanned control circuit of the mode switching switch, which is connected in parallel with the pedal line. In unmanned mode, this completes the drive motor speed control. Install a brake push rod and a relay on the brake pedal. The relay control terminal is directly connected to the vehicle controller. The vehicle controller controls the brake push rod to achieve braking. At the same time, add a normally open emergency stop switch. The normally open terminal is connected in parallel to the relay control terminal on the brake pedal, and the closed terminal is connected to the throttle control circuit. When the emergency stop switch is pressed, the throttle is disengaged and the brake is applied simultaneously to achieve emergency stopping. The mode switching switch is connected to the controlled terminal of this relay to realize the separation of manned and unmanned circuits in the vehicle. The steering motor is connected to the vehicle controller and receives steering control commands and motor enable commands from the vehicle controller to realize steering control in unmanned mode. In manned mode, the steering motor does not work and is ineffective.

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