Obstacle avoidance structure, feeding vehicle and motor sweeper

Abstract

The utility model relates to the technical field of anti-collision structures, in particular to an obstacle avoidance structure, a feeding vehicle and a motor sweeper, the obstacle avoidance structure is used for being installed on a vehicle frame and comprises a fixing frame, the fixing frame is connected with a supporting frame, a laser radar is installed on the top of the supporting frame, an obstacle avoidance laser assembly is installed at the bottom of the fixing frame, and the laser radar is connected with the obstacle avoidance laser assembly. The supporting frame is further provided with a controller, and the controller is electrically connected with the laser radar and the obstacle avoidance laser assembly. The surrounding environment can be scanned through the laser radar, meanwhile, distance measurement can be conducted on obstacles, and the distance between a vehicle body and the obstacles can be judged, so that avoiding is conducted in time, and the possibility that equipment collides with a front roadblock is reduced. However, blind areas exist in the positions, close to the ground, of the laser radar, and road surface shielding can be fully detected through obstacle avoiding laser; the two are matched to realize comprehensive obstacle avoidance.

Description

TECHNICAL FIELD

[0001] The utility model relates to an anti -collision structure technical field especially, relates to an obstacle avoiding structure, a feeding car, a cleaning car. BACKGROUND

[0002] At present, for the automatic feeding equipment or automatic cleaning equipment, the anti -collision structure generally installs in the front end of the equipment, and the overall structure is relatively bloated, can only protect the front end of the equipment simultaneously, but the front roadblock is difficult to monitor.

[0003] Therefore, it is necessary to design an obstacle avoiding structure to solve the above problems. UTILITY MODEL CONTENT

[0004] The utility model solves the technical problems in the prior art, and provides an obstacle avoiding structure, a feeding car and a cleaning car.

[0005] The utility model adopts the technical scheme that an obstacle avoiding structure is used for being installed on a vehicle frame and comprises a fixing frame, a support frame is connected to the fixing frame, a laser radar is installed at the top of the support frame, an obstacle avoiding laser assembly is installed at the bottom of the fixing frame, a controller is further installed on the support frame, and the controller is electrically connected with the laser radar and the obstacle avoiding laser assembly.

[0006] Further, a bottom anti -collision beam and an intermediate anti -collision beam are arranged on the fixing frame, an anti -collision sensor is arranged on the bottom anti -collision beam, the anti -collision sensor is arranged on the side of the bottom anti -collision beam away from the fixing frame, and the anti -collision sensor is electrically connected with the controller.

[0007] Further, an upper anti -collision beam is further arranged on the fixing frame, and the upper anti -collision beam forms a closed structure along the circumference of the vehicle frame.

[0008] Further, the upper anti -collision beam comprises two intermediate parts and two side parts, the two side parts are connected with the two fixing frames respectively, the two intermediate parts are arranged between the two side parts, and the width of the intermediate part in the vertical direction is greater than the width of the side part in the vertical direction.

[0009] Further, the side part is connected with the fixing frame through a first connecting plate, and one end of the first connecting part connected with the side part is bent away from the fixing frame.

[0010] Further, the projection of the intermediate anti -collision beam in the vertical direction is in the shape of a Chinese character.

[0011] Further, a second connecting plate is connected to the intermediate anti -collision beam, and the second connecting plate is connected with the side wall of the fixing frame.

[0012] Further, a plurality of weight reduction holes are arranged on the intermediate anti-collision beam.

[0013] Further, a third connecting plate is connected to the bottom anti-collision beam, and the third connecting plate is connected to the bottom of the fixing frame.

[0014] A feeding trolley comprises a trolley frame, and the trolley frame is provided with the barrier-avoiding structure.

[0015] A cleaning trolley comprises a trolley frame, and the trolley frame is provided with the barrier-avoiding structure.

[0016] The utility model discloses a beneficial effect is, through laser radar can scan the surrounding environment, can range to barrier simultaneously, judge the distance between the vehicle body and barrier, in order to avoid in time, reduce the possible of equipment and front roadblock crash, but the blind area exists in the position of laser radar close to the ground, and the barrier-avoiding laser can fully detect the road surface shelter, and the comprehensive barrier-avoiding is realized by cooperation. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 It is the structure diagram that the utility model reflects the whole structure of anti-collision beam.

[0018] Figure 2 It is the schematic diagram that the utility model reflects the upper anti-collision beam.

[0019] Figure 3 It is the schematic diagram that the utility model reflects the intermediate anti-collision beam.

[0020] Figure 4 It is the schematic diagram that the utility model reflects the bottom anti-collision beam.

[0021] Figure 5 It is the schematic diagram that the utility model reflects the fixing frame.

[0022] Figure 6 It is the schematic diagram that the utility model reflects the support frame.

[0023] In the drawing: 1, trolley frame;2, fixing frame;3, bottom anti-collision beam;31, third connecting plate;311, horizontal plate;312, vertical plate;32, anti-collision sensor;33, barrier-avoiding laser assembly;4, intermediate anti-collision beam;41, second connecting plate;43, weight reduction hole;5, upper anti-collision beam;51, intermediate part;52, side part;53, first connecting plate;54, prompt light;6, support frame;61, laser radar;62, controller;63, RTK positioning receiver. DETAILED DESCRIPTION

[0024] The utility model will be described further in detail in combination with the drawings. These drawings are all simplified schematic diagrams, and only schematically show the basic structure of the utility model, so they only show the structure related to the utility model.

[0025] In the description of the utility model, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the utility model and simplifying the description, and does not indicate or imply that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the utility model. In addition, the features limited as "first" and "second" can explicitly or implicitly include one or more of the features. In the description of the utility model, unless otherwise stated, the meaning of "a plurality of" is two or more. In the description of the utility model, it should be noted that, unless otherwise specified and limited, the terms "mounting", "connection", "connection" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication between two elements. For ordinary skilled persons in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances.

[0026] The utility model discloses an obstacle avoidance structure, a feeding vehicle and a cleaning vehicle.

[0027] Referring to Figures 1 to 6 An obstacle avoidance structure is used for being mounted on a vehicle frame 1, comprising a fixing frame 2, a bottom anti-collision beam 3, an intermediate anti-collision beam 4 and an upper anti-collision beam 5 arranged on the fixing frame 2, the maximum distance between the bottom anti-collision beam 3 and the fixing frame 2 is greater than the maximum distance between the intermediate anti-collision beam 4 and the fixing frame 2, and the maximum distance between the bottom anti-collision beam 3 and the fixing frame 2 is greater than the maximum distance between the upper anti-collision beam 5 and the fixing frame 2, and meanwhile, the strength of the bottom anti-collision beam 3 is higher than that of the intermediate anti-collision beam 4 and the upper anti-collision beam 5, so that when encountering a roadside stone, the bottom anti-collision beam 3 contacts the roadside stone first, and the possibility of damage to the vehicle body is reduced.

[0028] The fixing frame 2, the bottom anti-collision beam 3 and the intermediate anti-collision beam 4 are all provided with two groups and are located at the front and rear ends of the vehicle frame 1, and the upper anti-collision beam 5 forms a closed structure along the circumference of the vehicle frame 1, so as to realize the overall protection of the equipment.

[0029] Specifically, the upper anti-collision beam 5 includes two middle parts 51 and two side parts 52, the two side parts 52 are connected with the two fixed frames 2 respectively, and the two middle parts 51 are arranged between the two side parts 52, and the side part 52 is integrally formed with the middle part 51. The width of the middle part 51 along the vertical direction is greater than the width of the side part 52 along the vertical direction, so as to increase the protection of the side of the equipment.

[0030] It should be noted that the side part 52 is fixedly connected with the fixed frame 2 through the first connecting plate 53, one end of the first connecting plate 53 connected with the side part 52 is bent away from the fixed frame 2, and the bent first connecting plate 53 can make the position of the side part 52 along the length direction of the frame 1 close to the position of the middle anti-collision beam 4, and also improve the impact resistance.

[0031] In addition, the upper anti-collision beam 5 is also provided with a warning light 54 at four corner points, so as to increase the eye-catching degree at night, and also remind the equipment to turn left or right.

[0032] Specifically, the middle anti-collision beam 4 is projected as a shape along the vertical direction, and one end of the middle anti-collision beam 4 away from the fixed frame 2 is fixedly connected with a second connecting plate 41, and the second connecting plate 41 is fixedly connected with the side wall of the fixed frame 2. The middle anti-collision beam 4 is provided with a plurality of weight-reducing holes 43.

[0033] Specifically, the bottom anti-collision beam 3 includes a third connecting plate 31 and an anti-collision strip, the third connecting plate 31 is in an L-shaped cross section, and the third connecting plate 31 includes a horizontal plate 311 and a vertical plate 312 connected with each other, the vertical plate 312 is fixedly connected with one end of the anti-collision strip away from the fixed frame 2, the horizontal plate 311 is fixedly connected with the bottom of the fixed frame 2, and the bottom surface of the horizontal plate 311 is flush with the bottom surface of the anti-collision strip.

[0034] In addition, the two ends of the anti-collision strip are bent, the anti-collision strip can adopt a pressure strain gauge, and the pressure changes when the anti-collision strip is impacted, and is triggered. The horizontal plate 311 is also fixedly provided with an obstacle avoidance laser assembly 33, so as to detect whether there is an obstacle on the road surface. The obstacle avoidance laser assembly 33 includes a laser emitter and a laser receiver, and whether there is an obstacle in front is judged by the time of receiving the laser, and the distance between the obstacle and the vehicle body can be judged.

[0035] The fixed frame 2 is also fixedly connected with a support frame 6, and the support frame 6 is fixedly provided with a laser radar 61, so as to detect whether there is an obstacle in front. The laser radar adopts a 3D laser radar, which can be a 3D laser radar of a Helions model produced by robosense, can scan the surrounding environment, and can measure the distance of the obstacle, so as to judge the distance between the vehicle body and the obstacle, so as to avoid in time. However, there is a certain blind area in front of the vehicle body, so the laser radar 61 needs to cooperate with the obstacle avoidance laser assembly 33 to realize overall obstacle avoidance.

[0036] The support frame 6 is arranged at the front end of the device. The controller 62 is also fixedly installed on the support frame 6, and the controller 62 is electrically connected with the anti-collision strip, the obstacle avoidance laser assembly 33 and the laser radar 61, so as to monitor the road conditions in front and sudden impact conditions at any time, and then facilitate cooperation with the walking system of the device to avoid obstacles or danger in time. The support frame 6 is also fixedly installed with an RTK positioning receiver 63, which is convenient for communication with satellites to provide real-time position, so as to facilitate the system to schedule all vehicles to avoid interference.

[0037] Working principle: through the cooperation of the bottom anti-collision beam 3, the middle anti-collision beam 4 and the upper anti-collision beam 5, the anti-collision effect can be greatly improved, and the bottom anti-collision beam 3 and the middle anti-collision beam 4 are arranged at the front and rear ends of the vehicle frame 1, and the upper anti-collision beam 5 is arranged on the entire circumference of the vehicle frame 1, so that the whole device can be reliably protected, and the possibility of damage to other structures of the vehicle frame 1 when encountering impact can be reduced.

[0038] Through the arrangement that the controller 62 is electrically connected with the anti-collision strip, the obstacle avoidance laser assembly 33 and the laser radar 61, the road conditions in front, the surrounding environment and the sudden impact conditions can be monitored at any time, and then the walking system of the device can be facilitated to cooperate to avoid obstacles or danger in time.

[0039] A feeding vehicle comprises a vehicle frame, and the safety touch edge structure is installed on the vehicle frame.

[0040] A cleaning vehicle comprises a vehicle frame, and the safety touch edge structure is installed on the vehicle frame.

[0041] Based on the above ideal embodiments of the present application, through the above description, relevant personnel can make various changes and modifications without deviating from the technical idea of the present application. The technical scope of the present application is not limited to the content in the specification, and must be determined according to the scope of claims.

Claims

1. A barrier structure for mounting on a vehicle frame (1), characterized in that Including the fixed frame (2), the support frame (6) is connected on the fixed frame (2), the top of the support frame (6) is installed with laser radar (61), the bottom of the fixed frame (2) is installed with obstacle avoidance laser assembly (33), the support frame (6) is also installed with controller (62), the controller (62) is electrically connected with laser radar (61), obstacle avoidance laser assembly (33).

2. The barrier structure of claim 1, wherein, The bottom anti-collision beam (3) is provided on the fixed frame (2), the middle anti-collision beam (4) is provided on the bottom anti-collision beam (3), the anti-collision sensor (32) is provided on the bottom anti-collision beam (3), the anti-collision sensor (32) is covered on the side of the bottom anti-collision beam (3) away from the fixed frame (2), and the anti-collision sensor (32) is electrically connected with the controller (62).

3. The barrier structure of claim 1, wherein, The fixed frame (2) is also provided with an upper anti-collision beam (5), and the upper anti-collision beam (5) forms a closed structure along the circumference of the frame (1). The upper anti-collision beam (5) comprises two middle parts (51) and two side parts (52), the two side parts (52) are connected with the two fixed frames (2) respectively, the two middle parts (51) are arranged between the two side parts (52), and the width of the middle part (51) in the vertical direction is greater than the width of the side part (52) in the vertical direction.

4. The barrier structure of claim 3, wherein, The side part (52) is connected with the fixed frame (2) through the first connecting plate (53), and one end of the first connecting plate (53) connected with the side part (52) is bent away from the fixed frame (2).

5. The barrier of claim 2, wherein The projection of the middle anti-collision beam (4) in the vertical direction is a character.

6. The barrier structure of claim 5, wherein, The middle anti-collision beam (4) is connected with the second connecting plate (41), and the second connecting plate (41) is connected with the side wall of the fixed frame (2).

7. The barrier structure of claim 6, wherein, The middle anti-collision beam (4) is provided with a plurality of lightening holes (43).

8. The barrier of claim 2, wherein, The bottom anti-collision beam (3) comprises a third connecting plate (31) and an anti-collision strip, and the third connecting plate (31) is connected with the bottom of the fixed frame (2).

9. A charging car, characterized by The frame (1) is provided with the obstacle avoidance structure of any one of claims 1-8.

10. A sweeper characterized by The frame (1) is provided with the obstacle avoidance structure of any one of claims 1-8.

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