Road obstacle handling unmanned vehicle

Abstract

The utility model discloses a road obstacle handling unmanned vehicle which comprises a chassis system, a foreign matter collecting system and a warning device collecting and releasing system, and the chassis system comprises a chassis body, a signal collecting device, a control device and a first driving device, the control device is in communication connection with the signal acquisition device and the first driving device; the foreign matter collecting system comprises a foreign matter picking device and a foreign matter storage device which are in communication connection with the control device. The foreign matter picking device is used for picking up foreign matters and placing the foreign matters in the foreign matter storage device. The warning device collecting and releasing system comprises a warning device storage bin and a collecting and releasing device, the warning device storage bin stores the warning device, and the collecting and releasing device is in communication connection with the control device and used for collecting and releasing the warning device. The road obstacle disposal unmanned vehicle can be driven in an unmanned mode, remotely analyze and recognize the road surface conditions and process the road surface conditions, unmanned intelligent maintenance can be conducted on bridges and roads, maintenance cost and labor intensity are reduced, maintenance efficiency is improved, and safety is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to road maintenance equipment technical field, especially in a kind of highway obstacle disposal unmanned vehicle. BACKGROUND

[0002] With the increasing of road mileage and traffic flow in our country, the maintenance problem of various roads is more and more prominent. All road pavements need to be regularly maintained, and the regular cleaning of road garbage is an important part of road maintenance and an important guarantee for smooth traffic. In the expressway, human discarding and bulk truck throwing are the main factors of bridge expressway garbage. At present, most of the expressways still use manual cleaning or semi-automatic cleaning by mechanical vehicles. This cleaning method is low in efficiency, time-consuming and labor-intensive, and low in road safety. UTILITARY MODEL

[0003] Therefore, the utility model aims at providing a highway obstacle disposal unmanned vehicle to realize unmanned intelligent maintenance of bridge road, reduce the cost and labor intensity of artificial maintenance, and improve the maintenance efficiency of bridge road.

[0004] To achieve the above-mentioned purpose, the utility model provides the following technical scheme:

[0005] A highway obstacle disposal unmanned vehicle comprises:

[0006] A chassis system comprises a chassis body and a signal acquisition device, a control device and a first driving device arranged on the chassis body. The signal acquisition device is used to acquire surrounding road condition information. The first driving device is used to drive the chassis system to move. The control device is in communication connection with the signal acquisition device and the first driving device respectively.

[0007] A foreign matter collection system is arranged on the chassis body. The foreign matter collection system comprises a foreign matter picking device and a foreign matter storage device in communication connection with the control device respectively. The foreign matter picking device is used to pick up foreign matters and place them in the foreign matter storage device.

[0008] A warning device storage and release system is arranged on the chassis body. The warning device storage and release system comprises a warning device, a warning device storage bin and a storage and release device. The warning device storage bin is used to store the warning device. The storage and release device is in communication connection with the control device. The storage and release device is used to release the warning device in the warning device storage bin to the ground or recycle the warning device on the ground to the warning device storage bin.

[0009] In an embodiment of the present application, the foreign matter picking device comprises:

[0010] A multi-degree-of-freedom robot arm, one end of which is arranged on the chassis body, and the other end of which is provided with a movable gripper, the multi-degree-of-freedom robot arm and the gripper being respectively in communication connection with the control device;

[0011] An image acquisition device, which is in communication connection with the control device, the control system being configured to identify an image acquired by the image acquisition device and send a control signal generated according to the image to the multi-degree-of-freedom robot arm and the gripper.

[0012] In an embodiment of the present application, the foreign matter storage device comprises:

[0013] A box, which is provided with an upper end inlet and a lower end outlet;

[0014] A baffle, which is movably arranged in the box by a first execution device, the first execution device being in communication connection with the control device, and the baffle being capable of moving between two positions of blocking the lower end outlet and opening the lower end outlet under the driving of the first execution device.

[0015] In an embodiment of the present application, the foreign matter storage device further comprises:

[0016] A cover plate, which is movably arranged in the box by a second execution device, the second execution device being in communication connection with the control device, and the cover plate being capable of moving between two positions of blocking the upper end inlet and opening the upper end inlet under the driving of the second execution device.

[0017] In an embodiment of the present application, the first driving device comprises:

[0018] A first wheel set, a plurality of pairs of the first wheel set being arranged at intervals along the length direction of the chassis body;

[0019] A steering mechanism, which is in transmission connection with a pair of the first wheel set;

[0020] A first driving motor, which is in transmission connection with at least one pair of the first wheel set.

[0021] In an embodiment of the present application, the warning device comprises:

[0022] The walking base comprises a base body, a second driving device arranged on the base body, and a positioning control device, the second driving device is used to drive the base body to move, the second driving device and the positioning control device are respectively connected with the control device in communication, and the control device is used to control the second driving device to act according to a preset instruction according to signals sent by the positioning control device and the signal acquisition device.

[0023] The warning member is arranged on the base body.

[0024] In an embodiment of the present application, the second driving device comprises:

[0025] A second wheel group, a plurality of pairs of the second wheel groups are arranged at intervals along the length direction of the base body, and the second wheel group comprises two coaxially arranged Mecanum wheels.

[0026] A second driving motor, the second driving motor is in transmission connection with the Mecanum wheel.

[0027] In an embodiment of the present application, a warning light is arranged on the ice cream cone and / or the base body, and the warning light is used to be lighted when the positioning control device acquires a position signal or the second driving device acquires a starting signal of the control device.

[0028] In an embodiment of the present application, the collecting and releasing device comprises:

[0029] A lifting platform, the lifting platform is used to carry the warning device;

[0030] A lifting driving mechanism, the lifting platform is arranged on the base body in a lifting manner through the lifting driving mechanism, and the lifting platform can be driven by the lifting driving mechanism to move between a retracted position in which the lifting platform is flushly connected with the bottom surface of the outlet of the storage bin of the warning device and a release position in which the lifting platform is close to the ground.

[0031] In an embodiment of the present application, the lifting driving mechanism comprises:

[0032] A lifting motor;

[0033] A screw and sliding block mechanism, the screw is connected to the output end of the lifting motor, the sliding block is in screw thread cooperation with the screw, and the sliding block is connected with the lifting platform.

[0034] A belt transmission mechanism is arranged between the output end of the lifting motor and the lead screw, and the belt transmission mechanism comprises a driving wheel, a driven wheel and a transmission belt.

[0035] It can be seen from the above technical solution that the utility model discloses a highway obstacle disposal unmanned vehicle, which comprises a chassis system, a foreign matter collecting system and a warning device collecting and releasing system, wherein the chassis system comprises a chassis main body and a signal collecting device, a control device and a first driving device arranged on the chassis main body, the signal collecting device is used for collecting surrounding road condition information, the first driving device is used for driving the chassis system to move, and the control device is in communication connection with the signal collecting device and the first driving device respectively; the foreign matter collecting system is arranged on the chassis main body, and the foreign matter collecting system comprises a foreign matter picking device and a foreign matter storage device which are in communication connection with the control device, the foreign matter picking device is used for picking up foreign matters and placing the foreign matters in the foreign matter storage device; the warning device collecting and releasing system is arranged on the chassis main body, and the warning device collecting and releasing system comprises a warning device, a warning device storage bin and a collecting and releasing device, the warning device storage bin is used for storing the warning device, the collecting and releasing device is in communication connection with the control device, and the collecting and releasing device is used for releasing the warning device in the warning device storage bin to the ground or recycling the warning device on the ground to the warning device storage bin.

[0036] In application, the signal collecting device collects surrounding road condition information of the highway obstacle disposal unmanned vehicle, and sends the collected road condition information to the control device, the control device sends the road condition information to an upper computer, a user terminal or obtains a control instruction by self-analysis, the control device sends the control instruction to the first driving device, so that the first driving device drives the chassis system to move, and the control device analyzes the road foreign matter signal, if there is a small foreign matter in the surrounding road condition information, the control device controls the foreign matter collecting system to collect the small foreign matter, if the surrounding road condition information is a large foreign matter that cannot be collected by the foreign matter collecting system or a condition such as road damage, potholes and vehicle accidents occurs, the control device sends an abnormal alarm signal to the upper computer or the user terminal, sends the abnormal signal position to the user, and controls the warning device collecting and releasing system to release a preset number of warning devices at the abnormal position.

[0037] It can be seen that the above-mentioned highway obstacle disposal unmanned vehicle can realize remote control or automatic control, so as to realize unmanned driving and remote analysis and identification of road conditions, so as to perform corresponding processing, realize unmanned intelligent maintenance of bridges and roads, reduce maintenance cost and labor intensity, improve the maintenance efficiency of bridges and roads, and improve safety. BRIEF DESCRIPTION OF DRAWINGS

[0038] In order to more clearly illustrate the technical solutions of the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without any creative effort.

[0039] Figure 1 The structure diagram of the front view angle of the highway obstacle disposal unmanned vehicle disclosed in the embodiments of the present application is shown.

[0040] Figure 2 The structure diagram of the rear view angle of the highway obstacle disposal unmanned vehicle disclosed in the embodiments of the present application is shown.

[0041] Figure 3 The structure diagram of the warning device of the highway obstacle disposal unmanned vehicle disclosed in the embodiments of the present application is shown.

[0042] Figure 4 The structure diagram of the collecting and releasing device of the highway obstacle disposal unmanned vehicle disclosed in the embodiments of the present application is shown.

[0043] Figure 5 The structure diagram of the collecting and releasing device of the highway obstacle disposal unmanned vehicle disclosed in the embodiments of the present application is shown.

[0044] Figure 6 The structure diagram of the collecting and releasing device of the highway obstacle disposal unmanned vehicle disclosed in the embodiments of the present application is shown.

[0045] In the drawings:

[0046] 1 is a chassis system; 101 is a chassis main body; 102 is a first wheel group; 2 is a foreign matter collecting system; 201 is a multi-degree-of-freedom mechanical arm; 202 is a clamping jaw; 203 is a foreign matter storage device; 3 is an outer shell; 4 is a warning device; 401 is a base main body; 402 is a second wheel group; 403 is a popsicle tube; 404 is a warning light; 5 is a collecting and releasing device; 501 is a lifting platform; 502 is a lifting motor; 503 is a lead screw; 504 is a sliding block; 505 is a mounting bracket; 506 is a driving wheel; 507 is a driven wheel; 508 is a transmission belt; 509 is a guide sliding rail; 6 is a warning device storage bin; 7 is a display device. DETAILED DESCRIPTION

[0047] The present application discloses a highway obstacle disposal unmanned vehicle, and the structural design of the highway obstacle disposal unmanned vehicle can realize unmanned intelligent maintenance of bridge roads, reduce the cost and labor intensity of manual maintenance, and improve the maintenance efficiency of bridge roads.

[0048] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the utility model.

[0049] As shown in Figure 1 and Figure 2 shown, Figure 1 is a structural schematic view of a front view angle of the highway obstacle disposal unmanned vehicle disclosed in the embodiments of the utility model, Figure 2 is a structural schematic view of a rear view angle of the highway obstacle disposal unmanned vehicle disclosed in the embodiments of the utility model.

[0050] The highway obstacle disposal unmanned vehicle disclosed in the embodiments of the utility model comprises a chassis system 1, a foreign matter collection system 2 and a warning device winding and unwinding system.

[0051] The chassis system 1 comprises a chassis main body 101 and a signal acquisition device, a control device and a first driving device arranged on the chassis main body 101. The signal acquisition device is used for acquiring surrounding road condition information, and the first driving device is used for driving the chassis system to move. The control device is in communication connection with the signal acquisition device and the first driving device respectively. The chassis system 1 can be controlled in multiple ways, such as remote control. At this time, the signal acquisition device can be a video recording device. The signal acquisition device uploads the images of the front or surroundings of the chassis system 1 acquired by the video recording device to a user terminal through the control device. The user sends a remote control instruction to the control device through the user terminal to control the movement of the chassis system 1. Of course, the chassis system 1 can also be automatically controlled. At this time, the signal acquisition device comprises at least one of a video recording device and / or a laser radar, a millimeter wave radar, an ultrasonic radar and an infrared radar. Of course, the above-mentioned four kinds of radars are only preferred implementation schemes provided by the present application, and in practice, are not limited to the four kinds of radars. Those skilled in the art can select other radars or sensors according to needs, which are not limited herein.

[0052] As shown in Figure 1 in an embodiment of the present application, the first driving device comprises but is not limited to a wheel type driving device and a tracked type driving device. The wheel type driving device is flexible in movement, low in cost, fast in speed, small in fuel consumption, has strong off-road capability, strong passing capacity, bearing capacity and climbing capacity, and has good stability and durability.

[0053] In an embodiment of the present application, the first driving device comprises a first wheel set, a steering mechanism and a first driving motor, wherein a plurality of pairs of the first wheel set are arranged at intervals along the length direction of the chassis body, the steering mechanism is in driving connection with a pair of the first wheel set, the first wheel set in driving connection with the steering mechanism comprises an intermediate shaft, a universal connector, two wheels and a steering four-bar linkage structure, the two wheels are respectively connected to the two ends of the intermediate shaft through the universal connector, and the two ends of the steering four-bar linkage structure are respectively in rotational connection with the two wheels to drive the two wheels to rotate synchronously relative to the intermediate shaft, and the first driving motor is in driving connection with at least one pair of the first wheel set.

[0054] The foreign matter collecting system 2 is arranged on the chassis body 101, and comprises a foreign matter picking device and a foreign matter storage device 203 in communication connection with the control device, the foreign matter picking device is used for picking up foreign matters and placing the foreign matters in the foreign matter storage device 203, and the foreign matter picking device includes but is not limited to a negative pressure adsorption device and a mechanical arm grabbing device, and a structure of a combination of a sweeping disc and a negative pressure adsorption device can also be adopted, that is, the sweeping disc is used for sweeping the foreign matters on the road surface of the road obstacle to below the adsorption port of the negative pressure adsorption device, the foreign matters are adsorbed into the foreign matter storage device 203 by the negative pressure adsorption device, and the foreign matter storage device 203 can be in an integrated structure with the chassis body 101 or detachably arranged on the chassis body 101, so as to facilitate the user to detach the foreign matter storage device 203 from the chassis body 101 for cleaning after disposal is completed.

[0055] The warning device collecting and releasing system is arranged on the chassis body 101, and comprises a warning device, a warning device storage bin 6 and a collecting and releasing device 5, the warning device storage bin 6 is used for storing the warning device 4, the warning device 4 has a self-moving function, can be self-adjusted to a suitable position when the chassis system 1 releases the warning device 4 to a target position, and can be conveniently collected by the collecting and releasing device 5 through the movement of the warning device 4 when the collecting and releasing device 5 collects the warning device 4, a plurality of warning devices 4 are stored in the warning device storage bin 6, so as to subsequently perform omnibearing and multi-angle early warning on large foreign matters or ensure that the number of the warning devices 4 is sufficient in the case that a plurality of large foreign matters appear in the process of long-distance inspection.

[0056] The collecting and releasing device 5 is in communication connection with the control device, and is used for releasing the warning device 4 in the warning device storage bin 6 to the ground or collecting the warning device 4 on the ground to the warning device storage bin 6, according to the different structures of the warning device 4, the collecting and releasing device 5 includes but is not limited to a negative pressure grabbing device, a mechanical arm grabbing device or other structures with lifting and / or rotating functions.

[0057] In application, the signal acquisition device acquires the road condition information around the highway obstacle disposal unmanned vehicle, and sends the acquired road condition information to the control device, the control device sends the road condition information to the upper computer, the user terminal or obtains the control instruction by self-analysis, the control device sends the control instruction to the first driving device, so that the first driving device drives the chassis system 1 to move, and the control device analyzes the road foreign matter signal, if there is small foreign matter in the surrounding road condition information, the control device controls the foreign matter collection system 2 to collect the small foreign matter, if the surrounding road condition information is large foreign matter that cannot be collected by the foreign matter collection system 2 or the road damage, pothole, vehicle accident and the like, the control device sends an abnormal alarm signal to the upper computer or the user terminal, sends the abnormal signal position to the user, and controls the warning device release system to release a preset number of warning devices 4 at the abnormal position.

[0058] Compared with the prior art, the highway obstacle disposal unmanned vehicle provided by the embodiment of the utility model can realize remote control or automatic control, thereby realizing unmanned driving and remote analysis and identification of road conditions, so that corresponding processing can be carried out, the signal acquisition device, the foreign matter collection system 2 and the warning device release system are integrated on the chassis system 1, the control device can acquire the road condition information around the highway obstacle disposal unmanned vehicle in real time through the signal acquisition device, so as to plan the route of the highway obstacle disposal unmanned vehicle, realize automatic navigation and foreign matter identification, and can judge the foreign matter and the accident by itself, take different measures, for small foreign matter on the road, the foreign matter collection system 2 is used to put the small foreign matter into the foreign matter storage device 203 on the front side of the highway obstacle disposal unmanned vehicle, for large foreign matter on the road, road damage, pothole, vehicle accident and the like, the highway obstacle disposal unmanned vehicle releases the warning device, and abnormal alarm is carried out around the large foreign matter on the road, road damage, pothole, vehicle accident and the like, so as to remind the passing vehicles and provide early warning protection for the passing vehicles, the control device can also send the road abnormal position to the upper computer, so as to carry out rescue and maintenance, can realize unmanned intelligent maintenance of the bridge road, reduce the maintenance cost and labor intensity, liberate manpower and maintenance cost, and greatly improve the safety of personnel, and improve the maintenance efficiency of the bridge road.

[0059] Specifically, as Figure 1 and Figure 2As shown, in an embodiment of the present application, the foreign object picking device comprises a multi-degree-of-freedom robot arm 201 and an image acquisition device, one end of the multi-degree-of-freedom robot arm 201 is arranged on the chassis main body 101, the other end is provided with a movable gripper 202, the multi-degree-of-freedom robot arm 201 and the gripper 202 are respectively in communication connection with a control device; the image acquisition device is in communication connection with the control device, the control system is used for identifying the image acquired by the image acquisition device and sending the control signal generated according to the image to the multi-degree-of-freedom robot arm 201 and the gripper 202, the image acquisition device and the above-mentioned signal acquisition device can be the same device, or can be different devices, the control device analyzes and obtains the size and position information of the foreign object according to the image acquired by the image acquisition device, and then controls the movement of the multi-degree-of-freedom robot arm 201 and the grabbing of the gripper 202 according to the size and position information of the foreign object obtained.

[0060] The above-mentioned gripper 202 comprises at least two gripper parts and a grabbing driving mechanism for driving the relative movement of each gripper part, taking the case that the gripper 202 comprises two gripper parts, the two gripper parts can move linearly reciprocatingly, therefore the grabbing driving mechanism can be a piston cylinder such as a hydraulic cylinder or an air cylinder, or the grabbing driving mechanism can be a linear motor, or the grabbing driving mechanism can comprise a rotary motor and a transmission mechanism, the transmission mechanism is used for converting the rotation of the rotary motor into linear reciprocating movement, the transmission mechanism comprises but is not limited to a gear and rack mechanism, a screw and slider mechanism, a cam and connecting rod mechanism.

[0061] In order to realize accurate and effective grabbing, the foreign object picking device further comprises a foreign object sensing device arranged on the gripper 202, the foreign object sensing device comprises a pre-pressing part and a trigger sensor, the pre-pressing part is arranged between the two gripper parts, the two gripper parts of the gripper 202 are movably arranged on the base, the pre-pressing part is elastically arranged on the base through a pre-pressing spring, the trigger sensor is arranged on the base, after the gripper 202 grabs the foreign object, the pre-pressing part moves to the direction of the trigger sensor under the action of the foreign object and against the pre-pressing spring, when the pre-pressing part contacts the trigger sensor or approaches to within a certain distance of the trigger sensor, the trigger sensor sends a signal to the control device, so that the control device obtains the signal that the foreign object is grabbed, when the control device receives the signal, the control device controls the multi-degree-of-freedom robot arm 201 to move to the direction of the foreign object storage device 203.

[0062] For ease of cleaning, in this embodiment, the foreign object storage device 203 is detachably mounted on the chassis body 101 via a quick-release structure. After the cruise, the foreign object storage device 203 can be quickly removed from the chassis body 101 for cleaning. The quick-release structure includes, but is not limited to, snap-fit ​​and latch structures. Of course, other methods can also be used to achieve quick cleaning of the foreign object storage device 203. For example, the foreign object storage device 203 can be flipped onto the chassis body 101. Alternatively, in another embodiment of this application, the foreign object storage device 203 includes a housing and a baffle, wherein the housing is provided with an upper inlet... The container has an upper inlet for foreign objects to enter and a lower outlet for releasing collected foreign objects. A baffle is movably mounted on the container via a first actuator connected to a control device. The baffle can be moved between two positions—blocking the lower outlet and opening the lower outlet—driven by the first actuator. When the unmanned vehicle for handling road obstacles returns to the station, the control device receives a user instruction or when the unmanned vehicle for handling road obstacles arrives at the designated location at the station. The control device then controls the first actuator to move the baffle to open the lower outlet and release the foreign objects from the foreign object storage device 203.

[0063] To further optimize the above technical solution, in order to prevent lighter foreign objects in the foreign object storage device 203 from being blown out of the upper inlet of the foreign object storage device 203 due to wind force during the movement of the unmanned vehicle for handling road obstacles, in one embodiment of this application, the foreign object storage device 203 also includes a cover plate. The cover plate is movably disposed in the housing through a second actuator. The second actuator is communicatively connected to the control device. The cover plate can be driven by the second actuator to move between two positions: blocking the upper inlet and opening the upper inlet. When the foreign object sensing device emits a sensing signal, the control device controls the second actuator to drive the cover plate to open the upper inlet of the housing. At other times, the second actuator drives the cover plate to close the upper inlet of the housing.

[0064] like Figure 3 As shown, in one embodiment of this application, the warning device 4 includes a walking base and warning components. The walking base includes a base body 401, a second driving device disposed on the base body 401, and a positioning control device. The second driving device is used to drive the base body 401 to move. The second driving device and the positioning control device are respectively communicatively connected to a control device. The control device is used to control the second driving device to act according to preset instructions based on signals sent by the positioning control device and the signal acquisition device. The warning components are disposed on the base body 401. The warning components include, but are not limited to, traffic cones 403, triangular markers, etc., and reflective strips or warning lights can be provided on the surface of the traffic cones 403, triangular markers, etc., such as... Figure 3 As shown.

[0065] Please refer to Figure 3 The second driving device comprises a second wheel set 402 and a second driving motor, wherein a plurality of pairs of the second wheel set 402 are arranged at intervals along the length direction of the base body 401, the second wheel set 402 comprises two coaxially arranged Mecanum wheels, and the second driving motor is in transmission connection with the Mecanum wheels. By driving the Mecanum wheels at different positions to rotate forward or reversely, the omnidirectional movement function of the warning device 4 can be realized more flexibly and conveniently.

[0066] The positioning control device is configured to send the position information of the warning device 4 to the control device in real time, the control device controls the second driving device to act according to the position information sent by the positioning control device, and when the warning device 4 reaches the specified position, the control device can upload the position information sent by the positioning control device to the upper computer or feedback to the user terminal.

[0067] In order to improve the recognition of the warning device 4, in an embodiment of the present application, as shown in Figure 3 , the ice cream tube 403 and / or the base body 401 are provided with warning lights 404, which are used to light up when the positioning control device acquires the position signal or the second driving device acquires the starting signal of the control device.

[0068] As shown in Figure 4 , in an embodiment of the present application, the storage and release device 5 comprises a lifting platform 501 and a lifting driving mechanism, wherein the lifting platform 501 is used to carry the warning device 4, the lifting platform 501 can hold one or more warning devices 4, the lifting platform 501 is arranged on the base body 101 in a lifting manner through the lifting driving mechanism, and the lifting platform 501 can be driven by the lifting driving mechanism to move between a retracted position in which the bottom surface of the outlet of the warning device storage bin 6 is flushly connected and a release position close to the ground. It should be noted that generally one warning device 4 needs to be placed on each side of the obstacle, that is, two warning devices 4 need to be released synchronously, and therefore the above-mentioned lifting platform 501 can hold at least one set of two warning devices 4 at the same time. When reaching the position of releasing the warning device 4, the lifting driving mechanism acts to move the lifting platform 501 from the position shown in Figure 5 to the ground direction until the lifting platform 501 is lowered to a state close to flush with the ground, as shown in Figure 6 .

[0069] Then the warning device 4 starts to move on the ground to the target position away from the lifting platform 501 and reaches the abnormal road position point. At the same time, after the warning device 4 leaves the lifting platform 501, the lifting platform 501 is raised to prepare for the take-off and landing work of the next set of warning devices 4, and another set of warning devices 4 in the warning device storage bin 6 moves to the lifting platform 501 for the next release.

[0070] Further optimization of the above technical solutions, the device 5 also includes a detection device, the detection device is arranged on the lifting platform 501 or arranged in the warning device storage 6, the detection device is used for detecting whether there is warning device 4 on the lifting platform 501, the detection device includes but not limited to infrared sensor, proximity switch, micro switch.

[0071] In the initial state, the lifting platform 501 is in the retracted position, as shown in Figure 5 The detection device detects whether there is warning device 4 on the lifting platform 501, if there is no warning device 4 on the lifting platform 501, the control device controls the second drive device of the warning device 4 to move to the lifting platform 501, when the detection device is triggered, the control device controls the second drive device to stop, so as to facilitate the release of the warning device 4 when the abnormal road condition is found, to improve the release efficiency, of course, the warning device 4 can also be controlled to move to the lifting platform 501 when the abnormal road condition has been found.

[0072] When the signal acquisition device acquires the surrounding road condition signal, the lifting drive mechanism drives the lifting platform 501 to descend, until the lifting platform 501 approaches the ground, as shown in Figure 6 The control device controls the second drive device of the warning device 4 to move away from the lifting platform 501.

[0073] As shown in Figure 4 In an embodiment of the present application, the lifting drive mechanism includes a lifting motor 502 and a screw block mechanism, wherein the screw block mechanism includes a screw rod 503 and a sliding block 504, the screw rod 503 is connected to the output end of the lifting motor 502, the sliding block 504 is threadedly engaged with the screw rod 503, and the sliding block 504 is connected with the lifting platform 501.

[0074] Specifically, the lifting drive mechanism further includes a mounting bracket 505, which is detachably arranged on the chassis body 101, or the mounting bracket 505 is an integral structure with the chassis body 101, the mounting bracket 505 is provided with a guide slide rail 509, the sliding block 504 is slidingly engaged with the guide slide rail 509, the screw rod 503 is rotatably arranged on the mounting bracket 505, the lifting motor 502 drives the screw rod 503 to rotate, the screw thread pair between the screw rod 503 and the sliding block 504 converts the rotation of the screw rod 503 into the linear reciprocating movement of the sliding block 504, thereby realizing the lifting of the lifting platform 501.

[0075] Further, the mounting bracket 505 is further provided with a limiting slide rail parallel to the guide slide rail 509, and the sliding block 504 is slidingly engaged with the limiting slide rail to limit the rotation of the sliding block 504.

[0076] For convenient arrangement on the chassis body 101, as shown inFigure 4 As shown, the lifting driving mechanism further comprises a belt transmission mechanism, the output end of the lifting motor 502 is connected with the lead screw 503 through the belt transmission mechanism, the belt transmission mechanism comprises a driving wheel 506, a driven wheel 507 and a transmission belt 508, the driving wheel 506 is arranged at the output end of the lifting motor 502, the driven wheel 507 is coaxially arranged on the lead screw 503, and the transmission belt 508 is arranged around the driving wheel 506 and the driven wheel 507 to drive and connect the driving wheel 506 and the driven wheel 507. Through the belt transmission mechanism, the lifting motor 502 can be arranged on one side of the lead screw block mechanism, thereby reducing the size of the lifting driving mechanism along the axial direction of the lead screw 503, and facilitating the arrangement of the lifting driving mechanism on the chassis body 101.

[0077] As shown in Figure 5 and Figure 6 Generally, at least two warning devices 4 are needed when the surrounding road condition information is abnormal, such as the presence of large foreign matters, road damage, potholes, vehicle accidents and the like, so in the illustrated embodiment, the size of the lifting platform 501 enables it to carry two warning devices 4 at the same time. When the surrounding road condition information is abnormal, i.e. there are large foreign matters that cannot be collected by the foreign matter collection system 2 or road damage, potholes, vehicle accidents and the like, the control device controls the lifting driving mechanism to drive the lifting platform 501 to move downward to the release position. When the road obstacle disposal unmanned vehicle moves to the abnormal position, the two warning devices 4 start to drive away from the lifting platform 501 and send position information to the control device in real time through the self-positioning control device. The control device controls the two warning devices 4 to drive to two preset points close to the abnormal position according to the preset instructions.

[0078] Of course, more than two warning devices 4 can be released at the same time or only one warning device 4 can be released, and the process is similar to the above process and will not be described in detail.

[0079] When the abnormality of the surrounding road condition information is handled, the user can send a signal to the control device of the road obstacle disposal unmanned vehicle through the upper computer or the user terminal. The road obstacle disposal unmanned vehicle returns to the abnormal position and moves the empty lifting platform 501 to the release position through the lifting driving mechanism. At this time, the warning devices 4 at the abnormal position return to the lifting platform 501, and the lifting platform 501 moves to the retraction position under the driving of the lifting driving mechanism, completing the recycling of the warning devices 4.

[0080] As shown in Figure 2 The road obstacle disposal unmanned vehicle further comprises a display device 7, which is arranged on the chassis body 101. The display device 7 is in communication connection with the control device, and is used to display the real-time state of the chassis system 1, the foreign matter collection system 2, the warning device storage and release system and the warning device 4.

[0081] AsFigure 1 and Figure 2 As shown in the figure, the road obstacle disposal unmanned vehicle further comprises a shell 3, which is buckled on the chassis body 101 to form a closed or semi-closed space, which plays a role of shielding the internal components of the road obstacle disposal unmanned vehicle, such as the control device and the warning device stowing system.

[0082] The display device 7 is arranged on the shell 3 or the chassis body 101, the shell 3 or the chassis body 101 is provided with a recess, the opening of the recess is provided with a transparent cover plate, the transparent cover plate and the recess are sealingly matched to form a closed cavity accommodating the display device 7, and the mounting structure of the display device 7 can play a waterproof and light shielding effect to protect the display device 7.

[0083] It should be noted that each embodiment in the specification is described in a progressive manner, and each embodiment focuses on the difference from other embodiments, and the same and similar parts between the embodiments can be referred to each other.

[0084] The principle and implementation mode of the present application are described by using specific examples, and the above description of the embodiments is only used to help understand the core idea of the present application. It should be pointed out that for ordinary skilled in the art, without departing from the principle of the present application, the present application can be improved and modified in several ways, and these improvements and modifications also fall within the protection scope of the claims of the present application.

Claims

1. A highway obstacle disposal unmanned vehicle, characterized in that, The application relates to a bottom plate system, a foreign matter collecting system and a warning device collecting and releasing system. The bottom plate system comprises a bottom plate body and a signal collecting device, a control device and a first driving device arranged on the bottom plate body, the signal collecting device is used for collecting surrounding road condition information, the first driving device is used for driving the bottom plate system to move, and the control device is in communication connection with the signal collecting device and the first driving device respectively. The foreign matter collecting system is arranged on the bottom plate body, and comprises a foreign matter picking device and a foreign matter storage device which are in communication connection with the control device, the foreign matter picking device is used for picking foreign matters and placing the foreign matters in the foreign matter storage device. The warning device collecting and releasing system is arranged on the bottom plate body, and comprises a warning device, a warning device storage bin and a collecting and releasing device, the warning device storage bin is used for storing the warning device, the collecting and releasing device is in communication connection with the control device, and the collecting and releasing device is used for releasing the warning device in the warning device storage bin to the ground or recycling the warning device on the ground to the warning device storage bin.

2. The highway barricade disposal unmanned vehicle of claim 1, wherein, The foreign matter picking device comprises a multi-degree-of-freedom mechanical arm, one end of the multi-degree-of-freedom mechanical arm is arranged on the bottom plate body, the other end of the multi-degree-of-freedom mechanical arm is provided with a movable clamp jaw, and the multi-degree-of-freedom mechanical arm and the clamp jaw are in communication connection with the control device respectively. An image collecting device is in communication connection with the control device, and the control device is used for identifying images collected by the image collecting device and sending control signals generated according to the images to the multi-degree-of-freedom mechanical arm and the clamp jaw. The foreign matter storage device comprises a box body provided with an upper end inlet and a lower end outlet.

3. The highway barricade disposal unmanned vehicle of claim 1, wherein, A baffle is movably arranged in the box body through a first executing device, the first executing device is in communication connection with the control device, and the baffle can be driven by the first executing device to move between two positions of blocking the lower end outlet and opening the lower end outlet. The foreign matter storage device further comprises a cover plate movably arranged in the box body through a second executing device, the second executing device is in communication connection with the control device, and the cover plate can be driven by the second executing device to move between two positions of blocking the upper end inlet and opening the upper end inlet. The first driving device comprises a first wheel group, a plurality of pairs of the first wheel groups are arranged along the length direction of the bottom plate body.

4. The highway barricade disposal unmanned vehicle of claim 3, wherein, A steering mechanism is in transmission connection with a pair of the first wheel groups. A first driving motor is in transmission connection with at least one pair of the first wheel groups.

5. The highway barricade disposal unmanned vehicle according to any one of claims 1-4, wherein, The warning device comprises ​ ​ ​ 6. The highway barricade disposal unmanned vehicle according to any one of claims 1-4, wherein, ​ The walking base comprises a base body, a second driving device arranged on the base body and a positioning control device, the second driving device is used for driving the base body to move, the second driving device and the positioning control device are respectively connected with the control device in communication, and the control device is used for controlling the second driving device to act according to a preset instruction according to signals sent by the positioning control device and the signal acquisition device. The warning member is arranged on the base body.

7. The highway barricade disposal unmanned vehicle of claim 6, wherein, The second driving device comprises: A plurality of pairs of second wheel groups are arranged along the length direction of the base body, and each second wheel group comprises two coaxially arranged Mecanum wheels. The second driving motor is in transmission connection with the Mecanum wheels.

8. The highway barricade disposal unmanned vehicle of claim 6, wherein, The warning member and / or the base body is provided with a warning light, and the warning light is used for lighting when the positioning control device acquires a positioning signal or the second driving device acquires a starting signal of the control device.

9. The highway barricade disposal unmanned vehicle of claim 6, wherein, The folding device comprises: The lifting platform is used for carrying the warning device. The lifting platform is arranged on the base body in a lifting manner through the lifting driving mechanism, and the lifting platform can be driven by the lifting driving mechanism to move between a retracted position in which the lifting platform is flushly connected with the bottom surface of the outlet of the storage bin of the warning device and a release position in which the lifting platform is close to the ground.

10. The highway barricade disposal unmanned vehicle of claim 9, wherein, The lifting driving mechanism comprises: The lifting motor; The screw block mechanism comprises a screw rod and a sliding block, the screw rod is connected to the output end of the lifting motor, the sliding block is in screw cooperation with the screw rod, and the sliding block is connected with the lifting platform; The belt transmission mechanism comprises a driving wheel, a driven wheel and a transmission belt, the driving wheel is arranged on the output end of the lifting motor, the driven wheel is coaxially arranged on the screw rod, and the transmission belt is arranged around the driving wheel and the driven wheel to drive the driving wheel and the driven wheel in transmission connection.

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