Obstacle avoidance walking mechanism

Abstract

The utility model discloses an obstacle avoidance walking mechanism, including a plurality of sensors for detecting roof gutter column, a plurality of wheels for making equipment move on the gutter of roof left and right sides and with a plurality of wheels one to one for driving corresponding wheel along the inside or outside of chassis frame of equipment left and right direction displacement unit, a plurality of sensors are fixed respectively in the front and back two sides of chassis frame, a plurality of wheels are arranged in the left and right two sides of chassis frame, and all be located between a plurality of sensors of front and back two sides, and each wheel is driven by a second drive motor respectively, and the second drive motor is fixed on the wheel seat corresponding to the wheel one to one, and the wheel seat is connected with chassis frame through corresponding displacement unit. The utility model can intelligently identify and avoid gutter column, solve the existing equipment jam collision problem, and have bidirectional obstacle avoidance function, can adapt complex walking scene, improve operation flexibility.

Description

Technical Field

[0001] This utility model belongs to the technical field of ceiling cleaning equipment, and in particular relates to an obstacle avoidance walking mechanism. Background Technology

[0002] As an important facility for modern agricultural production, the cleanliness of the greenhouse roof directly affects light transmittance, which in turn relates to the photosynthetic efficiency and growth quality of crops inside. Therefore, regular cleaning of the greenhouse roof is one of the key aspects of ensuring the effective operation of the greenhouse.

[0003] Currently, greenhouse roof cleaning mainly relies on two methods: manual cleaning and automatic cleaning. Manual cleaning involves using hand tools or simple auxiliary equipment. However, this method has significant drawbacks: firstly, it is inefficient, especially for large greenhouses, requiring substantial manpower and time; secondly, greenhouse roofs are typically quite high, posing safety risks for manual work at heights, and rising labor costs result in high overall cleaning costs. The second method involves automated cleaning machines. Some existing technologies have developed automated equipment that can move across the roof and perform cleaning actions, improving cleaning efficiency and reducing reliance on manual labor to some extent.

[0004] However, in practical applications, many greenhouses install shading canopies above the roof to achieve shading control. The supporting structure of the shading canopy is usually a series of columns on the gutters on both sides of the roof (i.e., multiple columns spaced along the length of the gutters to support the shading canopy). Most existing automatic cleaning machines have a fixed wheelbase design, with their wheels traveling directly along the gutters. When columns are present in the gutters, they obstruct the continuous movement of the equipment, causing it to be unable to pass normally, or even resulting in jamming, collision damage, or other problems. Utility Model Content

[0005] Based on this, an obstacle avoidance walking mechanism is provided to address the aforementioned technical problems.

[0006] The technical solution adopted in this utility model is as follows:

[0007] An obstacle avoidance walking mechanism is characterized by comprising multiple sensors for detecting ceiling gutter columns, multiple wheels for moving the device back and forth on the left and right sides of the ceiling gutter, and displacement units corresponding to the multiple wheels for driving the corresponding wheels to move inward or outward along the left and right directions of the chassis frame of the device. The multiple sensors are respectively fixed on the front and rear sides of the chassis frame, and the multiple wheels are arranged on the left and right sides of the chassis frame, and are all located between the multiple sensors on the front and rear sides. Each wheel is driven by a second drive motor, and the second drive motor is fixed on a wheel seat corresponding to each wheel. The wheel seat is connected to the chassis frame through the corresponding displacement unit.

[0008] The beneficial effects of this utility model are as follows:

[0009] 1. Intelligently identifies and avoids gutter pillars, resolving existing equipment jamming and collision issues.

[0010] This obstacle avoidance and walking mechanism uses multiple sensors installed on the front and rear sides of the chassis frame to detect the positions of the pillars on the left and right sides of the canopy in real time. When the equipment moves forward or backward on the canopy, the sensors can identify the pillar obstacles in advance. In conjunction with the displacement units corresponding to each wheel, the corresponding wheels are driven to move inward in the left and right directions to avoid the pillar, and then move outward to return to their original positions after passing through. This design directly solves the problem of existing automatic cleaning equipment being unable to pass through normally, getting stuck, or being damaged by collisions due to its fixed wheelbase, ensuring continuous and stable movement of the equipment on canopies with pillars and guaranteeing the continuity of cleaning operations.

[0011] 2. Two-way obstacle avoidance adapts to complex walking scenarios, improving operational flexibility.

[0012] Multiple sensors are positioned on the front and rear sides of the chassis frame, with the wheels located between them, enabling the equipment to detect gutter supports during both forward and reverse movements. Regardless of whether the equipment is cleaning in the forward or reverse direction, obstacle avoidance actions can be triggered by the sensors, avoiding the risk of "return collision" caused by one-way detection. This adapts to the complex multi-directional movement scenarios in greenhouse roof cleaning, improving the flexibility and safety of equipment operation. Attached Figure Description

[0013] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments:

[0014] Figure 1 A three-dimensional structural diagram of an intelligent ceiling cleaning machine provided for an embodiment of this utility model;

[0015] Figure 2 This is a schematic diagram of the walking mechanism according to an embodiment of the present utility model;

[0016] Figure 3 This is a schematic diagram of the hoisting mechanism according to an embodiment of the present utility model. Detailed Implementation

[0017] The embodiments of this utility model will be described below with reference to the accompanying drawings. It should be noted that the embodiments described in this specification are not exhaustive and do not represent the only embodiments of this utility model. The following corresponding embodiments are only for clearly illustrating the utility model content of this patent and are not intended to limit its implementation. For those skilled in the art, different variations and modifications can be made based on the described embodiments. Any obvious variations or modifications that fall within the technical concept and utility model content of this utility model are also within the protection scope of this utility model.

[0018] like Figure 1 As shown in the figure, this application provides an intelligent ceiling cleaning machine, including a chassis frame 1100, a spraying assembly 1200, a roller brush assembly 1300, an obstacle avoidance walking mechanism 1400, a hoisting mechanism 1500, and a controller 1600.

[0019] In this embodiment, the ceiling adopts an inverted V-shaped structure, and correspondingly, as shown... Figure 1 As shown, the chassis frame 1100 is an inverted V-shaped structure that is adapted to the roof and is made up of multiple pipes spliced ​​together.

[0020] like Figure 1 As shown, there is one spray assembly 1200, which includes two spray pipes 1210 in the left and right directions. The spray pipes 1210 are supplied with liquid by the liquid supply pipe. The two spray pipes 1210 are parallel to the two inclined surfaces of the inverted V-shaped ceiling, that is, the two spray pipes 1210 are arranged sequentially along the contour of the ceiling in the left and right directions. It can be understood that the number of spray pipes 1210 in the spray assembly 1200 can also be more than two. The circumferential surface of each spray pipe 1210 has multiple connecting pieces 1211 in the front and rear directions. The connecting piece 1211 has a hoop ring 1212 on the pipe at the front end of the chassis frame 1100. The circumferential surface of the spray pipe 1210 also has multiple nozzles 1213 for spraying liquid onto the ceiling. The multiple nozzles 1213 are arranged at intervals from left to right.

[0021] There are two roller brush assemblies 1300, which are located in the middle of the chassis frame 1100 and arranged one in front of the other. Each roller brush assembly 1300 includes two roller brushes 1310 in the left-right direction. The two roller brushes 1310 are parallel to the two inclined surfaces of the inverted V-shaped ceiling, that is, the two roller brushes 1310 are arranged sequentially along the contour of the ceiling in the left-right direction. It can be understood that the number of roller brushes 1310 in the roller brush assembly 1300 can also be more than two. The front and rear ends of each roller brush 1310 are rotated and fixed on the chassis frame 1100 and driven by the first drive motor 1320.

[0022] like Figure 1 and Figure 2As shown, the obstacle avoidance walking mechanism 1400 includes a sensor 1410, a wheel 1420, and a displacement unit 1430.

[0023] There are four sensors 1410, which are fixed in pairs on the front and rear sides of the chassis frame 1100, specifically at the four corners of the chassis frame 1100, and are used to detect the gutter columns on both sides of the ceiling during the forward and backward movement of the equipment.

[0024] There are eight wheels 1420, which are respectively set on the left and right sides of the chassis frame 1100, and are used to move the cleaning equipment back and forth on the gutters on the left and right sides of the ceiling.

[0025] The eight wheels 1420 are located between the four sensors 1410 on the front and rear sides. Each wheel 1420 is driven by a second drive motor 1421, which is fixed to a wheel seat 1422 corresponding to each wheel 1420. (See Figure 1421 for details.) Figure 2 .

[0026] The number of displacement units 1430 is the same as that of wheels 1420, corresponding one-to-one with the eight wheels 1420. They are used to drive the corresponding wheels 1420 to move inward or outward along the left and right directions of the chassis frame 1100. Each wheel seat 1422 is connected to the chassis frame 1100 through the corresponding displacement unit 1430.

[0027] Specifically, such as Figure 2 As shown, the displacement unit 1430 includes a four-bar linkage 1431 and an electric cylinder 1432. The four-bar linkage 1431 has a conventional structure, and its specific structure is not specifically limited here. The four-bar linkage 1431 is connected between the wheel seat 1422 and the chassis frame 1100. The electric cylinder 1432 is located above the four-bar linkage 1431. It is arranged outward from top to bottom along the left and right direction of the chassis frame 1100 and is rotatably connected to the chassis frame 1100 through the hinge seat 1433. The output shaft 1432a of the electric cylinder 1432 is connected to the wheel seat 1422.

[0028] Based on the above structure, when the sensor 1410 detects the column, the electric cylinder 1432 can drive the wheel 1420 to make circular motion under the constraint of the four-bar linkage 1431, thereby realizing the inward and outward movement of the wheel 1420.

[0029] like Figure 1 As shown, there are two hoisting mechanisms 1500. The two hoisting mechanisms 1500 are symmetrically arranged at the rear of the left and right sides of the chassis frame 1100, and are used to wind up and unwind the cable (the cable is used to connect to the external power supply to power the various electrical components on the cleaning equipment) and the liquid supply pipe, respectively.

[0030] like Figure 3As shown, the hoisting mechanism 1500 includes a support frame 1510, a take-up and release roller 1520, a lead screw 1530, a third drive motor 1540, a guide frame 1550, and a movable pressure plate 1560.

[0031] The support frame 1510 is a horizontal rectangular frame structure, which is fixed to the chassis frame 1100.

[0032] The take-up and undo roller 1520 is used to take up and undo cable rolls or liquid supply pipe rolls. It is arranged in front of and behind the lead screw 1530, and both ends of the rollers are fixed to the support frame 1510 by rotating back and forth via a rotating seat.

[0033] The third drive motor 1540 synchronously drives the take-up and release rollers 1520 and the lead screw 1530 via a synchronous belt and a synchronous pulley.

[0034] The guide frame 1550 is fixed on the nut seat of the lead screw 1530, and two guide wheels 1551 are mounted on it to rotate back and forth. The two guide wheels 1551 are arranged vertically, and each guide wheel 1551 has an annular groove on its circumference. The annular grooves of the two guide wheels 1551 fit together to form a channel for the cable or liquid supply pipe to pass through.

[0035] Based on the above structure, while the take-up and unwind rollers 1520 are winding or unwinding, the lead screw 1530 rotates synchronously to move the guide frame 1550 left and right, thus preventing the wire from getting stuck.

[0036] The movable pressure plate 1560 is used to rest against the cable roll or liquid supply pipe roll on the take-up and untake-down roller 1520. Its lower front end is fixed to the support frame 1510 by rotating back and forth, and an IMU sensor 1561 is provided on it.

[0037] There are two controllers 1600, each housed in an electrical control box 1610. They are respectively connected to the first drive motor 1320, the second drive motor 1421, the sensor 1410, the displacement unit (electric cylinder 1432), the third drive motor 1540, and the IMU sensor 1561 on the same side. The two electrical control boxes 1610 are symmetrically fixed to the front of the left and right sides of the chassis frame 1100.

[0038] The cleaning process of the intelligent ceiling cleaning equipment in this embodiment is as follows:

[0039] The cleaning equipment is placed on the lifting platform of the transport vehicle. The lifting platform rises and connects with the left and right gutters of the roof. Then, the controller controls the walking mechanism to start, so that the cleaning equipment moves to the rear end of the roof and continues to move forward. At this time, the wheels on the left and right sides of the cleaning equipment are located on the left and right gutters of the roof respectively.

[0040] After the cleaning equipment is moved onto the ceiling, the controller starts the spraying and brushing components, allowing the cleaning equipment to spray and brush the ceiling as it moves forward, thus cleaning the ceiling.

[0041] When the cleaning equipment moves to the front end of the ceiling, it retracts under the control of the controller and shuts off the spray assembly and roller brush assembly.

[0042] During the forward and backward movement, the two controllers detect the gutter posts on the same side using sensors on the same side. Whenever a gutter post is detected, the two controllers control the walking mechanism to make multiple wheels on the same side move inward to avoid the post and then move outward back to their original positions relative to the detected post, from near to far.

[0043] Furthermore, during the forward and reverse processes, the two winch mechanisms 1500 need to unwind and rewind. In order to maintain a constant tension of F and a constant speed of v for the cable and the liquid supply pipe, the controller 1600 determines the radius of the cable reel or liquid supply pipe reel in real time based on the detection data of the IMU sensor 1561, and adjusts the torque and speed of the third drive motor 1540 in real time according to the radius. The specific process is as follows:

[0044] 1. Based on the triaxial angular velocity ω and triaxial acceleration a measured by IMU sensor 1561, the attitude quaternion q of IMU sensor 1561 is calculated using extended Kalman filtering.

[0045] Among them, the xy plane of the IMU sensor 1561 is parallel to the plane of the movable pressure plate 1560, the z-axis points away from the take-up and release rollers 1520, the x-axis is perpendicular to the rotation axis of the movable pressure plate 1560 and points away from the rotation axis, and the y-axis is parallel to the rotation axis of the movable pressure plate 1560 and points in the direction of the z×x cross product.

[0046] 2. Calculate the projection y′ of the current IMU sensor 1561 unit vector in the y-direction onto the horizontal plane of the reference coordinate system, and calculate the rotation quaternion q′ (real part q′) of y′ onto the y-axis of the IMU sensor 1561 reference coordinate system. w The imaginary part vector is q′ v ):

[0047] y = q × [0 0 1 0] × q *

[0048] y′=[y x y y 0]

[0049] q′ w =y′·[0 1 0]+||y′||

[0050] q′v=y′×[0 1 0]

[0051]

[0052] 3. Applying q′ before q eliminates the rotation of the IMU reference coordinate system around the z-axis, resulting in the IMU's attitude q0 = q′ × q relative to the world coordinate system. Here, the world coordinate system refers to:

[0053] 1) The y-axis of the world coordinate system is the projection of the IMU's y-axis onto the horizontal plane;

[0054] 2) The z-axis of the world coordinate system is perpendicular to the horizontal plane and points towards the sky;

[0055] 3) The x-axis of the world coordinate system points in the direction of its y×z cross product.

[0056] 4. Calculate the angle θ between the x-axis of the world coordinate system and the x-axis of the current IMU. This angle is also the tilt angle of the movable pressure plate relative to the x-axis of the world coordinate system.

[0057]

[0058] x v =[x x x y x z ]

[0059] cosθ=[1 0 0]·x v

[0060] sinθ=||[1 0 0]×x v ||·sgn(x z )

[0061] Where x is the quaternion representation of the IMU's x-direction unit vector in the world coordinate system, and x v It is its three-dimensional representation (i.e., the imaginary part vector of x).

[0062] 5. Given that the offset of the rotating axis of the movable pressure plate relative to the center axis of the take-up and untake-down rollers is:

[0063] 1) Horizontal offset pivot x That is, the offset along the x-axis of the world coordinate system;

[0064] 2) Vertical offset pivot z That is, the offset along the cross product direction of the world coordinate system x-axis and the IMU y-axis;

[0065] Then the distance r between the movable pressure plate and the center axis of the take-up and untake-up rollers (i.e., the current winding radius: the radius of the cable reel or liquid supply pipe reel) can be calculated:

[0066]

[0067] 6. Let the frictional torque experienced by the take-up and untake-up rollers during rotation be M. f To maintain a constant tension of F and a constant speed of v in the cable and liquid supply pipe, the torque (M) required during cable winding and unwinding is as follows: 收 and M 放 And the engine speed limit per minute (rpm) is:

[0068] M 收 =M f +Fr

[0069]

[0070] As can be seen from the above, the beneficial effects of the intelligent ceiling cleaning machine provided in this application embodiment are as follows:

[0071] 1. Replaces manual cleaning, significantly improving cleaning efficiency and reducing costs.

[0072] This invention achieves fully automated greenhouse roof cleaning through the coordinated operation of a spraying assembly, a roller brush assembly, and a walking mechanism. Multiple nozzles in the spraying assembly uniformly spray liquid onto the roof, while multiple roller brushes in the roller brush assembly simultaneously mechanically wipe the roof surface. Combined with the automatic movement of the walking mechanism, this effectively replaces traditional manual cleaning methods, significantly improving cleaning efficiency (especially suitable for large-area greenhouses). It also avoids the safety risks of manual high-altitude work and significantly reduces long-term labor costs for cleaning.

[0073] 2. It can intelligently avoid gutter pillars and adapt to complex greenhouse scenarios.

[0074] This invention's walking mechanism achieves obstacle avoidance through sensor detection and displacement unit adjustment: multiple sensors on the front and rear sides of the chassis frame detect gutter columns in real time. When a column is detected, the controller controls the wheels on the same side to perform a "moving inward to avoid the column and then moving outward back to the original position" action, proceeding from near to far. This solves the technical bottleneck of existing automatic cleaning equipment that cannot avoid gutter columns due to fixed wheel spacing, enabling the equipment to move continuously and stably on greenhouse roofs with awning support columns. This effectively adapts to the cleaning needs of complex greenhouse scenarios and expands the equipment's applicability.

[0075] 3. The cleaning effect is comprehensive and even, ensuring the light transmittance of the ceiling.

[0076] The spraying assembly comprises multiple spray pipes arranged sequentially along the left-right contour of the roof, with multiple nozzles on each pipe spaced apart to provide full coverage spraying of the roof surface. Similarly, the roller brush assembly comprises multiple roller brushes arranged along the roof contour and independently driven by a first drive motor to ensure thorough wiping of the roof surface after spraying. Together, these components create an integrated cleaning process from spraying to wiping, guaranteeing uniform and thorough cleaning of all areas of the roof, effectively maintaining its light transmittance, and promoting crop growth within the greenhouse.

[0077] 4. Precise and reliable travel control enhances equipment operational stability.

[0078] The multiple wheels of the walking mechanism are driven by independent second drive motors and connected to the chassis frame through displacement units. The controller can accurately control the inward / outward movement of each wheel and the timing based on the sensor detection signals to ensure that the wheels do not collide or deviate while avoiding the column.

[0079] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. An obstacle avoidance walking mechanism, characterized in that, The device includes multiple sensors for detecting the ceiling gutter columns, multiple wheels for moving the device back and forth on the gutters on the left and right sides of the ceiling, and displacement units that are paired with the multiple wheels to drive the corresponding wheels to move inward or outward along the chassis frame of the device in the left and right directions. The multiple sensors are fixed on the front and rear sides of the chassis frame, and the multiple wheels are arranged on the left and right sides of the chassis frame, and are located between the multiple sensors on the front and rear sides. Each wheel is driven by a second drive motor, which is fixed on a wheel seat corresponding to each wheel. The wheel seat is connected to the chassis frame through the corresponding displacement unit.

2. The obstacle avoidance walking mechanism according to claim 1, characterized in that, The displacement unit includes a four-bar linkage and an electric cylinder. The four-bar linkage is connected between the wheel seat and the chassis frame. The electric cylinder is located above the four-bar linkage and is arranged obliquely outward along the left and right direction of the chassis frame from top to bottom. It is rotatably connected to the chassis frame. The output shaft of the electric cylinder is connected to the wheel seat.

3. The obstacle avoidance walking mechanism according to claim 1, characterized in that, The chassis frame is an inverted V-shaped structure adapted to the inverted V-shaped roof, and there are four sensors, which are fixed at the four corners of the chassis frame.

4. The obstacle avoidance walking mechanism according to claim 1, characterized in that, The number of wheels is eight.

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