A rear axle driving structure of an unmanned scrubber
By introducing a rear-axle drive structure and a lidar perception system into the driverless floor scrubbing vehicle, the problems of environmental adaptability and path planning efficiency are solved, and intelligent path execution with rapid response and precise control is achieved.
Patent Information
- Application Number
- CN202522731209.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-12-24
- Publication Date
- 2026-11-06
- Estimated Expiration
- 2035-12-24
AI Technical Summary
Existing driverless floor cleaning vehicles have poor environmental adaptability and path planning and execution efficiency in specific scenarios, especially when the environment changes, making it difficult to achieve precise control.
The unmanned floor scrubber adopts a rear-axle drive structure, including a VCU controller, MCU, walking motor driver and LiDAR. It realizes intelligent path planning and execution through a perception-decision-execution closed loop, and supports both manual and intelligent working modes.
It enables unmanned floor scrubbing vehicles to respond quickly and control precisely in complex environments, improving the real-time performance and accuracy of path planning and execution.
Smart Images
Figure CN224940888U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of floor scrubber parts technology, specifically to a rear-wheel drive structure for an unmanned floor scrubber that enhances vehicle driving force. Background Technology
[0002] Floor scrubbing vehicles are a common cleaning tool in daily life, widely used in large places such as enterprises and shopping malls. During the operation of driverless floor scrubbing vehicles, they need to be controlled by relevant commands. Existing vehicle control, especially for low-speed unmanned or assisted driving vehicles in specific scenarios (such as warehouses, parks, and agriculture), often relies on preset programs or simple remote control commands for the planning and execution of driving paths. This results in poor adaptability to environmental changes. Although some systems have introduced environmental sensing devices, the coordination efficiency between sensing data and vehicle drive control is not high. The real-time performance of path calculation and the precise control of the actuators need to be improved. Utility Model Content
[0003] The technical problem to be solved by this utility model is to provide a rear axle drive structure for an unmanned floor scrubber that is fast-responding, precise in control, and capable of intelligent path planning and execution.
[0004] To solve the aforementioned technical problems, this utility model adopts the following solution: a rear axle drive structure for an unmanned floor scrubber, including a base, a VCU controller, a PCB board, a walking motor driver, a walking motor, and a rear axle. A support frame is installed on the base. The bottom inner side of the support frame is equipped with a VCU controller for receiving environmental and vehicle position data and calculating the target travel path and steering angle. A PCB board is installed on the outer side of the support frame. An MCU is integrated in the PCB board. The MCU is connected to the VCU controller and the walking motor driver via communication. The walking motor driver is connected to the walking motor. The walking motor is mounted on the base via the rear axle. A rear wheel is installed at the bottom of the base.
[0005] Preferably, a radar bracket is mounted on the support frame, and a lidar is mounted on the radar bracket.
[0006] Preferably, the rear axle is connected to the rear wheel via a chain.
[0007] Preferably, the VCU controller converts the calculated path and steering information into instructions and sends them to the MCU, which then controls the walking motor driver to perform the corresponding actions.
[0008] Preferably, the walking motor driver controls the rotation direction and speed of the walking motor according to the drive signal of the MCU.
[0009] This utility model adopts the above-mentioned technical solution to provide a rear-wheel drive structure for an unmanned floor scrubbing vehicle. By adding multiple limiting methods, it has the following advantages compared with the prior art: 1. The use of a rear axle mechanism can ensure the stability of the vehicle under heavy load. For rear-wheel drive vehicles, the rear axle can optimize the engine's power, ensure efficient power output, and improve the vehicle's driving force.
[0010] 2. Supports both manual and intelligent start-up modes; in intelligent start-up mode, the system relies on the data collected by the lidar to make autonomous decisions and plan paths. Attached Figure Description
[0011] Figure 1 This is a schematic diagram of the structure of this utility model. Figure 2 This is a partial schematic diagram of the present invention.
[0012] In the diagram, the components are: 1. Base; 2. VCU controller; 3. PCB board; 4. Walking motor driver; 5. Walking motor; 6. Rear axle; 7. Support frame; 8. Rear wheel; 9. Radar bracket; 10. LiDAR; and 11. Chain. Detailed Implementation like Figure 1 , 2 As shown, an unmanned floor scrubbing vehicle rear axle drive structure includes a base 1, a VCU controller 2, a PCB board 3, a walking motor driver 4, a walking motor 5, and a rear axle 6. A support frame 7 is mounted on the base 1. The VCU controller 2 is located on the bottom inner side of the support frame 7 for receiving environmental and vehicle position data and calculating the target travel path and steering angle. The PCB board 3 is mounted on the outer side of the support frame 7. An MCU is integrated in the PCB board 3. The MCU is connected to the VCU controller 2 and the walking motor driver 4 via communication. The walking motor driver 4 is connected to the walking motor 5. The walking motor 5 is mounted on the base 1 via the rear axle 6. A rear wheel 8 is mounted on the bottom of the base 1. A radar bracket 9 is mounted on the support frame 7. A lidar 10 is mounted on the radar bracket 9. The rear axle 6 is connected to the rear wheel 8 via a chain 11. The VCU controller 2 converts the calculated path and steering information into instructions and sends them to the MCU. The MCU controls the walking motor driver 4 to perform corresponding actions. The walking motor driver 4 controls the rotation direction and speed of the walking motor 5 according to the drive signal from the MCU.
[0013] In actual operation, manual or intelligent start-up modes can be selected. In manual mode, commands can be sent directly to the MCU in PCB board 3 by remote control or panel to control the basic actions of the vehicle. In intelligent mode, it relies entirely on the above-mentioned autonomous control process based on LiDAR 10.
[0014] The LiDAR 10 is installed in a suitable location on the vehicle body to build a point cloud map of the surrounding environment and locate itself. In intelligent start mode, its data is the basis for the VCU controller 2 to make decisions. The VCU controller 2 acts as the "brain" and runs path planning algorithms (such as grid-based A / D mapping). Based on the real-time data uploaded by the LiDAR 10 (using algorithms, dynamic window methods, etc.), the system calculates a collision-free and efficient driving path and the corresponding steering angle. Subsequently, the VCU controller 2 sends these advanced instructions to the MCU on the PCB board 3 via the CAN bus or other communication methods.
[0015] As an "execution coordinator", the MCU receives the instructions from the VCU controller 2 and decomposes them into specific control parameters (such as target speed and direction) for the walking motor driver 4. The walking motor driver 4 outputs the corresponding three-phase current according to the instructions of the MCU, driving the walking motor 5 to rotate precisely.
[0016] After selecting the intelligent start mode, the LiDAR 10 starts working continuously and sends the data stream to the VCU controller 2. The VCU controller 2 processes the data, plans the path and issues instructions periodically at a certain frequency. The MCU receives the instructions in real time and controls the driver, so that the vehicle can dynamically follow the path calculated by the VCU. The whole process forms a closed loop of "perception-decision-execution" until the target point is reached or the manual mode is switched.
[0017] The specific embodiments described herein are merely illustrative examples illustrating the spirit of this utility model. Those skilled in the art to which this utility model pertains may make various modifications or additions to the described specific embodiments or use similar methods to substitute them, without departing from the spirit of this utility model or exceeding the scope defined by the appended claims.
Claims
1. A rear axle drive structure for an unmanned floor scrubber, comprising a base (1), a VCU controller (2), a PCB board (3), a drive motor driver (4), a drive motor (5), and a rear axle (6), characterized in that: A support frame (7) is installed on the base (1). A VCU controller (2) is provided on the bottom inner side of the support frame (7) for receiving environmental and vehicle position data and calculating the target travel path and steering angle. A PCB board (3) is installed on the outer side of the support frame (7). An MCU is integrated in the PCB board (3). The MCU is connected to the VCU controller (2) and the walking motor driver (4) through communication. The walking motor driver (4) is connected to the walking motor (5). The walking motor (5) is installed on the base (1) through the rear axle (6). A rear wheel (8) is installed at the bottom of the base (1).
2. The rear axle drive structure of the unmanned floor scrubber according to claim 1, characterized in that: A radar bracket (9) is mounted on the support frame (7), and a lidar (10) is mounted on the radar bracket (9).
3. The rear axle drive structure of the unmanned floor scrubber according to claim 1, characterized in that: The rear axle (6) is connected to the rear wheel (8) via a chain (11).
4. The rear axle drive structure of the unmanned floor scrubber according to claim 1, characterized in that, The VCU controller (2) converts the calculated path and steering information into instructions and sends them to the MCU, which then controls the walking motor driver (4) to perform the corresponding actions.
5. The rear axle drive structure of the unmanned floor scrubber according to claim 1, characterized in that, The walking motor driver (4) controls the rotation direction and speed of the walking motor (5) according to the drive signal of the MCU.