Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Method for automatically replacing garbage can of unmanned sweeper
The invention provides a method for automatically replacing a garbage can of an unmanned sweeper. The method comprises the steps that 1, a vehicle control unit receives garbage can overflow information; 2, only keeping the normal work of the travelling crane driving unit; 3, the vehicle obtains the position of the nearest garbage can placing point, plans a route and controls the vehicle to run to the garbage can placing point; 4, a visual sensor detects and recognizes whether a garbage can vacancy exists or not, if not, the nearest garbage can placing point is repositioned, and if yes, the vehicle is automatically parked after the vehicle is driven to the designated position and positioned; 5, the positioning device releases the overflowed garbage can, and the dragging device places the overflowed garbage can at a specified position; sixthly, after the overflowing garbage can is unloaded, a visual sensor detects the position of an empty garbage can, and the vehicle is positioned to the loading position; seventhly, after the vehicle is parked, the empty garbage can is lifted and moved to the positioning device through the dragging device; and 8, the positioning device limits and fixes the empty garbage can, and the vehicle continues to conduct sweeping operation.
本发明提供一种无人清扫车自动更换垃圾桶的方法，包括一：整车控制器接收垃圾桶满溢信息；二：仅保留行车驱动单元正常工作；三：车辆获取最近垃圾桶放置点位置，并规划路线，控制车辆行驶至垃圾桶放置点；四：视觉传感器检测识别是否有垃圾桶空位，如无则重新定位最近的垃圾桶放置点，如有空位则行驶至指定位置定位后车辆自动驻车；五：定位装置释放满溢垃圾桶，拖拽装置将满溢垃圾桶放置在规定位置；六：满溢垃圾桶卸载完毕后，视觉传感器检测空垃圾桶位置，并将车辆定位至装载位置；七：车辆驻车后，通过拖拽装置将空垃圾桶提升并移动至定位装置上；八：定位装置对空垃圾桶进行限位固定，车辆继续清扫作业。
Method for automatically replacing garbage can of unmanned sweeper
The invention provides a method for automatically replacing a garbage can of an unmanned sweeper. The method comprises the steps that 1, a vehicle control unit receives garbage can overflow information; 2, only keeping the normal work of the travelling crane driving unit; 3, the vehicle obtains the position of the nearest garbage can placing point, plans a route and controls the vehicle to run to the garbage can placing point; 4, a visual sensor detects and recognizes whether a garbage can vacancy exists or not, if not, the nearest garbage can placing point is repositioned, and if yes, the vehicle is automatically parked after the vehicle is driven to the designated position and positioned; 5, the positioning device releases the overflowed garbage can, and the dragging device places the overflowed garbage can at a specified position; sixthly, after the overflowing garbage can is unloaded, a visual sensor detects the position of an empty garbage can, and the vehicle is positioned to the loading position; seventhly, after the vehicle is parked, the empty garbage can is lifted and moved to the positioning device through the dragging device; and 8, the positioning device limits and fixes the empty garbage can, and the vehicle continues to conduct sweeping operation.
本发明提供一种无人清扫车自动更换垃圾桶的方法，包括一：整车控制器接收垃圾桶满溢信息；二：仅保留行车驱动单元正常工作；三：车辆获取最近垃圾桶放置点位置，并规划路线，控制车辆行驶至垃圾桶放置点；四：视觉传感器检测识别是否有垃圾桶空位，如无则重新定位最近的垃圾桶放置点，如有空位则行驶至指定位置定位后车辆自动驻车；五：定位装置释放满溢垃圾桶，拖拽装置将满溢垃圾桶放置在规定位置；六：满溢垃圾桶卸载完毕后，视觉传感器检测空垃圾桶位置，并将车辆定位至装载位置；七：车辆驻车后，通过拖拽装置将空垃圾桶提升并移动至定位装置上；八：定位装置对空垃圾桶进行限位固定，车辆继续清扫作业。
Method for automatically replacing garbage can of unmanned sweeper
无人清扫车自动更换垃圾桶的方法
YU XUEBIN (Autor:in) / CHENG XUEXIAO (Autor:in) / CUI JIUPING (Autor:in) / LI DENGKE (Autor:in)
08.07.2022
Patent
Elektronische Ressource
Chinesisch
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