A platform for research: civil engineering, architecture and urbanism
A platform for research: civil engineering, architecture and urbanism
The invention relates to an anti-falling unmanned sweeper. A left side driving wheel carrier and a right side driving wheel carrier are installed at the rear end of a frame of the anti-falling unmanned sweeper in a screwed mode, and hub motors are installed at the lower end of the left side driving wheel carrier and the lower end of the right side driving wheel carrier respectively. The front partand the rear part of the frame are respectively provided with distance sensors, the distance sensors are obliquely arranged, and an included angle alpha between each distance sensor and a vertical plane is 30 degrees and 45 degrees; the anti-falling unmanned sweeper further comprises a controller, and the hub motors and the distance sensors are electrically connected with the controller. The anti-falling unmanned sweeper adopts the following method to realize falling prevention: a, enabling a distance sensor to feed back a distance value AC from the distance sensor to a detection point to a controller in real time; b, calculating a distance value AB according to a formula AB=AD/cos (alpha), AD being the installation height value of the distance sensor; and c, when AC-AB is greater than L,indicating that the pit hole is detected. The anti-falling unmanned sweeper has the advantages of novel design, simple structure, low cost and simple programming.
本发明公开了一种防跌落的无人扫地车，其车架后端部螺装左、右侧驱动轮架，左、右侧驱动轮架的下端部分别装设轮毂电机；车架的前、后部分别装设距离传感器，距离传感器倾斜安装，且各距离传感器与垂直面之间的夹角α为30°‑45°；该防跌落的无人扫地车还包括控制器，各轮毂电机及各距离传感器分别与控制器电性连接；该防跌落的无人扫地车采用以下方法实现防跌落：a、距离传感器实时将距离传感器至检测点的距离值AC反馈至控制器；b、根据公式AB=AD/cos(α)，计算出距离值AB；其中，AD为距离传感器的安装高度值；c、当AC‑AB＞L时，则表示检测到坑洞。本发明具有设计新颖、结构简单、成本低且编程简单的优点。
The invention relates to an anti-falling unmanned sweeper. A left side driving wheel carrier and a right side driving wheel carrier are installed at the rear end of a frame of the anti-falling unmanned sweeper in a screwed mode, and hub motors are installed at the lower end of the left side driving wheel carrier and the lower end of the right side driving wheel carrier respectively. The front partand the rear part of the frame are respectively provided with distance sensors, the distance sensors are obliquely arranged, and an included angle alpha between each distance sensor and a vertical plane is 30 degrees and 45 degrees; the anti-falling unmanned sweeper further comprises a controller, and the hub motors and the distance sensors are electrically connected with the controller. The anti-falling unmanned sweeper adopts the following method to realize falling prevention: a, enabling a distance sensor to feed back a distance value AC from the distance sensor to a detection point to a controller in real time; b, calculating a distance value AB according to a formula AB=AD/cos (alpha), AD being the installation height value of the distance sensor; and c, when AC-AB is greater than L,indicating that the pit hole is detected. The anti-falling unmanned sweeper has the advantages of novel design, simple structure, low cost and simple programming.
本发明公开了一种防跌落的无人扫地车，其车架后端部螺装左、右侧驱动轮架，左、右侧驱动轮架的下端部分别装设轮毂电机；车架的前、后部分别装设距离传感器，距离传感器倾斜安装，且各距离传感器与垂直面之间的夹角α为30°‑45°；该防跌落的无人扫地车还包括控制器，各轮毂电机及各距离传感器分别与控制器电性连接；该防跌落的无人扫地车采用以下方法实现防跌落：a、距离传感器实时将距离传感器至检测点的距离值AC反馈至控制器；b、根据公式AB=AD/cos(α)，计算出距离值AB；其中，AD为距离传感器的安装高度值；c、当AC‑AB＞L时，则表示检测到坑洞。本发明具有设计新颖、结构简单、成本低且编程简单的优点。
Anti-falling unmanned sweeper
一种防跌落的无人扫地车
DU YUANYUAN (author)
2021-01-15
Patent
Electronic Resource
Chinese
IPC:
E01H
STREET CLEANING
,
Reinigen von Straßen
/
G01B
MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS
,
Messen der Länge, der Dicke oder ähnlicher linearer Abmessungen
/
G05D
SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
,
Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen