阅读说明：本技术 一种基于视觉导航的无人拖地清洁车及控制方法和基站 (Unmanned mopping cleaning vehicle based on visual navigation, control method and base station ) 是由 朱明� 于 2021-08-11 设计创作，主要内容包括：本发明涉及一种基于视觉导航的无人拖地清洁车及控制方法和基站,包括底座、设于底座上方的顶板,所述底座上设有行走轮,所述底座沿着前进和后退方向的一侧分别设有机架,所述机架上部设有电动推杆,所述电动推杆的底部耦合连接拖把；所述顶板上沿着四个不同的方向分别设有摄像头；本发明通过极简的设计,去除功能繁多的结构,保留最核心的结构,这样一方面可以极大的降低清洁车的制造成本,另一方面极简的结构可以大大降低设备出现故障的概率,提升使用可靠性。(The invention relates to an unmanned mopping cleaning vehicle based on visual navigation, a control method and a base station, wherein the unmanned mopping cleaning vehicle comprises a base and a top plate arranged above the base, wherein walking wheels are arranged on the base, a rack is respectively arranged on one side of the base along the advancing and retreating directions, an electric push rod is arranged at the upper part of the rack, and the bottom of the electric push rod is coupled with a mop; the top plate is provided with cameras along four different directions; according to the invention, through a very simple design, the structure with various functions is removed, and the most core structure is reserved, so that the manufacturing cost of the cleaning vehicle can be greatly reduced, the probability of equipment failure can be greatly reduced through the very simple structure, and the use reliability is improved.)

1. The utility model provides an unmanned clean car of mopping based on visual navigation which characterized in that: the electric mop comprises a base (1) and a top plate (2) arranged above the base (1), wherein walking wheels (11) are arranged on the base (1), a rack (3) is respectively arranged on one side of the base (11) along the advancing and retreating directions, an electric push rod (31) is arranged on the upper portion of the rack (3), and the bottom of the electric push rod (31) is coupled with a mop (32); the roof (2) is provided with cameras (21) along four different directions, wherein the two cameras (21) are arranged along the front and back directions of the cleaning vehicle respectively.

2. The unmanned ground cleaning vehicle based on visual navigation of claim 1, characterized in that: the walking wheel (11) adopts mecanum wheels, a driving motor (12) is respectively arranged on the base (1) close to the walking wheel (11), and the driving motor (12) drives the walking wheel (11) to rotate.

3. The unmanned ground cleaning vehicle based on visual navigation of claim 2, characterized in that: a U-shaped cover plate (4) is arranged on the outer side of the rack (3), a cavity is formed between the U-shaped cover plate (4) and the rack, and a plurality of first through holes (411) are formed in the side wall, far away from the rack, of the cavity; a sliding block (33) is arranged between the electric push rod (31) and the mop (32), the sliding block (33) is embedded in the cavity, and a plurality of second through holes (331) are formed in the sliding block (33); the horizontal electromagnetism push rod (5) that is equipped with in frame (33), electromagnetism push rod (5) penetrate first through-hole (411) and second through-hole (331) simultaneously after passing the lateral wall of frame (33), and then carry out spacing fixed to slider (33).

4. The utility model provides a base station of unmanned clean car of mopping based on vision navigation which characterized in that: the base station (6) is used for matching with the unmanned mopping vehicle as claimed in claim 4, the base station (6) comprises a washing water tank (61), a slope (62) arranged next to the washing water tank (61), and the mop (32) moves up and down in the washing water tank (61) under the action of the electric push rod (31).

5. The base station of the unmanned ground cleaning vehicle based on visual navigation of claim 4, wherein: a charging device (63) is arranged in the slope (62), and the charging device (63) is used for charging the cleaning vehicle.

6. A control method of the unmanned mopping cleaning vehicle based on visual navigation according to any one of claims 1 to 3, characterized in that: comprises the following steps;

step S1, acquiring a plan view of the target cleaning area,

step S2, carrying out rasterization processing on the plane map by combining the paving pattern of the ground square bricks to obtain a grid map;

step S3, constructing a marking module, and formulating a movement path by combining a grid map;

and step S4, the cleaning vehicle traverses the cleaning area according to the established motion path, and the camera collects the information of the marking module in the walking direction in real time to determine and correct the actual position of the cleaning vehicle.

7. The control method of the unmanned mopping cleaning vehicle based on the visual navigation according to claim 6, characterized in that: the marking model comprises natural marks and artificial marks, wherein the natural marks at least comprise ground seams of adjacent square bricks and EXIT marks arranged on the wall; the artificial mark is arranged at a specific position in the cleaning area and used for positioning the position of the cleaning vehicle and triggering a specific preset action of the cleaning vehicle.

8. The control method of the unmanned mopping cleaning vehicle based on the visual navigation as claimed in claim 7, characterized in that: and in the movement path in the step S3, the ground seams of the adjacent square bricks are used as identification lines for the traveling of the cleaning vehicle.

9. The control method of the unmanned mopping cleaning vehicle based on the visual navigation according to claim 8, characterized in that: when the vehicle washing in the step S4 traverses the washing area according to the established movement path, if an obstacle is arranged on the movement path, the vehicle washing performs obstacle avoidance bypassing according to a preset obstacle avoidance action, and then returns to the original movement path to continue washing; the obstacle is a person or object that temporarily appears.

Technical Field

The invention belongs to the field of cleaning robots, and particularly relates to the field of an unmanned mopping cleaning vehicle based on visual navigation.

Background

With the continuous development of cities, a plurality of cities continuously build a plurality of mutually-interlaced underground rail transit, each rail transit line is provided with a plurality of subway station sites, and each subway station site is provided with at least one subway hall; in order to keep the sanitation in the subway hall, cleaning personnel with different numbers are arranged at each subway station, under the condition that the labor cost is increased day by day, the cost for maintaining the sanitation of the subway in each city is overhigh, most of the cleaning personnel employed at present are middle-aged people, the efficiency is easy to cause low efficiency after long-time work, and the condition of shutdown caused by uncomfortable body is also frequently generated; for this reason, cleaning work has been started on the market using a sweeping robot instead of a human in order to solve the problem of human labor; however, the sweeping robots in the current market are complex in function and structure, most sweeping robots adopting laser navigation, ultrasonic navigation and other technologies are very expensive in cost, tens of thousands of yuan of purchase cost is very often, and high later maintenance cost is prohibitive.

Disclosure of Invention

In order to solve the problem that the cleaning robot is too high in use cost, the invention achieves the purpose through the following technical scheme:

an unmanned mopping cleaning vehicle based on visual navigation, a control method and a base station comprise a base and a top plate arranged above the base, wherein walking wheels are arranged on the base, a rack is respectively arranged on one side of the base along the advancing and retreating directions, an electric push rod is arranged at the upper part of the rack, and the bottom of the electric push rod is coupled with a mop; the roof is equipped with the camera respectively along four different directions, and wherein two cameras are arranged along the direction that the cleaning cart gos forward back and forth.

As a further optimization scheme of the invention, the walking wheels are Mecanum wheels, driving motors are respectively arranged on the bases close to the walking wheels, and the driving motors drive the walking wheels to rotate.

As a further optimization scheme of the invention, a U-shaped cover plate is arranged on the outer side of the rack, a cavity is formed between the U-shaped cover plate and the rack, and a plurality of first through holes are arranged on the side wall of the cavity far away from the rack; a sliding block is arranged between the electric push rod and the mop, the sliding block is embedded in the cavity, and a plurality of second through holes are formed in the sliding block; an electromagnetic push rod is arranged in the rack, penetrates through the first through hole and the second through hole after penetrating through the side wall of the rack, and then limits and fixes the sliding block.

A base station of an unmanned mopping cleaning vehicle based on visual navigation comprises a cleaning water tank and a slope arranged close to the cleaning water tank, wherein a mop moves up and down in the cleaning water tank under the action of an electric push rod.

As a further optimization scheme of the invention, a charging device is arranged in the slope and is used for charging the cleaning vehicle.

A control method of an unmanned mopping cleaning vehicle based on visual navigation comprises the following steps;

step S1, acquiring a plan view of the target cleaning area,

step S2, carrying out rasterization processing on the plane map by combining the paving pattern of the ground square bricks to obtain a grid map;

step S3, constructing a marking module, and formulating a movement path by combining a grid map;

s4, the cleaning vehicle traverses the cleaning area according to the established motion path, and the information of the marking module in the walking direction is collected in real time through the camera to determine and correct the actual position of the cleaning vehicle

As a further optimization scheme of the invention, the marking model comprises natural marks and artificial marks, wherein the natural marks at least comprise ground seams of adjacent square bricks and EXIT marks arranged on the wall; the artificial mark is arranged at a specific position in the cleaning area and used for positioning the position of the cleaning vehicle and triggering a specific preset action of the cleaning vehicle.

As a further optimization scheme of the present invention, the ground seam of the adjacent square bricks in the moving path in the step S3 is used as an identification line for the traveling of the cleaning vehicle.

As a further optimization scheme of the present invention, when the vehicle washing in step S4 traverses the washing area according to the formulated movement path, if an obstacle is disposed on the movement path, the vehicle washing performs obstacle avoidance bypassing according to a preset obstacle avoidance action, and then returns to the original movement path to continue washing; the obstacle is a person or object that temporarily appears.

The invention has the beneficial effects that:

1) according to the invention, through a very simple design, the structure with various functions is removed, and the most core structure is reserved, so that the manufacturing cost of the cleaning vehicle can be greatly reduced, the probability of equipment failure can be greatly reduced through the very simple structure, and the use reliability is improved.

Drawings

FIG. 1 is a schematic view of the structure of the cleaning vehicle of the present invention;

FIG. 2 is an enlarged, fragmentary, schematic view at A of FIG. 1 of the present invention;

FIG. 3 is a bottom schematic view of the cleaning vehicle of the present invention;

FIG. 4 is a schematic view of the housing of the present invention;

FIG. 5 is a schematic diagram of a base station of the present invention;

FIG. 6 is a schematic view of the path plan of the cleaning vehicle of the present invention;

in the figure: 1. a base; 11. a traveling wheel; 12. a drive motor; 2. a top plate; 21. a camera; 3. a frame; 31. an electric push rod; 32. a mop; 33. a slider; 331. a second through hole; 4. a U-shaped cover plate; 411. a first through hole; 5. an electromagnetic push rod; 6. a base station; 61. cleaning the water tank; 62. a slope; 63. a charging device.

Detailed Description

The present application will now be described in further detail with reference to the drawings, it should be noted that the following detailed description is given for illustrative purposes only and is not to be construed as limiting the scope of the present application, as those skilled in the art will be able to make numerous insubstantial modifications and adaptations to the present application based on the above disclosure.

As shown in fig. 1 to 6, the unmanned ground-mopping cleaning vehicle based on visual navigation comprises a cleaning vehicle main body, wherein the cleaning vehicle main body is integrally divided into three layers, namely a base 1, a middle plate and a top plate 2 from bottom to top, wherein four traveling wheels 11 are arranged on the base 1, for moving, the traveling wheels adopt mecanum wheels, four driving motors 12 are respectively arranged on the bottom surface of the base 1 near the traveling wheels 11, and output shafts of the driving motors are connected with input ends of the traveling wheels 11, so that each driving motor 12 drives the traveling wheels 11 to rotate;

two battery packs are arranged on the base 1 and are respectively and symmetrically arranged at the front end and the rear end of the cleaning vehicle, so that the weight distribution of the front part and the rear part of the cleaning vehicle is kept balanced;

the middle plate is arranged between the base 1 and the top plate 2, and is provided with a control main board, four drivers and two relays; the input end of the driver is connected with the output end of the control main board and used for receiving the signal of the control main board, and then the signal is transferred to the driving motor after being processed, so that the movement of the travelling wheels is controlled;

the top plate 2 is provided with four cameras 21, and the cameras 21 are used for collecting visual images on the travel route of the cleaning vehicle; the four cameras are respectively arranged in the front, the back, the left and the right directions of the top plate; in addition, an emergency stop switch for emergency use is also arranged on the top plate;

meanwhile, the front end and the rear end of the base 11 are respectively provided with a frame 3, the frame 3 is provided with an electric push rod 31, the bottom of the electric push rod 31 is provided with a slide block 33 in a hinged manner, the bottom of the slide block is coupled with a mop 32, the outer side of the frame 3 is provided with a U-shaped cover plate 4, a cavity is formed between the U-shaped cover plate 4 and the frame, the side wall of the cavity, which is far away from the frame, is provided with a plurality of first through holes 411, the slide block 33 is embedded in the cavity, and the slide block 33 is provided with a plurality of second through holes 331; an electromagnetic push rod 5 is further horizontally arranged in the rack 33, and when the mop is used, the electromagnetic push rod 5 penetrates through the side wall of the rack 33 and then simultaneously penetrates through the first through hole 411 and the second through hole 331, so that the sliding block 33 is limited and fixed, and the height position of the mop is fixed; when the cleaning vehicle is used for cleaning, the mops arranged at the front and the rear can be used in a single cycle, so that one-way long-distance cleaning is realized, and the times of returning the cleaning vehicle to a base station are reduced; the front mop and the rear mop can be used simultaneously, so that the cleaning degree of a single stroke is convenient to promote.

A base station of an unmanned mopping cleaning vehicle based on visual navigation, wherein the base station 6 is used for being matched with the unmanned mopping cleaning vehicle for use, the base station 6 comprises a cleaning water tank 61 and a slope 62 which is arranged close to the cleaning water tank 61, when the base station is used, the cleaning vehicle automatically drives on the slope through the slope, then an electromagnetic push rod retracts, at the moment, a sliding block 33 can slide back and forth in a cavity, and then a mop 32 is driven to move up and down in the cleaning water tank 61 under the action of an electric push rod 31, so that dirt on the mop is removed; the cleaning and the use of the next cycle are convenient; meanwhile, a charging device 63 for charging the cleaning vehicle is arranged in the slope 62, and preferably, the charging device 63 is a wireless charging device for wirelessly charging the cleaning vehicle; in the same way, a wireless charging receiving device is required to be installed on the bottom plate of the cleaning vehicle.

A control method of an unmanned mopping cleaning vehicle based on visual navigation comprises the following steps;

step S1, acquiring a plan view of the target cleaning area,

step S2, carrying out rasterization processing on the plane map by combining the paving pattern of the ground square bricks to obtain a grid map;

step S3, constructing a marking module, and formulating a movement path by combining a grid map;

and step S4, the cleaning vehicle traverses the cleaning area according to the established motion path, and the camera collects the information of the marking module in the walking direction in real time to determine and correct the actual position of the cleaning vehicle.

Navigation is one of the most challenging capabilities required by a cleaning robot, and the problem to be solved is how to acquire environmental information, realize the positioning of the robot, a target and an obstacle and obtain a barrier-free navigation path by a planning method; at present, due to the complexity of the environment, various problems are easy to occur when autonomous random cleaning is completely carried out by a robot, and particularly, the robot is confused after obstacle avoidance is carried out for many times, such as repeated cleaning and missed cleaning; therefore, the method adopts a path planning type navigation mode, the motion path of the cleaning vehicle is preset for different clean environments, and when no temporary barrier appears on the walking route of the cleaning vehicle, the cleaning vehicle can traverse the whole cleaning area according to the preset motion route all the time, so that a random collision type cleaning mode can be effectively avoided, and the cleaning efficiency and the reliability of the cleaning vehicle are greatly improved;

specifically, the detailed description will be given by taking the subway station floor cleaning schematic diagram shown in fig. 6 as an example;

firstly, acquiring a plan view of a target cleaning area, namely an area to be cleaned on a certain floor of a subway station, wherein the plan view not only comprises the boundary of the area to be cleaned, but also marks the positions and the sizes of an inner stand column, an upper and lower layer gateway, a ticket vending machine and a vending machine of the subway station, so that the design and the planning of a route at the back can be conveniently carried out;

in the path planning type navigation, a walking route of equipment is generally planned by setting a marking line, which is common in factories, but it is obviously impractical to set dense marking lines in a subway station, and in order to solve the problem, the existing mark in the subway station is used as a natural mark, and then a man-made mark is set at a position where a road sign needs to be additionally arranged; the natural mark and the artificial mark are combined together to form a mark module, and the mark module plays a role in guiding and positioning the cleaning vehicle; specifically, the natural mark in the application at least comprises a ground seam of adjacent square bricks and an EXIT mark arranged on a wall, and it is noted that all objects which are existing in a subway station and have remarkable characteristics can be used as the natural mark, so that the interference of artificial marks on the existing environment is reduced; the columns and vending machines etc. of figure 6 may also be used as natural labels;

in general, the square bricks of the subway station are paved in a positive sticking mode (if the oblique sticking mode is out of the application consideration range), so that the ground seams of the adjacent square bricks are also straight long lines, the connecting lines of the ground seams are used for replacing identification lines in the prior art, the route navigation of a cleaning vehicle is realized, and the cleaning vehicle is ensured to travel according to a preset route;

when the cleaning vehicle travels to a special position area, a special traveling path route may appear, and at this time, a man-made mark needs to be set to assist the cleaning vehicle in positioning the position and trigger a specific preset action, for example, the areas on the upper side and the lower side of an upper inlet and a lower inlet at the back are traversed and cleaned;

in addition, in the process of traversing and cleaning of the cleaning vehicle, people and people come and go at the subway station, and the environment is relatively complicated, so that when the cleaning vehicle traverses a cleaning area according to a formulated movement path and if an obstacle is arranged on the movement path, the cleaning vehicle carries out obstacle avoidance and detour according to a preset obstacle avoidance action, and then returns to the original movement path to continue cleaning; an obstacle here refers to a person or object that temporarily appears;

specifically, once the cleaning vehicle monitors that the obstacle in front is a person, the cleaning vehicle gradually stops and sends out voice to prompt the pedestrian to give way, and if the obstacle in front is a static object, the cleaning vehicle is controlled to bypass and then returns to the original moving path to continue to run; since the overall identification and avoidance mode of the obstacle is consistent with that of the method in the prior art, the detailed description is omitted here;

to facilitate a further understanding of the foregoing, a detailed description of the path is provided below in connection with the cleaning environment of the drawings; each row of the path description file used in the present application is a triplet: (action characters, action parameters, visual marker images (Default))

Wherein, the action characters are respectively: f, B, R, L; respectively represent: f, moving forwards and straightly, B, moving backwards and straightly, turning R to the right, and turning L to the left;

the action parameters respectively represent: travel time (seconds), for action characters F, B; and the motion characters R, L, the motion parameters are represented as steering angles.

The visual marker image then represents: stopping the current action if the image is visually marked (such as an object marked by 'Exit'), and stopping the advance if the image is continuously marked until the 'Exit' is encountered;

the path is described as follows:

s1: f, 100, NoLine; v/go forward for 100 seconds until no ground seam is seen, stop

S2: r, 1; // shifted to the right by 1 unit, and may be shifted to the right by 0.5 unit

S3: b, 100, NoLine; // recede for 100 seconds until an invisible seam is seen

S4: l, 1; // shifted left by 1 unit,

s5: f, 100, NoLine; v/go forward for 100 seconds until no ground seam is seen, stop

S6: r, 1; // shifted to the right by 1 unit,

s7: b, 100, NoLine; // recede for 100 seconds until an invisible seam is seen

S8: l, 1; // shifted left by 1 unit,

s9: f, 30, Corner; v/go for 100 seconds, until the corner is seen,

s10: r, 1; // shifted to the right by 1 unit,

s11: b, 30, NoLine; // recede for 100 seconds until an invisible seam is seen

S12: f, 90, NoLine; v/go forward for 100 seconds until no seam is visible, stop;

the path description of the cleaning vehicle in the cleaning four upright post areas is the same as the principle, when the upright posts in the first row are encountered, the cleaning vehicle moves to the left by one unit, then moves to the right by one unit after moving forward by a plurality of units, continues to move forward for 100 seconds until the seam can not be seen, moves to the left, and circulates in such a way until the seam can not be seen, and then moves to the left and moves backwards;

the difference in the overall path area from the approach described above is that the path of the cleaning vehicle as it moves to the area above the floor access (north in the orientation of the figure) is described as: straight 30 to head; moving left, retreating by 30, and moving right until the cleaning vehicle traverses the whole area above the entrance and the exit for several seconds until a corner is seen, then moving the cleaning vehicle by X units to the right, wherein the X units are matched with the length of the entrance and the exit, and then traversing the area below the entrance and the exit until the area is traversed completely.

The above-mentioned embodiments only express several embodiments of the present invention, and the description is specific and detailed, but it should not be understood as the limitation of the patent scope of the present invention, it should be noted that, for those skilled in the art, many variations and modifications can be made without departing from the concept of the present invention, and these all fall into the protection scope of the present invention.