CN114622505B - Method and device for controlling bristle switching of sweeper - Google Patents
Method and device for controlling bristle switching of sweeper Download PDFInfo
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- CN114622505B CN114622505B CN202210280785.7A CN202210280785A CN114622505B CN 114622505 B CN114622505 B CN 114622505B CN 202210280785 A CN202210280785 A CN 202210280785A CN 114622505 B CN114622505 B CN 114622505B
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- 241001417527 Pempheridae Species 0.000 title claims abstract description 29
- 238000000034 method Methods 0.000 title claims abstract description 28
- 210000004209 hair Anatomy 0.000 claims abstract description 28
- 238000004140 cleaning Methods 0.000 claims abstract description 19
- 230000005284 excitation Effects 0.000 claims abstract description 15
- 239000011324 bead Substances 0.000 claims description 21
- 229910000831 Steel Inorganic materials 0.000 claims description 13
- 239000010959 steel Substances 0.000 claims description 13
- 238000013459 approach Methods 0.000 claims description 9
- 238000001228 spectrum Methods 0.000 claims description 6
- 238000004590 computer program Methods 0.000 claims 1
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000002372 labelling Methods 0.000 description 1
- 230000009347 mechanical transmission Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
- E01H1/00—Removing undesirable matter from roads or like surfaces, with or without moistening of the surface
- E01H1/02—Brushing apparatus, e.g. with auxiliary instruments for mechanically loosening dirt
- E01H1/05—Brushing apparatus, e.g. with auxiliary instruments for mechanically loosening dirt with driven brushes
- E01H1/053—Brushing apparatus, e.g. with auxiliary instruments for mechanically loosening dirt with driven brushes having vertical axes
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- Engineering & Computer Science (AREA)
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- Structural Engineering (AREA)
- Brushes (AREA)
Abstract
The application provides a brush hair switching device of a sweeper and a control method for automatic switching of the brush hair switching device, which can automatically identify road surface conditions and automatically switch different brush bodies. The road surface excitation information is collected and analyzed through a sensor arranged on the tire, and the current road surface condition is judged in real time. And the automatic control switching device selects corresponding bristles to clean the pavement, so that the cleaning efficiency is improved, and the excessive loss of the bristles is reduced.
Description
Technical Field
The application relates to the technical field of automatic control, in particular to a switching device for automatically switching brush hairs of a sweeper according to road conditions and a control method thereof.
Background
At present, in order to adapt to the cleaning requirements of different road surfaces, a cleaning vehicle is provided with two kinds of bristles, namely soft bristles and hard bristles, and the cleaning vehicle is switched according to different road conditions. The current switching modes are commonly divided into the following two modes:
the brush disc is provided with a soft brush and a bristle brush respectively through two mechanical arms, and the mechanical arms are used for switching the bristles and changing the cleaning area of the bristles, so that the brush disc has the defects of compact structure and large occupied space; the weight of the sweeper is increased, the lightweight design is not facilitated, and the arrangement difficulty is high.
The other is to install two kinds of soft and hard bristles on one brush disc, the lengths of the two kinds of bristles are different, and the bristles are switched by lifting the brush disc, but excessive loss of the bristles is easily caused.
Moreover, the switching is realized by manual control, and the switching judgment and the switching time are both dependent on manual judgment, so that the use states of the soft bristle brush and the bristle brush cannot be automatically switched.
Disclosure of Invention
The application mainly aims to provide the brush hair working state switching device which can realize the change of the opening angle of the brush hair, the change of the cleaning area and the switching of the work of the soft brush and the brush hair and the switching of the work states of the brush hair under different road surface working conditions. The specific technical scheme is as follows.
As a first aspect, the present application provides a brush bristle switching device for a motor sweeper, comprising a body connecting rod fixed on the body of the motor sweeper, wherein an edge brush motor is mounted on the top of the outer end of the body connecting rod, an output shaft of the edge brush motor penetrates through the body connecting rod, and an output shaft of the edge brush motor is connected with the top of a brush disc fixing cover. The periphery of the bottom of the brush disc fixing cover is fixedly connected with the periphery of the brush hair fixing disc, an electric telescopic device is fixed at the center of the brush disc fixing cover, a telescopic shaft of the electric telescopic device is fixedly connected with a push-pull shaft, and a plurality of radially extending pull rods are circumferentially arranged at the middle part of the push-pull shaft; the outer lane department circumference of bristle setting dish sets up a plurality of bristle fixed orifices, and the interior articulated of bristle fixed orifices has the turn round, the turn round is "Y" type, and wherein one end protrusion is in the upper strata of bristle setting dish, and other both ends protrusion in the lower floor of bristle setting dish, and one end b installs brush one in the both ends of lower floor, and other end c installs brush two, and the protrusion is equipped with the broach in one end a of bristle setting dish upper strata, wear to put in the broach and have with the endocentric bead ring of bristle setting dish, bead is articulated with the one end of a plurality of connecting rods, the other end and the tip swing joint of pull rod of connecting rod.
Preferably, a pin shaft is arranged in the bristle fixing hole, and a rotating head is hinged on the pin shaft.
Preferably, the bottom end of the push-pull shaft is sleeved in the push-pull shaft sliding sleeve.
As a second aspect, the application discloses a method for controlling a bristle switching device of a sweeper, which comprises the following steps:
step 1, collecting road surface excitation information in real time;
step 2, road condition matching is carried out by combining a road spectrum database;
step 3, corresponding control instructions are called according to the matching result;
and 4, executing the brush hair switching device of the sweeper according to the first aspect according to the control instruction.
With reference to the second aspect, the first case in any one of the cases it may occur is:
s1, collecting road surface excitation information in real time through a sensor arranged in the tire, recording the road surface excitation information with t seconds as one period, and recording the road surface excitation information as f 1 ，f 2 ，f 3 ，···，f n ；
S2, road condition matching is carried out on recorded road surface excitation information within n t seconds by respectively combining a road spectrum database, a plurality of road condition matching results are respectively obtained, and different types of road condition labels are carried out on each matching result;
s3, judging whether m continuous identical road condition labels exist, if yes, taking the road condition labels as a final road condition matching result, and if no, continuing to judge until the m continuous identical road condition labels appear;
s4, calling a corresponding control instruction according to the final matching result;
s5, the brush hair switching device of the sweeper according to the first aspect is executed according to the control instruction.
S6, after T seconds are executed, starting S3 again for n T seconds, and judging whether the continuous m same road condition labels exist or not.
In combination with the second aspect or the first aspect, in a second aspect of any one of the possible situations, the method executed by the bristle switching device of the sweeper according to the control instruction is as follows:
the electric telescopic device is started, the push-pull shaft stretches along with the telescopic shaft and drives the connecting rod to approach or separate from the output shaft end of the side brush motor through the pull rod, the steel wire ring is driven to shrink or stretch along with the approaching or separating process of the connecting rod to the output shaft end of the side brush motor, the steel wire ring drives the rotating head to rotate around the pin shaft by a preset angle, the first hairbrush or the second hairbrush is lifted or put down, and after the preset angle is reached, the electric telescopic device locks the push-pull shaft.
Combining the first and second conditions, wherein the third condition in any one of the possible conditions is that the road condition is marked by two categories, namely road condition A and road condition B, and the bristle switching device of the sweeper comprises the following steps:
according to the final matching result, a corresponding control instruction is called, and if the final matching result is the road condition A, a control instruction a is called; if the final matching result is the road condition B, calling a control instruction B;
after the push-pull shaft is restored to the initial position, the electric telescopic device is started, the steel wire ring is driven to shrink along with the process that the connecting rod approaches to the output shaft end of the side brush motor, the steel wire ring drives the rotary head to rotate around the pin shaft by a preset angle, the first hairbrush is lifted up, the second hairbrush is put down, and after the preset angle is reached, the electric telescopic device locks the push-pull shaft;
after the push-pull shaft is restored to the initial position, the electric telescopic device is started, the connecting rod is driven by the pull rod to move away from the output shaft end of the side brush motor, the steel wire ring is driven to expand along with the process that the connecting rod moves away from the push-pull shaft, the steel wire ring drives the rotating head to rotate around the pin shaft by a preset angle, the first hairbrush is put down, the second hairbrush is lifted, and after the preset angle is reached, the electric telescopic device locks the push-pull shaft.
As a third aspect, the present application provides a computer readable storage medium storing one or more programs, the computer readable storage medium storing one or more program instructions which, when executed by a processor, perform any of the methods described above.
As a fourth aspect, the present application provides a cleaning vehicle fitted with at least one of the brush switching devices of the first aspect.
The beneficial effects of the application are as follows:
1. the application can realize the switching of the work of the soft bristle brush and the switching of the bristle work states of different road surface working conditions. The cleaning efficiency is improved, the service life of the bristles is prolonged, and the lightweight design is realized.
2. The road conditions are automatically identified, and the switching device is controlled to automatically switch the soft brush and the bristle brush according to different road conditions, so that the cleaning efficiency is further improved.
3. The change of the opening angle of the brush hair can be automatically controlled, and the change of the cleaning area is realized.
Drawings
In order to more clearly illustrate the embodiments of the application or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the description below are only some embodiments of the application, and that other drawings can be obtained according to these drawings without inventive faculty for a person skilled in the art.
FIG. 1 is a schematic view of the apparatus of the present application;
FIG. 2 is an exploded view of the device of the present application;
FIG. 3 is a schematic view of a bristle setting disk according to the present application;
FIG. 4 is a schematic view of A-A cut-away of a bristle holder according to the present application;
FIG. 5 is a schematic view of the cross-section A-A of FIG. 4;
FIG. 6 is a schematic flow chart of the method of the present application.
Reference numerals: 1-side brush motor, 2-vehicle body connecting rod, 3-brush disc fixing cover, 4-electric telescopic device, 5-push-pull shaft sliding sleeve, 6 push-pull shaft, 61-pull rod, 7-connecting rod, 8-brush hair fixing disc, 81-brush hair fixing hole, 9-brush II, 10-pin shaft, 11-swivel, 12-wire loop and 13-brush I.
Detailed Description
The technical scheme of the application is further specifically described below through examples and with reference to the accompanying drawings. It is apparent that the described embodiments are only some of the embodiments of the present application.
The assembly diagram of the switching device is shown in fig. 1, the switching device can be respectively arranged at two sides of the garbage collection port of the cleaning vehicle, the occupied space is small, the space required in the conversion process is also small, and the chassis space of the existing cleaning vehicle can be completely met.
As shown in the embodiment of fig. 2, the embodiment provides a brush hair switching device of a sweeper, which comprises a vehicle body connecting rod 2 fixed on the vehicle body of the sweeper, wherein an edge brush motor 1 is installed at the top of the outer end of the vehicle body connecting rod 2, an output shaft of the edge brush motor 1 penetrates through the vehicle body connecting rod 2, and an output shaft of the edge brush motor 1 is connected with a brush disc fixing cover 3. The outer periphery of the bottom of the brush disc fixing cover 3 is fixedly connected with the outer periphery of the brush hair fixing disc 8, an electric telescopic device is fixed at the central position of the brush disc fixing cover 3, a telescopic shaft of the electric telescopic device 4 is fixedly connected with a push-pull shaft 6, and 4 pull rods 61 extending radially are circumferentially arranged in the middle of the push-pull shaft 6.
The electric telescopic device 4 can adopt an electric push rod and an electromagnetic push-pull rod, the electric push rod can lock the position of the telescopic rod through power failure, the electromagnetic push-pull rod can lock the position of the telescopic rod through current, and the electric telescopic device 4 is fixed at the center of the bottom of the brush disc fixing cover 3, and the brush disc fixing cover 3 rotates, so that the power supply problem of the electric telescopic device 4 can be solved by arranging an electric slip ring and an electric brush part at the top of the brush disc fixing cover 3.
The outer lane department circumference of bristle setting dish 8 sets up a plurality of bristle fixing hole 81, articulates in the bristle fixing hole 81 has the turn 11, turn 11 is "Y" type, and wherein one end protrusion is in the upper strata of bristle setting dish, and other both ends protrusion in the lower floor of bristle setting dish, and one end b installs brush one 13 in the both ends of lower floor, and other end c installs brush two 9, and the protrusion is equipped with the broach in one end a of bristle setting dish upper strata, wear to put in the broach with the endocentric bead ring 12 of bristle setting dish 8, bead ring 12 is articulated with the one end of 4 connecting rods 7, the other end and the tip swing joint of pull rod 61 of connecting rod 7.
A pin shaft 10 is arranged in the bristle fixing hole, and a rotary head 11 is hinged on the pin shaft 10. The bottom end of the push-pull shaft 6 is sleeved in the push-pull shaft sliding sleeve 5.
Working principle: the side brush motor 1 rotates normally during cleaning, the brush disc fixing cover 3 is fixedly connected with the brush hair fixing disc 8, the side brush motor 1 drives the brush disc fixing cover 3 to rotate, and the motor 1 can realize two working states of forward rotation and reverse rotation through control signals.
The side brush motor 1 rotates positively during normal cleaning, and the side brush motor 1 can be realized together with the electric telescopic device 4 through forward rotation and reverse rotation when the opening angles of the soft brush, the bristle brush and the bristle are required to be adjusted. When the bristle opening angle needs to be adjusted to be increased, the side brush motor 1 rotates positively, the telescopic shaft of the electric telescopic device 4 drives the push-pull shaft 6 to approach the output shaft end of the side brush motor 1, and the bristle opening angle in the bristle fixing disc 8 is increased through the tightening action of the pull rod 61, the connecting rod 7 and the bead ring 12. When the angle reaches a certain value, the brush hair can be switched. When the bristle opening angle needs to be adjusted to be smaller, the side brush motor 1 rotates reversely, the telescopic shaft of the electric telescopic device 4 drives the push-pull shaft 6 to be far away from the output shaft end of the side brush motor 1, and the bristle opening angle in the bristle fixing disc 8 is smaller through the expansion action of the pull rod 61, the connecting rod 7 and the bead ring 12.
When the bristle opening angle is fixed, the electric telescopic device 4 can adopt an electric push rod and an electromagnetic push-pull rod, the electric push rod can lock the telescopic rod position through power failure, the electromagnetic push-pull rod can lock the telescopic rod position through current magnitude, and the push-pull shaft 6 is prevented from recovering to the initial position, so that the bristle can work at the fixed opening angle. In the above process, when the opening angle reaches a certain range, the switching of the soft bristle brush and the bristle brush can be realized, and the specific switching mode is described below.
As shown in fig. 3, an electric telescopic device 4 is fixed at the center of the brush disc fixing cover 3, a telescopic shaft of the electric telescopic device 4 is fixedly connected with a push-pull shaft 6, and 4 pull rods 61 extending radially are circumferentially arranged in the middle of the push-pull shaft 6. One end of each of the 4 connecting rods 7 is connected with the middle circumference of the push-pull shaft 6 through 4 pull rods 61 at equal intervals of 90 degrees, and the other ends of the 4 connecting rods 7 are connected with the bead rings 12.
The outer ring of the brush hair fixing disk 8 is circumferentially and equidistantly provided with a plurality of brush hair fixing holes 81, pin shafts 10 are arranged in the brush hair fixing holes 81, Y-shaped rotating heads 11 are hinged to the pin shafts 10, the Y-shaped rotating heads 11 are rotatably sleeved on the pin shafts 10, and the periphery of the bottom of the brush hair fixing cover 3 is fixedly connected with the periphery of the brush hair fixing disk 8.
As shown in fig. 4 and 5, one end of the Y-shaped rotating head 11 protrudes from the upper layer of the bristle fixing plate 8, the other two ends protrude from the lower layer of the bristle fixing plate 8, one end b of the two ends of the lower layer is provided with a first brush 13, the other end c is provided with a second brush 9, one end a protruding from the upper layer of the bristle fixing plate 8 is provided with a pulling hole, a bead ring concentric with the bristle fixing plate 8 is arranged in the pulling hole in a penetrating manner, the bead ring is hinged with one ends of the 4 connecting rods 7, and the other ends of the connecting rods 7 are movably connected with the end parts of the pull rods 61.
The number of the Y-shaped rotating heads 11 is different according to the bristle density requirement, the bead rings 12 are connected in series with all the Y-shaped rotating heads 11 through pull holes, and 4 connecting rods 7 are respectively and equidistantly connected with the bead rings 12, so that the bead rings 12 are uniformly stressed.
The push-pull shaft 6 moves up and down under the drive of the telescopic shaft of the electric telescopic device 4, and approaches or departs from the output shaft end of the side brush motor 1, and then 4 connecting rods 7 are driven by 4 pull rods 61 to approach or departs from the output shaft end of the side brush motor 1. The bead ring 12 is also driven to shrink or expand along with the process that the connecting rod 7 approaches or departs from the output shaft end of the side brush motor.
When the bead ring 12 is opened, the bead ring 12 makes the serially connected Y-shaped rotating heads 11 rotate downwards around the pin shafts 10, so that the second hairbrush 9 (soft hairbrush) is lowered, and the first hairbrush 13 (bristle hairbrush) is lifted.
Similarly, when the bead ring 12 is contracted, the bead ring 12 enables the Y-shaped rotating heads 11 connected in series to rotate upwards around the pin shafts 10, so that the second hairbrush 9 is lifted, and the first hairbrush 13 is lowered.
According to the control of the longitudinal movement distance of the push-pull shaft 6, the rotary head 11 is driven to rotate around the pin shaft 10 within the angle range of 29-74 degrees, so that the brush body between the soft bristle brushes is switched. At 51.5 the critical angle for soft bristle brush switching, i.e. bristle brush state in the angle range of 29 ° to 51.5 ° and soft bristle brush state in the angle range of 51.5 ° to 74 °. In addition, the application can also set different angle ranges according to the requirement to realize the switching of the soft bristle brush, the specific rotation angle can be obtained by conversion or multiple tests according to the elasticity of the bead ring 12, and the related angle parameters can be obtained by the skilled in the art according to the technical scheme disclosed by the application to realize the switching function.
In practical application, besides the automatic control of the soft bristle brush and the bristle brush, the cleaning area of the bristle brush is also required to be switched sometimes, so that different cleaning efficiency requirements are realized. The application can also control the rotation angle of the rotary head 11 around the pin shaft 10, and control the opening area of the current bristle under the condition that the bristle is kept in the same state. When the rotating angle of the rotary head 11 around the pin shaft 10 is within the range of more than or equal to 29 degrees and less than 51.5 degrees, the open area of the first brush 13 is ensured to be reduced along with the increase of the angle under the bristle brush state; when the rotating head 11 rotates around the pin shaft 10 within the angle range of more than 51.5 degrees and less than or equal to 74 degrees, the open area of the second hairbrush 9 is ensured to be reduced along with the increase of the angle in the soft hairbrush state.
Therefore, the application only needs to control the longitudinal moving distance of the push-pull shaft 6, and the mechanical transmission structure drives the rotary head 11 to rotate around the pin shaft 10 to change the angle, thereby controlling the positions of the soft and the bristle brushes, not only realizing the switching of the brush bodies between the soft and the bristle brushes, but also further controlling the opening area of the bristles in the soft or the bristle brush state and carrying out the switching control of the cleaning area of the brush bodies. Two technical problems can be solved by the structure, and two beneficial technical effects are realized.
The application also provides a control method of the brush hair switching device of the sweeper by combining the switching device. A schematic of the use of an autonomously switched soft, bristle brush is shown in fig. 6. The control idea is as follows: the road traffic control method comprises the steps of establishing a road traffic database of different road surfaces of the sweeper, arranging sensors on tires of the sweeper, collecting excitation conditions of different road surfaces, defining road surface types by a central ECU according to matching of the excitation conditions of the tires and the road traffic database, and sending instructions by the ECU to control an electric telescopic device to work so as to achieve the effect that different road surfaces adopt different bristles and different bristle angles. The specific method comprises the following steps:
road surface excitation information is collected in real time through a sensor arranged in the tire, and recorded in t seconds as one period, and is marked as f 1 ，f 2 ，f 3 ，···，f n 。
Road condition matching is carried out on recorded road surface excitation information within n t seconds respectively in combination with a road spectrum database, a plurality of road condition matching results are obtained respectively, and road condition labeling of different categories is carried out according to the difference of the matching results. If the matching result is a rough road surface, marking the rough road surface as rough; if the matching result is a flat road surface, the road surface is marked as flat.
Judging whether 5 (at least 3) continuous identical road condition labels exist, if yes, taking the road condition labels as a final road condition matching result, and if no, continuing to judge until 5 continuous identical road condition labels exist. If the matching results of the continuous 5T time periods are rough or flat, the road section is considered to be a rough road surface or a flat road surface, the road section is taken as the final matching result in the T time period to call a corresponding control instruction, and once the running time meets T, judgment is carried out again.
For example, recording is performed in a cycle of 5 seconds, and a total of 12 are recorded, denoted as f 1 ，f 2 ，f 3 ，···，f 12 . And comparing the 12 records with a road spectrum database, marking the 12 records according to the rough or flat comparison result, and if the 12 records find that the 5 continuous marked results are consistent (such as rough or flat), defaulting the road sections within the T time to be rough or flat, thereby calling corresponding control instructions to automatically control the switching device.
And calling a corresponding control instruction according to the final matching result.
And the brush hair switching device of the sweeper is executed according to the control instruction.
Control instructions for executing on a flat road surface: after the push-pull shaft 6 is restored to the initial position, the electric telescopic device 4 is started, the telescopic shaft of the electric telescopic device 4 drives the output shaft end of the side brush motor 1 of the push-pull shaft 6 to be far away, so that the steel wire ring 12 is driven to open by the downward-pressing connecting rod 7, the rotating head 11 is driven to rotate by a preset angle, and after the hairbrush II 9 is put down and the hairbrush I13 is lifted, the electric telescopic device 4 locks the push-pull shaft 6. The second brush 9 rotates while maintaining this state, and cleans a flat road surface. Control instructions for rough road execution: after the push-pull shaft 6 is restored to the initial position, the electric telescopic device 4 is started, the telescopic shaft of the electric telescopic device 4 drives the output shaft end of the side brush motor 1 of the push-pull shaft 6 to approach, so that the pull-up connecting rod 7 drives the bead ring 12 to shrink, the rotating head 11 is driven to rotate by a preset angle, the hairbrush II 9 is lifted, and the hairbrush I13 is put down, so that the electric telescopic device 4 locks the push-pull shaft 6. The first brush 13 rotates while maintaining this state, and cleans a rough road surface.
It should be understood that the above-described embodiments are merely illustrative of the present application and are not intended to limit the scope of the present application. It is also to be understood that various changes and modifications may be made by those skilled in the art after reading the disclosure herein, and that such equivalents are intended to fall within the scope of the application as defined in the appended claims.
Claims (9)
1. The utility model provides a motor sweeper brush hair auto-change over device, includes the automobile body connecting rod of fixing on the motor sweeper body, and the limit brush motor is installed at the top of automobile body connecting rod outer end, and the output shaft of limit brush motor runs through the automobile body connecting rod and the output shaft and the brush dish fixed cover of limit brush motor are connected, its characterized in that: the periphery of the bottom of the brush disc fixing cover is fixedly connected with the periphery of the brush hair fixing disc, an electric telescopic device is fixed at the center of the brush disc fixing cover, a telescopic shaft of the electric telescopic device is fixedly connected with a push-pull shaft, and a plurality of radially extending pull rods are circumferentially arranged at the middle part of the push-pull shaft; the outer lane department circumference of bristle setting dish sets up a plurality of bristle fixed orifices, and the interior articulated of bristle fixed orifices has the turn round, the turn round is "Y" type, and wherein one end protrusion is in the upper strata of bristle setting dish, and other both ends protrusion in the lower floor of bristle setting dish, and one end b installs brush one in the both ends of lower floor, and other end c installs brush two, and the protrusion is equipped with the broach in one end a of bristle setting dish upper strata, wear to put in the broach and have with the endocentric bead ring of bristle setting dish, bead is articulated with the one end of a plurality of connecting rods, the other end and the tip swing joint of pull rod of connecting rod.
2. The sweeper brush switching device of claim 1, wherein: a pin shaft is arranged in the bristle fixing hole, and a rotating head is hinged on the pin shaft.
3. The brush switching device of claim 2, wherein the bottom end of the push-pull shaft is sleeved in the push-pull shaft sliding sleeve.
4. A control method of a brush hair switching device of a sweeper is characterized by comprising the following steps of: the method comprises the following steps:
step 1, collecting road surface excitation information in real time;
step 2, road condition matching is carried out by combining a road spectrum database;
step 3, corresponding control instructions are called according to the matching result;
step 4, the brush switching device of the sweeper according to any one of claims 1 to 3 is executed according to the control instruction.
5. The method for controlling a bristle switching device of a sweeper according to claim 4, wherein:
s1, collecting road surface excitation information in real time through a sensor arranged in the tire, recording the road surface excitation information with t seconds as one period, and recording the road surface excitation information as f 1 ，f 2 ，f 3 ，···，f n ；
S2, road condition matching is carried out on recorded road surface excitation information within n t seconds by respectively combining a road spectrum database, a plurality of road condition matching results are respectively obtained, and different types of road condition labels are carried out on each matching result;
s3, judging whether m continuous identical road condition labels exist, if yes, taking the road condition labels as a final road condition matching result, and if no, continuing to judge until the m continuous identical road condition labels appear;
s4, calling a corresponding control instruction according to the final matching result;
s5, executing the brush hair switching device of the sweeper according to any one of claims 1 to 3 according to the control instruction;
s6, after T seconds are executed, starting S3 again for n T seconds, and judging whether the continuous m same road condition labels exist or not.
6. The method for controlling a bristle switching device of a motor sweeper according to claim 4 or 5, wherein the method for executing the bristle switching device of the motor sweeper according to the control command is as follows:
the electric telescopic device is started, the push-pull shaft stretches along with the telescopic shaft and drives the connecting rod to approach or separate from the output shaft end of the side brush motor through the pull rod, the steel wire ring is driven to shrink or stretch along with the approaching or separating process of the connecting rod to the output shaft end of the side brush motor, the steel wire ring drives the rotating head to rotate around the pin shaft by a preset angle, the first hairbrush or the second hairbrush is lifted or put down, and after the preset angle is reached, the electric telescopic device locks the push-pull shaft.
7. The method for controlling the brush switching device of the sweeper according to claim 6, wherein the road condition label is classified into a road condition A and a road condition B, and the method for executing the brush switching device of the sweeper according to the control instruction is as follows:
according to the final matching result, a corresponding control instruction is called, and if the final matching result is the road condition A, a control instruction a is called;
if the final matching result is the road condition B, calling a control instruction B;
after the push-pull shaft is restored to the initial position, the electric telescopic device is started, the steel wire ring is driven to shrink along with the process that the connecting rod approaches to the output shaft end of the side brush motor, the steel wire ring drives the rotary head to rotate around the pin shaft by a preset angle, the first hairbrush is lifted up, the second hairbrush is put down, and after the preset angle is reached, the electric telescopic device locks the push-pull shaft;
after the push-pull shaft is restored to the initial position, the electric telescopic device is started, the connecting rod is driven by the pull rod to move away from the output shaft end of the side brush motor, the steel wire ring is driven to expand along with the process that the connecting rod moves away from the push-pull shaft, the steel wire ring drives the rotating head to rotate around the pin shaft by a preset angle, the first hairbrush is put down, the second hairbrush is lifted, and after the preset angle is reached, the electric telescopic device locks the push-pull shaft.
8. A computer readable storage medium storing one or more programs, wherein the computer readable storage medium stores one or more computer programs which, when executed by a processor, perform a method as claimed in any one of claims 4 to 7.
9. A cleaning vehicle, characterized in that the vehicle is fitted with at least one brush switching device of a cleaning vehicle according to any one of claims 1 to 3.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210280785.7A CN114622505B (en) | 2022-03-22 | 2022-03-22 | Method and device for controlling bristle switching of sweeper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210280785.7A CN114622505B (en) | 2022-03-22 | 2022-03-22 | Method and device for controlling bristle switching of sweeper |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114622505A CN114622505A (en) | 2022-06-14 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117248480A (en) * | 2023-09-25 | 2023-12-19 | 安徽橙犀清洁设备有限公司 | Washing and sweeping integrated vehicle |
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| JP2009131386A (en) * | 2007-11-29 | 2009-06-18 | Kowa Co Ltd | Side brush for road sweeper and road sweeper |
| CN109024408A (en) * | 2018-07-27 | 2018-12-18 | 淮海工学院 | A kind of novel intelligent road cleaner side brush device |
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| CN212879167U (en) * | 2020-07-16 | 2021-04-06 | 安徽建筑大学 | A brush plate height adjustment mechanism for a washing machine |
| CN214783561U (en) * | 2021-05-31 | 2021-11-19 | 中钰环境管理有限公司 | Road sweeper |
| CN113774840A (en) * | 2021-09-28 | 2021-12-10 | 上海高仙自动化科技发展有限公司 | Side brush structure and floor cleaning equipment with same |
| CN215367015U (en) * | 2021-05-27 | 2021-12-31 | 九天创新(广东)智能科技有限公司 | Brush head, brush head assembly and sweeper with brush head assembly |
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| BE1018211A3 (en) * | 2008-07-07 | 2010-07-06 | Delaere Marc | BRUSH FOR A MACHINE FOR HORIZONTALLY AND / OR VERTICAL CLEANING OF SURFACES FITTED WITH GROOVES, JOINTS, IMPACIES AND / OR PORIES AND MACHINE FITTED WITH SUCH BRUSHES. |
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| EP0692577A1 (en) * | 1994-07-16 | 1996-01-17 | MOHR, Hermann | Brush to brush away weeds on hardened areas |
| JP2009131386A (en) * | 2007-11-29 | 2009-06-18 | Kowa Co Ltd | Side brush for road sweeper and road sweeper |
| CN109024408A (en) * | 2018-07-27 | 2018-12-18 | 淮海工学院 | A kind of novel intelligent road cleaner side brush device |
| CN212879167U (en) * | 2020-07-16 | 2021-04-06 | 安徽建筑大学 | A brush plate height adjustment mechanism for a washing machine |
| DE202021100605U1 (en) * | 2021-02-08 | 2021-02-16 | Christian Höfl | Sliding whisk |
| CN215367015U (en) * | 2021-05-27 | 2021-12-31 | 九天创新(广东)智能科技有限公司 | Brush head, brush head assembly and sweeper with brush head assembly |
| CN214783561U (en) * | 2021-05-31 | 2021-11-19 | 中钰环境管理有限公司 | Road sweeper |
| CN113774840A (en) * | 2021-09-28 | 2021-12-10 | 上海高仙自动化科技发展有限公司 | Side brush structure and floor cleaning equipment with same |
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| CN114622505A (en) | 2022-06-14 |
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