A fully automatic ecological cycle leaf cleaning vehicle

Abstract

The present invention discloses a fully automatic ecological cycle leaf cleaning vehicle, comprising a cleaning vehicle body, the cleaning vehicle body comprising a fallen leaf collection device, a cutting and crushing device, a broken leaf discharge device and a chassis drive device for driving the cleaning vehicle body forward; the fallen leaf collection device comprises a fallen leaf collection box and an absorption pipe installed on the top of the fallen leaf collection box, a first inclined filter screen is arranged in the fallen leaf collection box, the lower end of the first filter screen is arranged directly below the absorption pipe, and the fallen leaf collection box is provided with a vacuum pump for extracting gas in the fallen leaf collection box on one side of the high end of the first filter screen; the absorption pipe comprises an absorption head arranged at one end of the absorption pipe and a first electrically controlled valve arranged in the absorption pipe. The present invention can quickly and effectively identify fallen leaves and soil areas, and can realize autonomous obstacle avoidance and autonomous planning of operation routes.

Description

Technical Field

[0001] The invention relates to the technical field of road environmental protection, and in particular to a fully automatic ecological cycle leaf cleaning vehicle. Background Art

[0002] Falling leaves is a law of nature. Different tree species fall leaves at different times. Especially in late autumn and early winter, the leaves of green trees fall one after another. A lot of dead branches and leaves gather in the green belts of urban areas. Weeds and fallen leaves are not only the overwintering places for some pests and pathogens, but also prone to fire in dry and windy winters. For this reason, the sanitation department and the gardening and greening department dispatch a large number of sanitation workers every year to clean up fallen leaves on the road and green belts to minimize the accumulation of fallen leaves. In recent years, with the continuous deepening of scientific and technological innovation, there are more and more types of road sweepers, and this technology has greatly reduced the work intensity of sanitation workers. However, at present, road sweepers are mainly used to clean fallen leaves for the safe operation of cars, so they are only used for wide road operations, while automatic leaf cleaning vehicles for sidewalks are rarely involved, which is a vacant area in the market; the reason is that there are more debris and gravel on the sidewalks, and it is not easy to sort and collect fallen leaves. In addition, there are more pedestrians on the sidewalks, which also puts higher requirements on the autonomous obstacle avoidance and safe operation of automatic leaf cleaning vehicles. Summary of the invention

[0003] The purpose of the present invention is to provide a fully automatic ecological cycle leaf cleaning vehicle, which can quickly and effectively identify fallen leaves and soil areas, and can achieve autonomous obstacle avoidance and autonomous route planning.

[0004] To achieve the above-mentioned object, the present invention provides the following technical solutions: a fully automatic ecological cycle leaf cleaning vehicle, comprising a cleaning vehicle body, wherein the cleaning vehicle body comprises a fallen leaf collecting device, a cutting and crushing device, a broken leaf discharging device and a chassis driving device for driving the cleaning vehicle body forward;

[0005] The fallen leaf collection device comprises a fallen leaf collection box and an absorption pipe installed on the top of the fallen leaf collection box, a first inclined filter screen is arranged in the fallen leaf collection box, the lower end of the first filter screen is arranged directly below the absorption pipe, and a vacuum pump for extracting gas in the fallen leaf collection box is arranged on one side of the fallen leaf collection box located at the high end of the first filter screen;

[0006] The absorption tube comprises an absorption head arranged at one end of the absorption tube and a first electrically controlled valve arranged in the absorption tube, wherein the first electrically controlled valve is used to control the connection and cutoff of the internal circulation channel of the absorption tube; a fallen leaf recognition module for identifying fallen leaves is installed on one side of the absorption tube close to the absorption head, and the fallen leaf recognition module is configured with a fallen leaf recognition strategy, wherein when the fallen leaf recognition module recognizes fallen leaves, the first electrically controlled valve is controlled to be opened to connect the internal circulation channel of the absorption tube, and when the fallen leaf recognition module recognizes non-fallen leaves, the first electrically controlled valve is controlled to be closed to cut off the internal circulation channel of the absorption tube;

[0007] The cutting and crushing device includes a cutting box and a cutting assembly, which are used to cut and crush fallen leaves. A leaf pushing mechanism is provided on one side of the fallen leaf collection box. When the leaf pushing mechanism is activated, the fallen leaves in the fallen leaf collection box are pushed into the cutting box. The broken leaf discharge device includes a broken leaf storage box arranged below the cutting box and a discharge pipe arranged on one side of the broken leaf storage box.

[0008] Preferably, the broken leaf discharge device also includes a discharge outlet connected to the discharge pipe and a second electrically controlled valve arranged in the discharge pipe, and a soil identification module for identifying the soil area is provided on the side of the discharge pipe close to the discharge outlet, and the soil identification module is configured with a fallen leaf discharge strategy, and the fallen leaf discharge strategy is that when the soil identification module identifies soil, the second electrically controlled valve is controlled to open so that the internal flow channel of the discharge pipe is connected, and when the soil identification module identifies non-soil, the second electrically controlled valve is controlled to close so that the internal flow channel of the discharge pipe is cut off.

[0009] Preferably, the absorption tube includes a fixed portion arranged on the top of the fallen leaf collection box and an absorption section flexibly connected to the fixed portion, the other end of the absorption section is connected to the absorption head, and an infrared sensor is installed on the side of the absorption section close to the absorption head, and the infrared sensor is configured with a first detection threshold, and a telescopic drive mechanism is provided on one side of the fallen leaf collection box, the driving end of the telescopic drive mechanism is hingedly connected to the absorption section, and the telescopic direction of the telescopic drive mechanism is perpendicular to the forward direction of the cleaning vehicle body; the telescopic drive mechanism is electrically connected to the first controller, and the first controller is configured with an obstacle avoidance strategy, and the obstacle avoidance strategy is that when the infrared sensor detects that there is an obstacle within the first detection threshold, the telescopic drive mechanism is controlled to retract so that the absorption section is close to the collection box, and when the infrared sensor detects that there is no obstacle within the first detection threshold, the telescopic drive mechanism is controlled to extend so that the absorption section is away from the collection box.

[0010] Preferably, the fixing portion includes a vertical section connected to the top of the fallen leaf collection box and a filter section connected to the vertical section, the filter section is arranged to extend in a direction away from the vertical section and is inclined downward along the extension direction, the absorption section is provided with a second collection box for collecting gravel, and a second filter net is provided at the connection between the second collection box and the absorption section.

[0011] Preferably, the method for the fallen leaves identification module to identify fallen leaves includes:

[0012] S1, a color recognition step, including matching a color recognition algorithm with a first threshold,

[0013] Acquire an image recognition area, calculate the color similarity between the image recognition area and a pre-stored fallen leaf feature database using a color recognition algorithm, and identify an area where the color similarity is greater than a first threshold as a feature area;

[0014] S2, a contour recognition step, including matching a contour recognition algorithm with a second threshold,

[0015] The characteristic region is acquired, and the contour similarity between the characteristic region and a pre-stored fallen leaf characteristic database is calculated using a contour recognition algorithm, and the region with a contour similarity greater than a second threshold is identified as a fallen leaf region.

[0016] Preferably, the soil identification module is configured with a soil identification strategy, and the soil identification strategy is matched with a fourth threshold. The soil identification strategy includes obtaining an image identification area, using a color recognition algorithm to calculate the color similarity between the image identification area and a pre-stored soil feature database, and identifying an area whose color similarity is greater than the fourth threshold as a soil area.

[0017] Preferably, the cleaning vehicle body also includes a main controller, the chassis drive device includes a mounting base plate, a rotating wheel is provided below the mounting base plate, a second servo motor for driving the rotating wheel to rotate is fixedly mounted on the rotating wheel, the second servo motor is electrically connected to the main controller, and an obstacle avoidance control mechanism for adjusting the rotation direction of the rotating wheel is provided in the mounting base plate.

[0018] Preferably, the obstacle avoidance control mechanism includes an obstacle recognition module and a path planning module electrically connected to the main controller, the obstacle recognition module includes a ranging sensor assembly arranged along the forward direction of the cleaning vehicle body, for detecting obstacles along the forward direction of the cleaning vehicle body; the path planning module includes a pre-stored city electronic map database, the path planning module is configured with a path planning strategy, the path planning strategy includes obtaining the initial position information and forward direction information of the cleaning vehicle body, retrieving the corresponding initial path from the city electronic map database, and optimizing the initial path according to the information fed back by the obstacle recognition module.

[0019] Preferably, the obstacle avoidance control mechanism also includes a synchronous transmission mechanism electrically connected to the main controller, the synchronous transmission mechanism includes a servo motor, a driving gear fixedly connected to the output shaft of the servo motor, and a planetary gear set meshing with the driving gear, the planetary gear set is connected to the rotating wheel through a transmission shaft, and is used to drive the rotating wheel to rotate horizontally to adjust the rotation direction of the rotating wheel.

[0020] Preferably, the broken leaf discharge device also includes a blowing device arranged on the side of the broken leaf storage box away from the discharge pipe, which is used to blow gas into the broken leaf storage box, and the discharge pipe is installed with an atomizing mechanism, which is used to provide humidified gas into the discharge pipe, and the injection direction of the humidified gas is perpendicular to the extension direction of the discharge pipe; a gravel collection box for collecting sand and gravel filtered out by the first filter screen is provided below the fallen leaf collection device, and the gravel collection box includes a support frame and a pull-out box arranged inside the support frame and slidably connected to the support frame; a water storage tank is provided below the gravel collection box, and the atomizing mechanism is connected to the water storage tank through a first water pump, which is used to supply water to the atomizing mechanism through the water storage tank.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] The present invention provides a first filter screen in the fallen leaf collection box, and the first filter screen is inclined upward from one side of the absorption pipe toward the vacuum pump, so that a part of the gravel can fall into the gravel collection box during the movement, thereby realizing effective separation of fallen leaves and gravel, and by providing a cutting and crushing device and a broken leaf discharge device for cutting and crushing the fallen leaves, the collected fallen leaves can be processed on site and spread in the soil as fertilizer, thereby realizing ecological treatment of the fallen leaves.

[0023] By setting up a fallen leaf recognition module, the fallen leaf recognition module is configured with a fallen leaf recognition method. The fallen leaf recognition method first determines the feature area through a color recognition step, which can filter out most of the areas without fallen leaves, reducing the amount of data calculation and improving processing efficiency; secondly, the feature area is processed twice through a contour recognition step to determine the fallen leaf area, thereby improving processing accuracy.

[0024] The present invention provides a filter section on the top of the leaf collection box, which is inclined and extends downward away from the vertical section, and a first angle is formed between the filter section and the absorption section. Due to the existence of the first angle, the leaves, gravel and air in the absorption tube change their flow direction during the transition from the absorption section to the filter section, so that a part of the gravel will directly slide downward along the inner wall of the absorption tube or fall into the second collection box due to collision in the filter section.

[0025] By hingedly connecting the absorption section at the fixed part and arranging a first cylinder to drive the absorption section to move away from or close to the collection box, fallen leaves between narrow gaps on the crosswalk can be cleaned.

[0026] By setting up the path planning module, the route can be planned autonomously and the initial path can be optimized based on the information fed back by the obstacle recognition module. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 This is a schematic diagram of the main structure of a fully automatic ecological cycle leaf cleaning vehicle of the present invention;

[0028] Figure 2 It is a left-side structural schematic diagram of a fully automatic ecological cycle leaf cleaning vehicle of the present invention;

[0029] Figure 3 For the present invention Figure 2 Schematic diagram of the internal structure;

[0030] Figure 4 This is a structural schematic diagram of the connection between a fallen leaf collection box and a water storage tank in a fully automatic ecological cycle leaf automatic cleaning vehicle of the present invention;

[0031] Figure 5 This is the second embodiment of a fully automatic ecological cycle leaf cleaning vehicle of the present invention. In the figure: 1. Cleaning vehicle body; 2. Fallen leaf collection box; 21. Leaf pushing mechanism; 210. Push plate; 211. Electric cylinder; 22. Gravel collection box; 221. Support frame; 222. Pull-out box; 23. Water storage tank; 201. First filter screen; 202. Vacuum pump; 203. Ventilation net; 3. Absorption tube; 301. Absorption head; 302. Fallen leaf recognition module; 303. Vertical section; 304. Filter section; 305. Absorption section; 3051. First electric control valve; 306. Infrared sensor; 4. Cutting box; 401. Cutting assembly; 402. 011, fixed knife group; 4012, moving knife group; 4013, driving shaft; 4014, first motor; 5, atomization mechanism; 6, chassis drive device; 7, distance sensor assembly; 8, broken leaf storage box; 801, discharge pipe; 8011, second electric control valve; 802, air blowing device; 803, discharge port; 804, soil identification module; 9, main controller; 901, installation base plate; 902, rotating wheel; 903, second servo motor; 904, synchronous transmission mechanism; 10, first cylinder; 11, second collection box; 12, second filter. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0033] like Figure 1-Figure 4 As shown, the first embodiment provided by the present invention is a fully automatic ecological cycle leaf cleaning vehicle, comprising a cleaning vehicle body 1, wherein the cleaning vehicle body 1 comprises a fallen leaf collecting device, a broken leaf discharging device, a cutting and crushing device for cutting and crushing fallen leaves, and a chassis driving device 6 for driving the cleaning vehicle body 1 forward;

[0034] The fallen leaf collection device is used to collect fallen leaves on the road surface, and includes a fallen leaf collection box 2, an absorption pipe 3 installed on the top side of the fallen leaf collection box 2 and connected to the inside of the fallen leaf collection box 2, and a vacuum pump 202 installed on the side of the fallen leaf collection box 2 away from the absorption pipe 3. The fallen leaf collection device also includes a ventilation net 203 arranged on one side of the vacuum pump 202, which is used to block fallen leaves and gravel.

[0035] A first filter screen 201 is provided in the leaf collection box 2. The first filter screen 201 is tilted upward from the side of the absorption pipe 3 toward the vacuum pump 202. The fallen leaves and gravel enter the leaf collection box 2 from the side away from the vacuum pump 202, and then gradually move toward the vacuum pump 202 under the action of wind. In the process of moving toward the vacuum pump 202, the first filter screen 201 is gradually tilted upward, so that the sand and gravel particles on the first filter screen 201 roll toward the side away from the vacuum pump 202 under the action of gravity, and fall from the sieve holes opened on the first filter screen 201 into the gravel collection box 22 during the rolling process.

[0036] An absorption head 301 is disposed at one end of the absorption tube 3 , and fallen leaf recognition modules 302 for recognizing fallen leaves are installed on some of the absorption tubes 3 near the absorption head 301 .

[0037] The cutting and crushing device includes a cutting box 4, which is installed on a side of the fallen leaf collecting box 2 adjacent to the vacuum pump 202 and is connected to the inside of the fallen leaf collecting box 2;

[0038] The broken leaf discharge device is arranged at the bottom of the cutting and crushing device and is connected to the inside of the cutting and crushing device. The broken leaf discharge device includes a discharge pipe 801 and an atomizing mechanism 5 installed on the discharge pipe 801, which is used to wet the broken leaves after cutting and crushing and then discharge them;

[0039] The obstacle avoidance control mechanism includes an obstacle recognition module and a path planning module electrically connected to the main controller. The obstacle recognition module includes a distance sensor assembly 7 arranged along the forward direction of the cleaning vehicle body 1. The distance sensor assembly 7 includes a plurality of distance sensors with different measurement ranges, which are used to comprehensively detect obstacles along the forward direction of the cleaning vehicle body 1. The path planning module includes a pre-stored city electronic map database. The path planning module is configured with a path planning strategy. The path planning strategy includes obtaining the initial position information and forward direction information of the cleaning vehicle body, retrieving the corresponding initial path from the city electronic map database, and optimizing the initial path according to the information fed back by the obstacle recognition module.

[0040] The absorption tube 3 includes a fixed portion connected to the top of the fallen leaf collection box 2 and an absorption section 305 flexibly connected to the fixed portion. The flexible connection part can be a flexible rubber tube. The other end of the absorption section 305 is connected to the absorption head 301. An infrared sensor for detecting obstacles is installed on the side of the absorption section 305 close to the absorption head 301. The telescopic driving mechanism includes a first cylinder. The driving end of the first cylinder is hingedly connected to the absorption section 305, which is used to drive the absorption section 305 to move away from or close to the collection box. The fallen leaves between the narrow gaps on the crosswalk can be cleaned. When the absorption tube 3 encounters an obstacle, the infrared sensor will send information to the main controller 9, and the main controller 9 will control the first cylinder to retract to avoid collision.

[0041] Preferably, the fallen leaf recognition module 302 is configured with a fallen leaf recognition method, and the fallen leaf recognition method includes:

[0042] S1, a color recognition step, including matching a color recognition algorithm with a second threshold,

[0043] Acquire an image recognition area, calculate the color similarity between the image recognition area and a pre-stored fallen leaf feature database using a color recognition algorithm, and identify an area where the color similarity is greater than a second threshold as a feature area;

[0044] S2, a contour recognition step, including matching a contour recognition algorithm with a third threshold,

[0045] The characteristic region is acquired, and the contour similarity between the characteristic region and a pre-stored fallen leaf characteristic database is calculated using a contour recognition algorithm, and the region with a contour similarity greater than a third threshold is identified as a fallen leaf region.

[0046] By setting up the fallen leaf recognition module 302, the fallen leaf recognition module 302 is configured with a fallen leaf recognition method. The fallen leaf recognition method first determines the characteristic area through a color recognition step, which can filter out most of the areas without fallen leaves, reduce the amount of data calculation, and improve processing efficiency; secondly, the characteristic area is processed twice through a contour recognition step to determine the fallen leaf area, thereby improving processing accuracy.

[0047] Preferably, the absorption section 305 is provided with a first electric control valve 3051 for controlling the connection and cutoff of the internal circulation channel of the absorption section 305; the discharge pipe 801 is provided with a second electric control valve 8011 for controlling the connection and cutoff of the internal circulation channel of the discharge pipe 801. The first electric control valve 3051 and the second electric control valve 8011 are both electrically connected to the main controller 9, and are used to control the opening and closing of the first electric control valve 3051 and the second electric control valve 8011 through the main controller 9. Since the start and shut down of the vacuum pump 202 will have a time delay, when an object other than fallen leaves is detected, it cannot be shut down immediately, so it will cause the absorption of foreign matter, affecting the normal operation of the equipment; by using the main controller 9 to control the first electric valve to control the connection and cutoff of the internal circulation channel of the absorption section 305, the action speed is fast, the delay is small, and the action is more accurate. The blowing device 802 includes a blower. Since there is a time delay in starting and shutting down the blower, it cannot be shut down immediately when a non-soil area is detected, so broken leaves are discharged at will, affecting the environment. The main controller 9 is used to control the second electric valve to control the connection and cutoff of the internal flow channel of the discharge pipe 801, with fast action speed, small delay and more accurate action.

[0048] Preferably, a leaf pushing mechanism 21 is provided on the side of the fallen leaf collection device away from the cutting box 4, and the leaf pushing mechanism 21 includes a push plate 210 slidably connected to the inner wall of the collection box, and the push plate 210 is connected to the driving end of the electric cylinder 211, which is used to push the fallen leaves from the collection box into the cutting box 4.

[0049] Preferably, the broken leaf discharge device includes a broken leaf storage box 8 and a blowing device 802 installed on the side of the broken leaf storage box 8 away from the discharge pipe 801, the blowing device 802 is connected to the inside of the broken leaf storage box 8, and is used to blow air into the broken leaf storage box 8; the cutting and crushing device includes a cutting assembly 401 installed in the cutting box 4 for crushing and cutting fallen leaves; the cutting assembly 401 includes a fixed knife group 4011 fixedly installed in the cutting box 4 and a movable knife group 4012 installed on the driving shaft 4013 and driven to rotate by the driving shaft 4013; the first motor 4014 is fixed on the cutting box 4, and is used to drive the driving shaft 4013 to rotate.

[0050] Preferably, a gravel collection box 22 for collecting sand and gravel filtered out by the first filter screen 201 is provided below the fallen leaf collection device, and the gravel collection box 22 includes a support frame 221 and a pull-out box 222 arranged inside the support frame 221 and slidably connected to the support frame 221; a water storage tank 23 is provided below the gravel collection box 22, and the atomization mechanism 5 is connected to the water storage tank 23 through a first water pump, which is used to supply water to the atomization mechanism 5 through the water storage tank 23; the broken leaves are humidified by the atomization mechanism 5 and then discharged, which can avoid the impact of dust on the environment.

[0051] Preferably, the leaf crushing discharge device includes a discharge outlet 803 connected to a discharge pipe 801, and a soil identification module 804 for identifying a soil area is provided on one side of the discharge pipe 801 close to the discharge outlet 803. The soil identification module 804 is configured with a soil identification strategy, which includes obtaining an image recognition area, calculating the color similarity between the image recognition area and a pre-stored soil feature database using a color recognition algorithm, and identifying an area whose color similarity is greater than a fourth threshold as a soil area.

[0052] Preferably, the cleaning vehicle body 1 also includes a main controller 9, and the chassis drive device 6 includes a mounting base plate 901. A rotating wheel 902 for driving the cleaning vehicle body 1 to move is provided below the mounting base plate 901. An obstacle avoidance control mechanism for adjusting the rotation direction of the rotating wheel 902 is provided in the mounting base plate 901. A second servo motor 903 for controlling the rotation of the rotating wheel 902 is fixedly mounted on the rotating wheel 902. The second servo motor 903 is electrically connected to the main controller 9. The servo motor is used to control the rotating wheel 902 to improve the accuracy of the operation.

[0053] Preferably, the path planning module includes a pre-stored city electronic map database, and the path planning module is configured with a path planning strategy, which includes obtaining the position of the cleaning vehicle body 1, and retrieving the corresponding initial path from the city electronic map database, and optimizing the initial path according to the information fed back by the obstacle recognition module; the obstacle avoidance control mechanism includes a synchronous transmission mechanism 904 electrically connected to the main controller 9, and the synchronous transmission structure includes a servo motor, a driving gear fixedly connected to the output shaft of the servo motor, and a planetary gear set meshing with the driving gear. The planetary gear set is connected to the rotating wheel 902 through a transmission shaft, and is used to drive the rotating wheel 902 to move horizontally to adjust the rotation direction of the rotating wheel 902. By setting the path planning module, the route can be planned autonomously and the initial path can be optimized according to the information fed back by the obstacle recognition module.

[0054] Since the start and stop of the vacuum pump 202 and the blower are controlled by the main controller 9, in order to ensure the long-term operation of the equipment, the main controller 9 selects the MC33886DH driver chip model for parallel connection of the drive control circuit part of the vacuum pump 202 and the blower (the MC33886DH driver chip is equipped with a voltage and current protection module with high safety performance), which enhances the driving capability and reduces the on-resistance, reduces the heat generation of the driver chip, and can ensure the long-term operation of the equipment.

[0055] like Figure 5 As shown, the second embodiment provided by the present invention is different from the first embodiment in that the fixed portion includes a vertical section 303 connected to the top of the fallen leaf collection box 2 and a filter section 304 connected to the vertical section 303, the filter section 304 is arranged to extend in a direction away from the vertical section 303, and is arranged to be inclined downward along the extension direction, the absorption section 305 is also provided with a second collection box 11 for collecting gravel, and a second filter screen 12 is provided at the connection between the second collection box 11 and the absorption section 305 for filtering out the gravel; a first angle is formed between the filter section 304 and the absorption section 305, due to the existence of the first angle, the fallen leaves, gravel and air in the absorption tube 3 change their flow direction during the transition from the absorption section 305 to the filter section 304, so that a part of the gravel will directly slide down along the inner wall of the absorption tube 3 or fall into the second collection box 11 due to a collision in the filter section 304.

[0056] Working principle: the main controller 9 can drive the cleaning vehicle body 1 forward through the second servo motor 903, and can change the direction by controlling the synchronous transmission mechanism 904; at the same time, the recognition module detects the fallen leaves, and after identifying the fallen leaf area, the main controller 9 controls the vacuum pump 202 to start collecting the fallen leaves. The main controller 9 can control the telescopic drive mechanism to extend and retract to clean the fallen leaves around the cleaning vehicle body 1 and in the surrounding gaps, and then the main controller 9 controls the opening and closing of the absorption tube 3 by controlling the first electric control valve 3051 to collect the fallen leaves. There is no need to frequently start the vacuum pump 202, which improves the efficiency of leaf cleaning. The fallen leaves are filtered out by the first filter of the fallen leaf collection box 2. The screen 201 is used for separation. After the fallen leaves are collected to a certain extent, the main controller 9 drives the electric cylinder 211 to control the push plate 210 to push the fallen leaves in the fallen leaf collection box 2 to the cutting box 4 for cutting processing. The main controller 9 controls the first motor 4014 to rotate to drive the driving shaft 4013 to rotate and drive the movable knife to rotate, thereby completing the cutting and crushing of the fallen leaves. The fallen leaves after cutting and crushing fall into the broken leaf storage box 8. The main controller controls the soil identification module 804 to identify the soil area. When the soil area is identified, the main controller 9 starts the blower and the atomization mechanism 5, and the broken leaves are discharged through the discharge pipe 801 after humidification. At this point, the complete ecological treatment process of the fallen leaves is completed.

[0057] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. A fully automatic ecological cycle leaf cleaning vehicle, comprising a cleaning vehicle body, characterized in that: The cleaning vehicle body includes a fallen leaf collecting device, a cutting and crushing device, a broken leaf discharging device and a chassis driving device for driving the cleaning vehicle body forward; The fallen leaf collection device comprises a fallen leaf collection box and an absorption pipe installed on the top of the fallen leaf collection box, a first inclined filter screen is arranged in the fallen leaf collection box, the lower end of the first filter screen is arranged directly below the absorption pipe, and a vacuum pump for extracting gas in the fallen leaf collection box is arranged on one side of the fallen leaf collection box located at the high end of the first filter screen; The absorption tube comprises an absorption head arranged at one end of the absorption tube and a first electrically controlled valve arranged in the absorption tube, wherein the first electrically controlled valve is used to control the connection and cutoff of the internal circulation channel of the absorption tube; a fallen leaf recognition module for identifying fallen leaves is installed on one side of the absorption tube close to the absorption head, and the fallen leaf recognition module is configured with a fallen leaf recognition strategy, wherein when the fallen leaf recognition module recognizes fallen leaves, the first electrically controlled valve is controlled to be opened to connect the internal circulation channel of the absorption tube, and when the fallen leaf recognition module recognizes non-fallen leaves, the first electrically controlled valve is controlled to be closed to cut off the internal circulation channel of the absorption tube; The cutting and crushing device includes a cutting box and a cutting assembly, which are used to cut and crush fallen leaves. A leaf pushing mechanism is provided on one side of the fallen leaf collection box. When the leaf pushing mechanism is in action, the fallen leaves in the fallen leaf collection box are pushed into the cutting box; the broken leaf discharge device includes a broken leaf storage box arranged below the cutting box and a discharge pipe arranged on one side of the broken leaf storage box; the broken leaf discharge device also includes a discharge port connected to the discharge pipe and a second electrically controlled valve arranged in the discharge pipe, a soil recognition module for identifying a soil area is provided on one side of the discharge pipe close to the discharge port, and the soil recognition module is equipped with a fallen leaf discharge strategy, and the fallen leaf discharge strategy is that when the soil recognition module recognizes soil, the second electrically controlled valve is controlled to open so that the internal flow channel of the discharge pipe is connected, and when the soil recognition module recognizes non-soil, the second electrically controlled valve is controlled to close so that the internal flow channel of the discharge pipe is cut off; The absorption tube includes a fixed part arranged on the top of the fallen leaf collection box and an absorption section flexibly connected to the fixed part, the other end of the absorption section is connected to the absorption head, and an infrared sensor is installed on the side of the absorption section close to the absorption head, and the infrared sensor is configured with a first detection threshold, and a telescopic drive mechanism is provided on one side of the fallen leaf collection box, the driving end of the telescopic drive mechanism is hingedly connected to the absorption section, and the telescopic direction of the telescopic drive mechanism is perpendicular to the forward direction of the cleaning vehicle body; the telescopic drive mechanism is electrically connected to the first controller, and the first controller is configured with an obstacle avoidance strategy, and the obstacle avoidance strategy is that when the infrared sensor detects that there is an obstacle within the first detection threshold, the telescopic drive mechanism is controlled to retract so that the absorption section is close to the collection box, and when the infrared sensor detects that there is no obstacle within the first detection threshold, the telescopic drive mechanism is controlled to extend so that the absorption section is away from the collection box.

2. The fully automatic ecological cycle leaf cleaning vehicle according to claim 1, characterized in that: The fixing portion includes a vertical section connected to the top of the fallen leaf collection box and a filtering section connected to the vertical section. The filtering section is arranged to extend in a direction away from the vertical section and is inclined downward along the extension direction. The absorption section is provided with a second collection box for collecting gravel, and a second filter net is provided at the connection between the second collection box and the absorption section.

3. The fully automatic ecological cycle leaf cleaning vehicle according to claim 1, characterized in that: The method for the fallen leaf recognition module to recognize fallen leaves includes: S1, a color recognition step, including matching a color recognition algorithm with a second threshold, Acquire an image recognition area, calculate the color similarity between the image recognition area and a pre-stored fallen leaf feature database using a color recognition algorithm, and identify an area where the color similarity is greater than a second threshold as a feature area; S2, a contour recognition step, including matching a contour recognition algorithm with a third threshold, The characteristic region is acquired, and the contour similarity between the characteristic region and a pre-stored fallen leaf characteristic database is calculated using a contour recognition algorithm, and the region with a contour similarity greater than a third threshold is identified as a fallen leaf region.

4. A fully automatic ecological cycle leaf cleaning vehicle according to any one of claims 2-3, characterized in that: The soil identification module is configured with a soil identification strategy, which is matched with a fourth threshold. The soil identification strategy includes obtaining an image identification area, calculating the color similarity between the image identification area and a pre-stored soil feature database using a color recognition algorithm, and identifying an area with a color similarity greater than the fourth threshold as a soil area.

5. The fully automatic ecological cycle leaf cleaning vehicle according to claim 1, characterized in that: The cleaning vehicle body also includes a main controller, and the chassis drive device includes a mounting base plate, a rotating wheel is provided below the mounting base plate, a second servo motor for driving the rotating wheel to rotate is fixedly mounted on the rotating wheel, the second servo motor is electrically connected to the main controller, and an obstacle avoidance control mechanism for adjusting the rotation direction of the rotating wheel is provided in the mounting base plate.

6. The fully automatic ecological cycle leaf cleaning vehicle according to claim 5, characterized in that: The obstacle avoidance control mechanism includes an obstacle recognition module and a path planning module electrically connected to the main controller. The obstacle recognition module includes a distance measuring sensor component arranged along the forward direction of the cleaning vehicle body, which is used to detect obstacles along the forward direction of the cleaning vehicle body; the path planning module includes a pre-stored city electronic map database, and the path planning module is configured with a path planning strategy. The path planning strategy includes obtaining initial position information and forward direction information of the cleaning vehicle body, retrieving a corresponding initial path from the city electronic map database, and optimizing the initial path according to information fed back by the obstacle recognition module.

7. The fully automatic ecological cycle leaf cleaning vehicle according to claim 6, characterized in that: The obstacle avoidance control mechanism also includes a synchronous transmission mechanism electrically connected to the main controller, the synchronous transmission mechanism includes a servo motor, a driving gear fixedly connected to the output shaft of the servo motor, and a planetary gear set meshing with the driving gear, the planetary gear set is connected to the rotating wheel through a transmission shaft, and is used to drive the rotating wheel to rotate horizontally to adjust the rotation direction of the rotating wheel.

8. The fully automatic ecological cycle leaf cleaning vehicle according to claim 1, characterized in that: The broken leaf discharge device also includes a blowing device arranged on the side of the broken leaf storage box away from the discharge pipe, which is used to blow gas into the broken leaf storage box. The discharge pipe is installed with an atomizing mechanism, which is used to provide humidified gas into the discharge pipe, and the injection direction of the humidified gas is perpendicular to the extension direction of the discharge pipe; a gravel collection box for collecting sand and gravel filtered out by the first filter screen is provided below the fallen leaf collection device, and the gravel collection box includes a support frame and a pull-out box arranged inside the support frame and slidably connected to the support frame; a water storage tank is provided below the gravel collection box, and the atomizing mechanism is connected to the water storage tank through a first water pump, which is used to supply water to the atomizing mechanism through the water storage tank.

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