Tire cleaning device and method for cleaning tire using the tire cleaning device

Abstract

The present application provides a tire cleaning device and a method for cleaning tires using the tire cleaning device. The tire rotating device is provided with a main controller, a tire rotating device, a thermal imager and a hot air device. The tire rotating device can contact with a pair of tires of a vehicle, and one of the arc surfaces of the tire enters the camera range of the thermal imager. The thermal imager collects a thermal energy image of the current arc surface. The main controller analyzes the temperature value of the current arc surface according to the thermal energy image. When the temperature value is not higher than 0°, the hot air device is controlled to blow hot air toward the current arc surface so that the snow on the current arc surface is cleared; thereafter, the main controller can also control the tire rotating device to rotate so that the snow on all the arc surfaces of the tire can be cleared, and then no snow remains on the pair of tires; the vehicle can drive until other tires contact the tire rotating device to clean the other tires.

Description

Technical Field

[0001] The present application relates to a tire cleaning technology, and in particular to a tire cleaning device and a method for cleaning a tire using the tire cleaning device. Background Art

[0002] Calcium carbide (CaC 2 ) is an important basic chemical raw material and is widely used in chemical plants. In real life, transport vehicles are often used to transport calcium carbide to chemical plants. However, when transport vehicles transport calcium carbide to northern cities, the temperature in northern cities is low in winter, and there is snow on the road, resulting in snow on the tires of the transport vehicles. After the transport vehicles drive to the factory area, the snow on the tires will melt into water. Calcium carbide has the characteristics of violent reaction with water, generating acetylene and releasing heat. Therefore, it is easy to cause accidents when unloading calcium carbide from transport vehicles.

[0003] To this end, in the related art, after the transport vehicle carrying calcium carbide arrives at the factory and before unloading, staff are often required to check the snow accumulation on the tires of the transport vehicle, and then drive the transport vehicle to a dry area for unloading after all the snow on the tires has melted and the tires are dry.

[0004] However, manual inspection of the snow condition of the tires of transport vehicles has low detection accuracy and low efficiency. Summary of the invention

[0005] The embodiments of the present application provide a tire cleaning device and a method for cleaning tires using the tire cleaning device, so as to solve the problem of low detection accuracy and low efficiency when manually checking the snow condition of tires of a transport vehicle carrying calcium carbide.

[0006] On the one hand, an embodiment of the present application provides a tire cleaning device for cleaning snow on tires of a vehicle, wherein the tread of each tire is divided into a plurality of arc surfaces along a circumferential direction, comprising: a main controller and a tire rotating device, a hot air device and a thermal imager electrically connected to the main controller;

[0007] A tire rotating device is disposed on the ground for contacting a pair of tires of the vehicle;

[0008] The thermal imager is used to collect a thermal image of one of the curved surfaces on the tire in contact with the tire rotating device;

[0009] The main controller determines the temperature value of the corresponding curved surface according to the thermal energy image collected by the thermal imager, and when the temperature value is not higher than 0°, controls the hot air device to blow hot air toward the corresponding curved surface to melt the snow on the curved surface;

[0010] Furthermore, the tire rotating device can drive the contacting tires to rotate, so that all the arc surfaces of the tires can enter the imaging area of ​​the thermal imager in sequence.

[0011] In a possible embodiment, it also includes a lifter and a slide rail, wherein the lifter is disposed on the ground and connected to the slide rail to drive the slide rail to move in a vertical direction so that the slide rail and the tire contacting the tire rotating device can be opposite to each other, and the thermal imager and the hot air device can slide along the slide rail.

[0012] In a possible embodiment, the slide rail includes a first section, a second section, and a third section connected in sequence, the first section and the third section extend toward the same side of the second section, there is an angle between the first section and the third section and the second section, and the tire in contact with the tire rotating device is located between the first section and the third section.

[0013] In a possible embodiment, the slide rail is crescent-shaped or U-shaped.

[0014] In a possible embodiment, it also includes a mounting shell and a driving component, the thermal imager and the hot air device are integrated in the mounting shell, the mounting shell is slidably set on a slide rail, the driving component is electrically connected to the main controller, and the main controller can control the driving component to drive the mounting shell to slide along the slide rail.

[0015] In a possible embodiment, a laser distance measuring sensor electrically connected to the main controller is further included, the laser distance measuring sensor is arranged at the front end of the tire rotating device, when the tire rotating device contacts a pair of tires, one of the arc surfaces of the pair of tires enters the measuring range of the laser distance measuring sensor, and the laser distance measuring sensor is used to measure the distance between the corresponding arc surface and the laser distance measuring sensor;

[0016] The main controller calculates the radius of the tire based on the distance detected by the laser ranging sensor, and determines the lifting height of the lifter and the curvature of the arc surface based on the radius.

[0017] In a possible embodiment, each arc surface has at least a first point and a second point, the first point is set at the pattern on one side of the arc surface, and the second point is set at the pattern on the other side of the arc surface. The laser ranging sensor is configured to emit multiple laser beams, and the multiple laser beams are projected on each point to detect the distance between each point on the arc surface and the laser ranging sensor.

[0018] On the other hand, an embodiment of the present application provides a method for cleaning tires using a tire cleaning device, which is used to clean snow on tires of a vehicle, wherein the vehicle has multiple pairs of tires, the multiple pairs of tires are spaced apart along the driving direction of the vehicle, and the treads of the tires are divided into multiple arc surfaces along the circumferential direction. For any pair of tires of the vehicle, the method includes:

[0019] Controlling the vehicle to travel until the pair of tires are in contact with the tire rotating device and the current arc surface of the pair of tires enters the camera range of the thermal imager;

[0020] Get the thermal image of the current curved surface in real time;

[0021] The temperature value of the current arc surface is obtained by analyzing the acquired thermal energy image;

[0022] If the temperature value is not higher than 0°, the hot air device is controlled to generate hot air and blow it to the current arc surface to melt the snow on the current arc surface;

[0023] The pair of tires is driven to rotate so that the next arc surface of the pair of tires enters the imaging range of the thermal imager, and so on, until the pair of tires rotates one circle and the current arc surface returns to the imaging range of the thermal imager.

[0024] In a possible embodiment, controlling the vehicle to travel until the pair of tires are in contact with the tire rotating device and the current arc surface of the pair of tires enters the imaging range of the thermal imager specifically includes:

[0025] Controlling the vehicle to travel until the pair of tires are in contact with the tire rotating device and the current arc surface of the pair of tires enters the ranging range of the laser ranging sensor of the tire cleaning device;

[0026] Detect the distance between the current arc surface and the laser ranging sensor, and calculate the radius of the tire according to the distance between the current arc surface and the laser ranging sensor;

[0027] Determine the lifting height and curvature of the current arc surface according to the radius of the tire;

[0028] The lifter of the tire cleaning device is controlled according to the lifting height so that the current arc surface of the pair of tires enters the imaging range of the thermal imager.

[0029] In a possible embodiment, after driving the pair of tires to rotate so that the next arc surface of the pair of tires enters the imaging range of the thermal imager, and so on, until the pair of tires rotates one circle and the current arc surface returns to the imaging range of the thermal imager, the method further includes:

[0030] At least detect the distance between the current first point and the current second point on the current arc surface and the laser ranging sensor; wherein the first point is set at the pattern on one side of the arc surface, and the second point is set at the pattern on the other side of the arc surface;

[0031] The pair of tires is driven to rotate so that the next arc surface of the pair of tires enters the ranging range of the laser ranging sensor of the tire cleaning device, and so on, until the pair of tires rotates one circle and the current arc surface returns to the ranging range of the laser ranging sensor;

[0032] According to the distance between all points and the laser ranging sensor, a measurement curve is established and analyzed;

[0033] If the measurement curve is abnormal, return to the step of obtaining the thermal energy image of the current curved surface in real time.

[0034] The tire cleaning device and the method for cleaning tires using the tire cleaning device provided in the embodiments of the present application are characterized in that the tire rotating device is provided with a main controller, a tire rotating device, a thermal imager and a hot air device. The tire rotating device can contact with a pair of tires of the vehicle, and one of the arc surfaces of the tire enters the camera range of the thermal imager. The thermal imager collects the thermal energy image of the current arc surface. The main controller analyzes the temperature value of the current arc surface according to the thermal energy image. When the temperature value is not higher than 0°, the hot air device is controlled to blow hot air toward the current arc surface so that the snow on the current arc surface is cleared. Afterwards, the main controller can also control the tire rotating device to rotate so that the snow on all the arc surfaces of the tire can be cleared, and then no snow remains on the pair of tires. The vehicle can travel until the other tires contact the tire rotating device to clean the other tires.

[0035] In this way, on the one hand, compared with the manual detection of whether there is snow on the tires of the vehicle in the related art, the tire cleaning device of this embodiment can automatically detect the snow accumulation on the tires, with higher detection accuracy, which is conducive to improving detection efficiency. On the other hand, compared with waiting for the snow on the tires to melt or manually clearing the snow on the tires in the related art, the tire cleaning device of this embodiment can use a hot air device to melt the snow, which does not require manual cleaning, saving labor costs, and increases the melting speed of the snow, shortening the melting time of the snow, thereby speeding up the process of unloading calcium carbide, which is conducive to improving unloading efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0037] Figure 1 A schematic diagram of a tire cleaning device provided in an embodiment of the present application;

[0038] Figure 2 A schematic diagram of a partial structure of a tire cleaning device provided in an embodiment of the present application;

[0039] Figure 3 A schematic diagram of a tire cleaning device provided in an embodiment of the present application simulating a tire;

[0040] Figure 4A schematic diagram of a tire cleaning device provided in an embodiment of the present application projecting multiple laser beams onto a tire;

[0041] Figure 5 It is a schematic diagram of a structure with points on a tire;

[0042] Figure 6 It is a schematic diagram of a measurement curve fitted by the tire cleaning device provided in an embodiment of the present application when there is no residual snow in the groove of the tire;

[0043] Figure 7 It is a schematic diagram of a measurement curve fitted by the tire cleaning device provided in an embodiment of the present application when snow remains in the groove of the tire;

[0044] Figure 8 A schematic diagram of a method for cleaning a tire using a tire cleaning device provided in an embodiment of the present application.

[0045] Description of reference numerals:

[0046] 100- Tire cleaning device;

[0047] 110-tire rotation device;

[0048] 120-Laser ranging sensor;

[0049] 130-lifter;

[0050] 140-track; 141-first section; 142-second section; 143-third section;

[0051] 150-mounting housing; 151-pulley;

[0052] 160-thermal imager;

[0053] 170-hot air device;

[0054] 200-Vehicle; 210-Tire; 211-Point;

[0055] 300-ground; 310-accommodation groove; 320-avoidance groove. DETAILED DESCRIPTION

[0056] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0057] As described in the background technology, when transport vehicles (hereinafter referred to as vehicles) transport calcium carbide to northern cities, there will be residual snow on the tires of the vehicles. In order to avoid the reaction of calcium carbide with water melted from the snow, after the vehicles arrive at the factory and before unloading, staff are often required to check the snow on the tires of the vehicles. Unloading is only carried out after all the snow on the tires has melted and the tires are dry, resulting in low detection accuracy and low unloading efficiency.

[0058] In response to the above problems, an embodiment of the present application provides a tire cleaning device and a method for cleaning tires using the tire cleaning device. The tire cleaning device can detect the temperature value of the curved surface of the tire and blow hot air to the curved surface when the temperature value is not higher than 0°, so that the snow on the curved surface can melt as soon as possible; after one curved surface is cleaned, the tire cleaning device repeats the step to measure the temperature and clean the next curved surface, so that the entire tire can be cleaned.

[0059] Embodiment 1

[0060] Figure 1 A schematic diagram of a tire cleaning device 100 is schematically shown, Figure 2 The partial structure of the tire cleaning device 100 is schematically shown. Figure 1 The tire cleaning device 100 is used to clean the snow on the tire 210 to prevent the snow on the tire 210 of the vehicle 200 carrying calcium carbide from melting into water after the vehicle 200 carrying calcium carbide arrives at the factory, causing the unloaded calcium carbide to react with the water and cause an accident. It can be understood that the vehicle 200 has multiple pairs of tires 210, and the multiple pairs of tires 210 are arranged at intervals along the driving direction of the vehicle 200, and the tread of each tire 210 is divided into multiple arc surfaces along the circumferential direction.

[0061] The tire cleaning device 100 includes a main controller and a tire rotating device 110 electrically connected to the main controller. The tire rotating device 110 is installed on the ground 300 of the factory area. The vehicle 200 can travel until one pair of tires 210 contacts the tire rotating device 110. At this time, the vehicle 200 can stop, and the tire cleaning device 100 cleans the snow on the pair of tires 210. Take the vehicle 200 having n pairs of tires 210 as an example, n is a positive integer not less than 2, and along the driving direction of the vehicle 200, the n pairs of tires 210 are sequentially referred to as the first pair of tires 210, the second pair of tires 210, ..., the nth pair of tires 210. In an example, the vehicle 200 can be driven to the first pair of tires 210 contacting the tire rotating device 110 to clean the snow on the first pair of tires 210. After cleaning, the vehicle 200 is driven forward so that the second pair of tires 210 contacts the tire rotating device 110 to clean the snow on the second pair of tires 210, and so on. Like this, vehicle 200 only needs to drive forward, and need not go back, just can make multiple pairs of tires 210 be cleaned successively from front to back.Based on this, it is understandable that this tire cleaning device 100 is configured to not be crushed by vehicle 200 driving forward.

[0062] refer to Figure 2 The tire cleaning device 100 further includes a hot air device 170 and a thermal imager 160 electrically connected to the main controller, and the thermal imager 160 and the hot air device 170 are arranged near the tire rotating device 110. When the vehicle 200 drives to a point where a pair of tires 210 are in contact with the tire rotating device 110, one of the curved surfaces of the tire 210 in contact with the tire rotating device 110 may enter the imaging range of the thermal imager 160. For the convenience of description, the curved surface that enters the imaging range of the thermal imager 160 may be referred to as the current curved surface.

[0063] The thermal imager 160 is used to collect the thermal energy image of the current curved surface, and send the collected thermal energy image to the main controller. The main controller can analyze and calculate the temperature value of the current curved surface according to the thermal energy image, and when the temperature value of the current curved surface is not higher than 0°, it is determined that there is snow remaining on the current curved surface, and then the hot air device 170 is controlled to blow hot air to the current curved surface. Among them, the main controller controls the duration of the hot air device 170 blowing hot air according to the actual working conditions, so that the hot air is sufficient to melt the snow on the current curved surface, and the snow on the current curved surface becomes water. In this way, there is no need to wait for the snow on the tire 210 of the vehicle 200 to melt by itself, thereby accelerating the process of unloading calcium carbide. In addition, compared with the related art that uses the heat energy emitted by the heating pipe to melt the snow on the tire 210, the hot air device 170 in this embodiment can not only use the heat energy of the hot air to melt the snow on the tire 210, but also the hot air can blow part of the snow on the tire 210 to the ground 300, which can also play a role in cleaning the tire 210 to a certain extent.

[0064] The main controller can control the hot air device 170 to blow hot air for a longer period of time, for example, 5 minutes or 6 minutes. In this way, after the snow melts into water, the hot air device 170 still blows out hot air. At this time, the hot air can also accelerate the evaporation process of water, prompting the current arc surface of the tire 210 to dry as soon as possible, further shortening the time waiting for the tire 210 to become dry, which is conducive to promoting the unloading process.

[0065] Of course, the temperature value of the current curved surface calculated by the main controller can also be higher than 0°. At this time, the main controller determines that there is no snow residue on the current curved surface, and no cleaning is required, and the main controller does not control the hot air device 170 to work.

[0066] In general, by setting up a thermal imager 160 and a hot air device 170, the tire cleaning device 100 measures the temperature of the tire 210 in contact with the tire rotating device 110, and then determines whether there is snow on the current arc surface of the tire 210 based on the measured temperature value, and then controls the hot air device 170 based on the determination result to melt the snow on the current arc surface, thereby cleaning the tire 210.

[0067] The tire rotating device 110 can drive the tire 210 to rotate. The specifics can refer to the prior art, and this embodiment will not be repeated here. After the snow on the current arc surface melts or after the temperature value of the current arc surface is analyzed to be higher than 0°, the main controller can also control the tire rotating device 110 to rotate, so as to drive the tire 210 in contact with the tire rotating device 110 to rotate along the first direction, so that the current arc surface of the tire 210 exits the camera screen of the thermal imager 160, and the next arc surface of the tire 210 enters the camera range of the thermal imager 160 and becomes the new current arc surface. The thermal imager 160 then collects the thermal energy image of the new current arc surface and sends the collected new thermal energy image to the main controller. The main controller can analyze and calculate the temperature value of the new current arc surface according to the new thermal energy image, and when the temperature value of the new current arc surface is not higher than 0°, it is determined that there is snow remaining on the new current arc surface, and the hot air device 170 is controlled to blow hot air to the new current arc surface to melt the snow on the new current arc surface. This process is repeated until the tire 210 rotates one circle driven by the tire rotating device 110, and all the arc surfaces on the entire tire 210 are measured for temperature, and the arc surfaces with snow are cleaned, so that there is no snow on the entire tire 210, and the current arc surface initially captured by the thermal imager 160 returns to the camera range of the thermal imager 160. After that, the vehicle 200 moves forward again, and the tire cleaning device 100 cleans the next pair of tires 210, and repeats this process, so that all tires 210 are cleaned. Here, the next arc surface refers to an arc surface adjacent to the current arc surface; the first direction can refer to the clockwise direction or the counterclockwise direction.

[0068] In summary, the tire cleaning device 100 of the present embodiment is provided with a main controller, a tire rotating device 110, a thermal imager 160 and a hot air device 170. The tire rotating device 110 can contact a pair of tires 210 of the vehicle 200, and one of the arc surfaces of the tire 210 enters the camera range of the thermal imager 160. The thermal imager 160 collects the thermal energy image of the current arc surface. The main controller analyzes the temperature value of the current arc surface according to the thermal energy image. When the temperature value is not higher than 0°, the hot air device 170 is controlled to blow hot air toward the current arc surface so that the snow on the current arc surface is cleared; thereafter, the main controller can also control the tire rotating device 110 to rotate so that the snow on all the arc surfaces of the tire 210 can be cleared, and then there is no snow left on the pair of tires 210; the vehicle 200 can travel until the other tires 210 contact the tire rotating device 110 to clean the other tires 210.

[0069] In this way, on the one hand, compared with the manual detection of whether there is snow on the tire 210 of the vehicle 200 in the related art, the tire cleaning device 100 of the present embodiment can automatically detect the snow condition of the tire 210, with higher detection accuracy, which is conducive to improving the detection efficiency. On the other hand, compared with waiting for the snow on the tire 210 to melt or manually clearing the snow on the tire 210 in the related art, the tire cleaning device 100 of the present embodiment can use the hot air device 170 to melt the snow, which does not require manual cleaning, saves labor costs, and increases the melting speed of the snow, shortens the melting time of the snow, and can speed up the process of unloading calcium carbide, which is conducive to improving the unloading efficiency.

[0070] In some other embodiments, two tire rotating devices 110 may be provided, and the two tire rotating devices 110 are respectively in contact with two tires 210 in a pair. In this way, when the snow accumulation conditions of the two tires 210 are different, the two tire rotating devices 110 can work independently, so that the two tires 210 rotate independently, so that both tires 210 can be cleaned in place.

[0071] It is worth noting that, since the two tires 210 of each pair are arranged along the width direction of the vehicle 200, in order to accurately measure the temperature and clean each tire 210, two groups of thermal imagers 160 and hot air devices 170 can be provided, each group of thermal imagers 160 includes at least one thermal imager 160, and each group of hot air devices 170 includes at least one hot air device 170. When a pair of tires 210 of the vehicle 200 contacts the tire rotating device 110, one group of thermal imagers 160 and hot air devices 170 is close to one of the pair of tires 210, and the other group of thermal imagers 160 and hot air devices 170 is close to the other of the pair of tires 210. In this way, the snow accumulation conditions of the two tires 210 in a pair are different, and the two groups of thermal imagers 160 can respectively obtain thermal energy images of the two tires 210, and the main controller can control the two groups of hot air devices 170 to blow hot air to the corresponding tires 210 separately according to the thermal energy images.

[0072] In one example, each group of thermal imagers 160 may be composed of multiple thermal imagers 160, and each group of hot air devices 170 may be composed of multiple hot air devices 170. The number of thermal imagers 160 may be the same as the number of hot air devices 170, and multiple thermal imagers 160 correspond to multiple hot air devices 170 one by one. Each thermal imager 160 is used to collect thermal energy images of a partial area of ​​the current arc surface, and each hot air device 170 blows hot air to the corresponding partial area. With this arrangement, the number of thermal imagers 160 increases, and the temperature of multiple places on the current arc surface can be measured, which is beneficial to improving the accuracy of temperature detection; at the same time, the increase in the number of hot air devices 170 is beneficial to further increase the melting rate of snow. For example, each group of thermal imagers 160 may have three thermal imagers 160. When the vehicle 200 drives until a pair of tires 210 come into contact with the tire rotating device 110, one of the thermal imagers 160 may be located in front of one of the tires 210 of the pair and facing the tread of the tire 210, and the other two thermal imagers 160 may face the sides of the tire 210 respectively.

[0073] In another example, continue to refer to Figure 1 Each set of thermal imagers 160 may consist of one thermal imager 160, and each set of hot air devices 170 may consist of one hot air device 170. In addition, the tire cleaning device 100 may further include two lifters 130 and two slide rails, the two lifters 130 are arranged on the ground 300, each lifter 130 is connected to one slide rail, and the lifter 130 can lift the connected slide rail to a certain height so that the slide rail and the tire 210 contacting the tire rotating device 110 can be opposite, and each set of thermal imagers 160 and hot air devices 170 can slide along one of the slide rails.

[0074] With such a design, the thermal imager 160 may not be fixed in one position, but may move. Thus, even if multiple thermal imagers 160 are not provided, the thermal imager 160 can capture thermal images of various locations on the current curved surface to accurately measure the temperature of various locations on the current curved surface. At the same time, the hot air device 170 may not be fixed in one position, but may move, so that the hot air device 170 can blow hot air toward various locations on the current curved surface to help ensure that snow at various locations on the current curved surface can melt. Moreover, compared with the tire cleaning device 100 provided with multiple thermal imagers 160 and multiple hot air devices 170, the tire cleaning device 100 of this embodiment has a simpler structure.

[0075] According to the above description, the tire cleaning device 100 is configured not to be crushed by the vehicle 200 moving forward. Specifically, a avoidance groove 320 may be provided on the ground 300, and the lifter 130 may be installed in the avoidance groove 320 and electrically connected to the main controller. The lifter 130 may drive the slide rail to move up and down in the vertical direction. When a pair of tires 210 is cleaned and the next pair of tires 210 needs to be cleaned, the main controller may control the lifter 130 to drive the slide rail to move downward so that the slide rail can move down into the avoidance groove 320, and at this time, the thermal imager 160 and the hot air device 170 located on the slide rail are both accommodated in the avoidance groove 320. In this way, it is helpful to prevent the vehicle 200 from crushing the slide rail and the thermal imager 160 and the hot air device 170 arranged on the slide rail when the vehicle 200 moves forward to the next pair of tires 210 and contacts the tire rotating device 110. It is easy to understand that the avoidance groove 320 matches the lifter 130, the track 140, the thermal imager 160 and the hot air device 170. Among them, a group of thermal imagers 160 and a group of hot air devices 170 slidably set on a slide rail can be assembled in a mounting shell 150, and the mounting shell 150 is slidably connected to the slide rail. In this way, the thermal imager 160 and the hot air device 170 are close to each other, and the current arc surface can be divided into multiple sub-areas. When the thermal imager 160 obtains a thermal energy image of one of the sub-areas, the main controller can control the hot air device 170 to blow hot air to the sub-area according to the thermal energy image, so as to achieve accurate temperature measurement and cleaning of each sub-area of ​​the current arc surface.

[0076] Exemplarily, the specific implementation method of the thermal imager 160 and the hot air device 170 sliding along the slide rail is: a pulley 151 is installed at the bottom of the mounting shell 150, the pulley 151 matches the slide rail, a drive motor is installed in the mounting shell 150, the drive motor extends out of the mounting shell 150 to be transmission-connected with the pulley 151, the drive motor is electrically connected to the main controller, and the main controller can control the drive motor to work to drive the mounting shell 150 to slide on the slide rail, thereby controlling the thermal imager 160 and the hot air device 170 to align with different sub-areas of the current arc surface.

[0077] In addition, if Figure 2 As shown, the track 140 may include, for example, a first section 141, a second section 142, and a third section 143 connected in sequence, wherein the second section 142 extends along the axial direction of the tire 210, the first section 141 and the third section 143 extend toward the same side of the second section 142, and the first section 141 and the third section 143 have an angle with the second section 142. When the vehicle 200 travels to a pair of tires 210 in contact with the tire rotating device 110, one tire 210 of the pair may be located between the first section 141 and the third section 143. Exemplarily, the track 140 is not limited to being in a crescent shape, but may also be in a "U" shape.

[0078] It is understandable that the tread of the tire 210 is usually provided with a pattern, the pattern is located at the junction of the tread and the side of the tire 210, and a groove is formed at the pattern, and snow is most likely to accumulate in the groove. Therefore, by designing the track 140 to have three sections and the track 140 is bent, when the vehicle 200 travels to a pair of tires 210 and contacts the tire rotating device 110, the track 140 can surround part of the tire 210. In this way, when the tire cleaning device 100 is working, the thermal imager 160 sliding along the slide rail can obtain the thermal energy image of the sub-area located at the pattern on the current arc surface, and accordingly, the hot air device 170 sliding along the slide rail can blow hot air to the sub-area located at the pattern on the current arc surface, so as to ensure that the snow at the pattern can be melted, and then to ensure that the snow on the tire 210 can be completely cleaned.

[0079] Taking the case where the lifter 130 is connected to the first section 141 and the thermal imager 160 and the hot air device 170 are located at the junction of the first section 141 and the second section 142 in the initial state as an example, the process of cleaning the tire 210 using the tire cleaning device 100 is roughly as follows:

[0080] The vehicle 200 travels until the tire 210 contacts the tire rotating device 110, and a sub-region of the current arc surface of the tire 210 located at the pattern on one side enters the camera range of the thermal imager 160. The thermal imager 160 collects a thermal image of the sub-region, and the main controller analyzes the temperature value of the sub-region based on the thermal image. When the temperature value is not higher than 0°, the main controller controls the hot air device 170 to blow hot air toward the sub-region;

[0081] Then, the main controller controls the driving motor to drive the mounting shell 150 to slide to the second section 142, so that the thermal imager 160 faces the sub-region in the middle of the current arc surface, and the thermal imager 160 collects the thermal energy image of the sub-region. The main controller analyzes the temperature value of the sub-region according to the thermal energy image. When the temperature value is not higher than 0°, the main controller controls the hot air device 170 to blow hot air toward the sub-region.

[0082] Then, the main controller controls the driving motor to drive the mounting shell 150 to slide to the junction of the second section 142 and the third section 143, so that the thermal imager 160 faces the sub-region on the current curved surface at the pattern on the other side, and the thermal imager 160 collects the thermal energy image of the sub-region. The main controller analyzes the temperature value of the sub-region according to the thermal energy image. When the temperature value is not higher than 0°, the main controller controls the hot air device 170 to blow hot air toward the sub-region.

[0083] Afterwards, the main controller controls the driving motor to drive the mounting shell 150 to slide to the first section 141, and the thermal imager 160 and the hot air device 170 return to the initial state.

[0084] refer to Figure 2 The tire cleaning device 100 further includes a laser distance measuring sensor 120, which is arranged on the ground 300 and located at the front end of the tire rotating device 110, and the laser distance measuring sensor 120 is electrically connected to the main controller. When the vehicle 200 travels to a pair of tires 210 and contacts the tire rotating device 110, the current arc surface of the tire 210 enters the measuring range of the laser distance measuring sensor 120. With this design, the laser distance measuring sensor 120 can emit a laser to the current arc surface of the tread of the tire 210 to detect the distance from the current arc surface to the laser distance measuring sensor 120. Among them, the laser distance measuring sensor 120 can be a TOF (Time of Flight) sensor; a receiving groove 310 can also be provided on the ground 300, and the laser distance measuring sensor 120 is installed in the receiving groove 310 to prevent the laser distance measuring sensor 120 from being crushed by the vehicle 200 traveling forward, and the laser emitted by the laser sensor can be projected onto the current arc surface.

[0085] Furthermore, the main controller can calculate the radius of the tire 210 according to the distance measured by the laser ranging sensor 120 , and the main controller can further determine the height to be lifted by the lifter 130 according to the radius of the tire 210 . Figure 3 FIG. 1 is a schematic diagram of a tire cleaning device 100 for tyre 210. Specifically, Figure 3As shown, in the initial state, the lifter 130, the track 140, the thermal imager 160 and the hot air device 170 located on the track 140 are all located in the avoidance groove 320, and the laser ranging sensor 120 emits a laser, which is projected on the tire 210, and points A and B are the vanishing points of the tire 210 in the area where the laser can be projected, that is, the boundary points of the laser projected on the tire 210 are points A and B, and the arc surface between points A and B on the tread is the current arc surface. Based on this, the laser ranging sensor 120 can calculate the distance from point A and point B to the laser ranging sensor 120 by projecting the laser to point A and point B. In other words, with the laser ranging sensor 120 as point P, AP and BP can be measured. Then connect point A and point B to obtain line AB, and make an auxiliary line PP', which passes through point P and is perpendicular to AB; then make another auxiliary line BB', which passes through point B and extends in the vertical direction, then BB' and PP' intersect at point O, which is the axis of the tire 210. OB is equal to OA and is the radius of the tire 210. Therefore, a circle with point O as the center and OA as the radius can be drawn to simulate the tire 210.

[0086] Since the radius of the tire 210 is known and the tire 210 is fitted into a circle, the radian of the arc AB can be determined, and then the angle value of ∠AOB (i.e., θ) can be determined. By connecting point O, point A, and point B, a triangle △ABO can be established, and the triangle △ABO is an isosceles triangle. An auxiliary line AD is made in the triangle △ABO. The AD line passes through point A, is perpendicular to the OB line, and intersects the OB line at point D, thus constructing a triangle △ADO. In the triangle △ADO, ∠AOD is equal to ∠AOB, so the angle value of ∠AOD is known, and OA is known. Therefore, according to the Pythagorean theorem and trigonometric functions, the length of OD can be calculated, and combined with the known OB, the length of BD can be calculated. Among them, BD is the distance between point A and point B in the vertical direction, and the lifting height can be half the length of BD.

[0087] In this way, after the vehicle 200 travels until a pair of tires 210 contacts the tire rotating device 110 and the current arc surface of the tire 210 enters the measuring range of the laser ranging sensor 120, the main controller can calculate the radius of the tire 210 according to the distance measured by the laser ranging sensor 120, and further calculate the distance between point A and point B in the vertical direction and determine half of it as the lifting height. The main controller controls the lifter 130 to lift the track 140 upward by half of BD, then along the vertical direction, the thermal imager 160 located on the track 140 can be roughly aligned with the middle of the current arc surface, so that the current arc surface can enter the camera range of the thermal imager 160.

[0088] As can be seen from the above description, the curvature of the AB arc can be determined, that is, if the curvature of the current arc surface is known, the angle value of ∠AOB can be determined. Therefore, after the current arc surface is cleaned, the main controller can drive the tire rotating device 110 to work, so that the tire rotating device 110 can drive the tire 210 to rotate along the first direction θ, so that the current arc surface exits the ranging range and the camera range, and the next arc surface enters the ranging range and the camera range to become the new current arc surface, and the curvature of the new current arc surface is the same as the curvature of the previous current arc surface. With such a design, the curvature of each arc surface is the same, which is equivalent to the tread of the tire 210 being equally divided into several arc surfaces, so there is no need to recalculate the curvature of the new current arc surface, and the lifting height of the lifter 130 can remain unchanged, reducing the processing load of the main controller.

[0089] Figure 4 2 is a schematic diagram of a tire 210. Figure 4 As shown, each arc surface has a plurality of points 211, one of the plurality of points 211 is a first point, and the first point is located at a pattern on one side of the arc surface, and one of the plurality of points 211 is a second point, and the second point is located at a pattern on the other side of the arc surface. Figure 5 As shown, the angle between the line connecting any second point and the axis of the tire 210 and the line connecting an adjacent second point and the axis O of the tire 210 is Φ. In this way, every time the tire 210 rotates Φ, the laser can still be accurately projected on the corresponding first point. Similarly, the angle between the line connecting any first point and the axis of the tire 210 and the line connecting an adjacent first point and the axis O of the tire 210 is also Φ. Among them, Figure 5 It is a schematic diagram showing points 211 arranged on a tire 210 .

[0090] like Figure 4 As shown in FIG. 1 , when the tread of the tire 210 is divided into m equally spaced arcs, and Φ is the same as the equally spaced angle, since the tread of the tire 210 has m arcs, the entire tire 210 has m first points and m second points, and the m first points and the m second points are all around the axis of the tire 210. In this way, after the pair of tires 210 are cleaned, the current arc returns to the ranging range of the laser ranging sensor 120. Here, the current arc is within Figure 4 As shown in the tread framed by the dotted line, there is only one first point and one second point on the current arc surface, and the first point in the dotted line frame is the current first point ( Figure 4 E in the middle 0 ), the second point in the dotted box is the current second point ( Figure 4 C 0 ), then along the first direction, the other first points are E 1 、E 2 ,……,Em , the other second points are C 1 , C 2 ,……,C m .

[0091] Figure 4 In the example shown, in addition to the first point and the second point, each arc surface may also be provided with a third point, the third point is located in the smooth middle part of the arc surface, and there are m third points, which are evenly distributed around the axis of the tire 210 and are spaced at intervals of Φ. When the tread of the tire 210 is equally divided into m arc surfaces, and Φ is the same as the angle of the equal division, and there is only one third point on the current arc surface, then the third point located in the dotted line frame is the current third point ( Figure 4 X in the middle 0 ), along the first direction, the remaining third points are X 1 , X 2 ,……,X m .

[0092] In this example, the laser distance measuring sensor 120 may also be configured to emit multiple laser beams, and the multiple laser beams may be projected onto each point 211 of the current arc surface. Figure 4 In the example shown, the laser ranging sensor 120 can emit three laser beams, which are projected at the current first point E respectively. 0 、Current second point C 0 and the current third point X 0 Then the current first point position E can be measured. 0 Distance L to the laser detection sensor E0 、Current second point C 0 Distance L to the laser detection sensor C0 , and the current third point X 0 Distance L to the laser detection sensor X0 It should be noted that the first point, the second point and the third point on each arc surface can be arranged at intervals along the axial direction of the tire 210, so that the multiple laser beams are also arranged at intervals along the axial direction of the tire 210 and are located on the same preset plane.

[0093] Afterwards, the main controller controls the tire rotating device 110 to move, so as to drive the tire 210 to rotate along the first direction Φ. Since Φ is equal to the equally divided angle, the current arc surface exits the ranging range of the laser ranging sensor 120, and the next arc surface enters the ranging range of the laser ranging sensor 120. Then, the next arc surface becomes the new current arc surface, and E 1 Become the current first point, C 1 Become the current second point, X 1Since the position of the laser distance measuring sensor 120 remains unchanged, the three laser beams emitted by the laser distance measuring sensor 120 can be projected on E 1 , C 1 and X 1 Therefore, the current first point position E can be measured 1 Distance L to the laser detection sensor E1 、Current second point C 1 Distance L to the laser detection sensor C1 , and the current third point X 1 Distance L to the laser detection sensor X1 This process is repeated continuously, so that the m arc surfaces all enter the ranging range of the laser ranging sensor 120, and the distances from the m first points to the laser ranging sensor 120 are all detected, which are L E0 , L E1 ,……,L Em Similarly, the distances from the m second points to the laser ranging sensor 120 are all detected, which are L C0 , L C1 ,……,L Cm The distances of the m third points to the laser ranging sensor 120 are detected, which are L X0 , L X1 ,……,L Xm .

[0094] That is to say, the distance from each point 211 to the laser ranging sensor 120 is known. And, according to the above, the curvature of the current arc surface can be calculated, and the equally divided angle can also be calculated, and then the value of Φ can be determined. 0 When the tire 210 is at the initial point position, the angle required for the tire 210 to rotate to enable each first point position to be hit by the laser is also known.

[0095] Based on this, the main controller can fit a measurement curve according to the angle T required for the tire 210 to rotate to make each point 211 hit by the laser and the distance L between the corresponding point 211 and the laser ranging sensor 120, for example Figure 6 , Figure 7 The horizontal axis of the measurement curve represents the angle T required for the tire 210 to rotate to make each point 211 hit by the laser, and the vertical axis of the measurement curve represents the distance L between the corresponding point 211 and the laser ranging sensor 120.

[0096] It is understandable that the smooth part of the tread of the tire 210 generally does not have any residual snow. Therefore, the distances from each third point to the laser ranging sensor 120 are equal. The measurement curve of the third point ( Figure 6The tread of the tire 210 is easily covered with snow due to the grooves. For example, when the depth of the grooves on the tire 210 along the circumferential direction is consistent, when there is no residual snow in the grooves at the tread of one side of the tire 210, the distances between each first point and the laser ranging sensor 120 are equal, and the measurement curve of the first point ( Figure 6 When there is no residual snow in the groove of the tread on the other side of the tire 210, the distance between each second point and the laser ranging sensor 120 is equal, then the measurement curve of the second point ( Figure 6 It is worth noting that if the distance from the first point to the laser ranging sensor 120 is the same as the distance from the second point to the laser ranging sensor 120, Line E overlaps with Line C.

[0097] When snow remains on the grooves at the treads on both sides of the tire 210, taking the example that the grooves at the treads on one side of the tire 210 correspond to the part of the current arc surface with snow remaining, and the other parts have no snow, and the grooves at the treads on the other side of the tire 210 correspond to the parts of the two arc surfaces adjacent to the current arc surface with snow remaining, and the other parts have no snow, the measurement curve of the first point position can be as follows: Figure 7 The measurement curve of the second point can be Figure 7 Line C in.

[0098] It can be seen that the measurement curve when there is no snow in the groove of the tire 210 is completely different from the measurement curve when there is residual snow in the groove of the tire 210. Therefore, after the laser ranging sensor 120 emits multiple laser beams and the tire 210 rotates to detect the distance between each point 211 and the laser ranging sensor 120, the main controller can fit the measurement curve and determine whether the measurement curve is different from Figure 6 If the fitted measurement curve is different from Figure 6 If the measuring curve shown in FIG. 1 is not shown, the main controller determines that there is still snow in the groove of the tire 210, and then controls the thermal imager 160 to continue to take pictures of the current curved surface and controls the hot air device 170 to continue to blow hot air to the current curved surface. In other words, the cleaning effect of the entire tire 210 can be detected. When there is still snow in the groove of the tire 210, the temperature of the entire tire 210 is measured and cleaned again to ensure that the snow on the tire 210 is completely removed.

[0099] Of course, if the fitted measurement curve is Figure 6If the measurement curves shown are the same or overlap, the main controller determines that there is no snow remaining in the grooves of the tires 210 , and can prompt the staff to drive the vehicle 200 until the next pair of tires 210 contact the tire rotating device 110 to clean the next pair of tires 210 .

[0100] After measuring the distance from each point 211 of the current arc surface to the laser ranging sensor 120, the main controller can control the tire rotating device 110 to rotate and rotate the tire 210 to any angle. At this time, the point projected by the laser on the current arc surface is the point 211. For example, Φ can also be 1°. At this time, the first point and the second point are both set to 360. In this way, the number of the first point and the second point is large, so that the distance between more points 211 on the tire 210 and the laser ranging sensor 120 can be detected, and the detection accuracy is high.

[0101] Embodiment 2

[0102] Figure 8 Schematically shows a method of cleaning a tire 210 using the tire cleaning device 100. Figure 8 This embodiment also provides a method for cleaning tires 210 using a tire cleaning device 100. The method uses the tire cleaning device 100 described in the first embodiment to clean the snow on the tires 210, so as to prevent the snow on the tires 210 of the transport vehicle 200 carrying calcium carbide from melting into water after the transport vehicle 200 carrying calcium carbide arrives at the factory, causing the unloaded calcium carbide to react with the water and cause an accident. The method mainly takes the following steps to clean any pair of tires 210 of the vehicle 200. Among them, the cleaning order of each pair of tires 210 is not limited, and the cleaning can be carried out from the front end to the rear end of the vehicle 200.

[0103] Step S101 : controlling the vehicle 200 to travel until the pair of tires 210 are in contact with the tire rotating device 110 , and the current arc surfaces of the pair of tires 210 enter the imaging range of the thermal imager 160 .

[0104] Step S102: Acquire the thermal image of the current curved surface in real time. The thermal imager 160 performs this step.

[0105] Step S103: Analyze the acquired thermal image to obtain the temperature value of the current curved surface. The main body of this step is the main controller, and its purpose is to analyze the temperature value to facilitate the subsequent determination of whether there is snow on the current curved surface.

[0106] Step S104: If the temperature value is not higher than 0°, control the hot air device 170 to generate hot air and blow it to the current curved surface to melt the snow on the current curved surface.

[0107] When the temperature value is not higher than 0°, the main controller determines that there is snow on the current arc surface, and clears the snow on the current arc surface by executing this step.

[0108] Step S105: driving the pair of tires 210 to rotate so that the next arc surface of the pair of tires 210 enters the imaging range of the thermal imager 160, and so on, until the pair of tires 210 rotates one circle and the current arc surface returns to the imaging range of the thermal imager 160.

[0109] The execution subject of this step is the main controller, which means that after step S104 is completed, that is, after the snow on the current arc surface is cleared, the pair of tires 210 are rotated so that the next arc surface enters the camera range of the thermal imager 160, and then steps S102 to S104 are executed to clear the snow on the next arc surface. The cycle is repeated until the tire 210 rotates one circle, and all the arc surfaces of the tire 210 are cleared.

[0110] By adopting the method of the present embodiment to clean the snow on the tire 210 of the vehicle 200, on the one hand, compared with the manual detection of whether there is snow on the tire 210 of the vehicle 200 in the related art, the method of the present embodiment can automatically detect the snow accumulation on the tire 210, and the detection accuracy is higher, which is conducive to improving the detection efficiency. On the other hand, compared with waiting for the snow on the tire 210 to melt or manually clearing the snow on the tire 210 in the related art, the method of the present embodiment can use hot air to melt the snow, which does not require manual cleaning, saves labor costs, and increases the melting speed of the snow, shortens the melting time of the snow, and can speed up the process of unloading calcium carbide, which is conducive to improving the unloading efficiency.

[0111] Optionally, if the temperature value is higher than 0°, the hot air device 170 is controlled to remain stopped. This step can be understood as the main controller determines that there is no snow on the current arc surface, so there is no need for the hot air device 170 to blow hot air to melt the snow, and step S105 can be directly executed.

[0112] Specifically, in an embodiment where the tire cleaning device 100 includes the track 140, the specific implementation process of step S102 to step S104 may be:

[0113] Step 1: Acquire the thermal energy image of the current sub-area of ​​the current curved surface in real time.

[0114] Step 2: Analyze the acquired thermal energy image to obtain the temperature value of the current sub-area of ​​the current curved surface.

[0115] Step 3: If the temperature value is not higher than 0°, control the hot air device 170 to generate hot air and blow it to the current sub-area to melt the snow on the current sub-area.

[0116] Step 4: Control the thermal imager 160 and the hot air device 170 of the tire cleaning device 100 to slide along the slide rail, so that the next sub-area of ​​the current curved surface enters the imaging range of the thermal imager 160, and so on, until the thermal imager 160 and the hot air device 170 move from one end of the slide rail to the other end of the slide rail. In this way, all sub-areas are measured and cleaned.

[0117] Through the above implementation process, the current arc surface is divided into multiple sub-areas, and each sub-area is measured and cleaned in turn, so as to achieve the cleaning of the current arc surface. In particular, in the implementation scheme where the slide rail has a first section 141, a second section 142 and a third section 143 connected in sequence, the method can make the thermal imager 160 and the hot air device 170 face the junction of the tire 210 and the two side surfaces, so as to facilitate the removal of snow in the grooves of the pattern on the tire 210.

[0118] In an implementation scheme where the tire cleaning device 100 further includes a laser distance measuring sensor 120 , the above step S101 may also be implemented using the following steps.

[0119] Step 1: Control the vehicle 200 to travel until the pair of tires 210 are in contact with the tire rotating device 110, and the current arc surface of the pair of tires 210 enters the ranging range of the laser ranging sensor 120 of the tire cleaning device 100. Here, the laser ranging sensor 120 is installed in the receiving groove 310 on the ground 300.

[0120] Step 2: Detect the distance between the current curved surface and the laser ranging sensor 120, and calculate the radius of the tire 210 according to the distance between the current curved surface and the laser ranging sensor 120. The purpose of this step is to calculate the radius of the tire 210. Specifically, the specific implementation process of this step can be referred to Figure 3 This embodiment is similar to the first embodiment, and will not be described in detail here.

[0121] Step 3: Determine the lifting height and the curvature of the current curved surface according to the radius of the tire 210 .

[0122] Step 4: controlling the lifter 130 of the tire cleaning device 100 according to the lifting height, so that the current curved surfaces of the pair of tires 210 enter the imaging range of the thermal imager 160 .

[0123] With such a configuration, in the initial state, the lifter 130, the track 140 and the thermal imager 160 can be located in the avoidance groove 320 to avoid being crushed by the vehicle 200, until the vehicle 200 drives to a point where a pair of tires 210 are in contact with the tire rotating device 110 and a curved surface enters the ranging range of the laser ranging sensor 120, the main controller calculates the radius of the tire 210 according to the distance between the current curved surface and the laser ranging sensor 120, determines the lifting height according to the radius, and then controls the lifter 130 to lift the track 140 so that the current curved surface enters the imaging range of the thermal imager 160. If the lifting height is half of the height of the current curved surface in the vertical direction, the thermal imager 160 can be opposite to the middle of the current curved surface in the vertical direction to ensure that the current curved surface will not deviate from the imaging range of the thermal imager 160.

[0124] Among them, the movement of the tire rotating device 110 can also be controlled according to the curvature of the current arc surface, so that the tire 210 rotates until the current arc surface exits the camera range and the ranging range, and the next arc surface enters the camera range and the ranging range, and the rotation angle is the same as the angle of the current arc surface.

[0125] In addition, in an embodiment where the tire cleaning device 100 further includes a laser distance measuring sensor 120 , the following steps S201 to S204 may be further performed after step S105 .

[0126] Step S201: at least detect the distance between the current first point and the current second point on the current arc surface and the laser ranging sensor 120; wherein the first point is set at the pattern on one side of the arc surface, and the second point is set at the pattern on the other side of the arc surface.

[0127] The purpose of this step is to measure the current first point E 0 Distance L to the laser detection sensor E0 、Current second point C 0 Distance L to the laser detection sensor C0 , and the current third point X 0 Distance L to the laser detection sensor X0 .

[0128] Step S202: driving the pair of tires 210 to rotate so that the next arc surface of the pair of tires 210 enters the ranging range of the laser ranging sensor 120 of the tire cleaning device 100, and so on, until the pair of tires 210 rotate one circle and the current arc surface returns to the ranging range of the laser ranging sensor 120.

[0129] The implementation process of this step is that after step S201 is executed, that is, after the distances from each point 211 on the current arc surface to the laser ranging sensor 120 are detected, the pair of tires 210 are rotated so that the next arc surface enters the ranging range of the laser ranging sensor 120, and step S201 is executed again to detect the current first point E 1 Distance L to the laser detection sensor E1 、Current second point C 1 Distance L to the laser detection sensor C1 , and the current third point X 1 Distance L to the laser detection sensor X1 , and the cycle is repeated until the tire 210 completes one rotation, and the distances from all the points 211 to the laser ranging sensor 120 are measured.

[0130] Step S203: Establishing and analyzing a measurement curve based on the distances between all the points 211 and the laser ranging sensor 120 .

[0131] Step S204: if the measured curve is abnormal, return to step S102. The meaning of this step is that if the measured curve is abnormal, it is determined that there is still snow in the grooves of the tire 210, and then return to step S102 to measure the temperature and clean the tire 210 again.

[0132] Optionally, if the measurement curve is normal, the staff is prompted to drive the vehicle 200 until the next pair of tires 210 are in contact with the tire rotating device 110 to detect the snow condition of the next pair of tires 210 and clear it.

[0133] By such arrangement, after cleaning a pair of tires 210, the cleaning effect of the pair of tires 210 can be checked. When there is still snow in the grooves of the tires 210, the pair of tires 210 can be checked and cleaned again to ensure that the snow on the tires 210 is completely removed.

[0134] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary techniques in the art that are not disclosed in the present application. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present application are indicated by the following claims.

[0135] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A tire cleaning device for cleaning snow from tires of a vehicle, It is characterized in that The tread of each tire is divided into a plurality of arc surfaces along the circumferential direction, and comprises: a main controller and a tire rotating device, a hot air device and a thermal imager electrically connected to the main controller; The tire rotating device is disposed on the ground and is used to contact the pair of tires of the vehicle; The thermal imager is used to collect a thermal energy image of one of the curved surfaces on the tire in contact with the tire rotating device; The main controller determines the temperature value of the corresponding curved surface according to the thermal energy image collected by the thermal imager, and when the temperature value is not higher than 0°, controls the hot air device to blow hot air toward the corresponding curved surface to melt the snow on the curved surface; Furthermore, the tire rotating device can drive the contacting tires to rotate, so that all the arc surfaces of the tires can enter the imaging area of ​​the thermal imager in sequence; It also includes a lifter and a slide rail, wherein the lifter is arranged on the ground and connected to the slide rail to drive the slide rail to move in a vertical direction, so that the slide rail and the tire in contact with the tire rotating device can be opposite to each other, and the thermal imager and the hot air device can slide along the slide rail.

2. The tire cleaning device according to claim 1, It is characterized in that The slide rail includes a first section, a second section and a third section connected in sequence, the first section and the third section extend toward the same side of the second section, the first section and the third section have an angle with the second section, and the tire in contact with the tire rotating device is located between the first section and the third section.

3. The tire cleaning device according to claim 2, It is characterized in that The slide rail is crescent-shaped or U-shaped.

4. The tire cleaning device according to claim 1, It is characterized in that It also includes a mounting shell and a driving component, the thermal imager and the hot air device are integrated in the mounting shell, the mounting shell is slidably arranged on the slide rail, the driving component is electrically connected to the main controller, and the main controller can control the driving component to drive the mounting shell to slide along the slide rail.

5. The tire cleaning device according to any one of claims 1 to 4, It is characterized in that It also includes a laser distance measuring sensor electrically connected to the main controller, the laser distance measuring sensor is arranged at the front end of the tire rotating device, when the tire rotating device contacts the pair of tires, one of the arc surfaces of the pair of tires enters the measuring range of the laser distance measuring sensor, and the laser distance measuring sensor is used to measure the distance between the corresponding arc surface and the laser distance measuring sensor; The main controller calculates the radius of the tire according to the distance detected by the laser ranging sensor, and determines the lifting height of the lifter and the curvature of the curved surface according to the radius.

6. The tire cleaning device according to claim 5, It is characterized in that Each of the arc surfaces has at least a first point and a second point, wherein the first point is located at a pattern on one side of the arc surface, and the second point is located at a pattern on the other side of the arc surface. The laser ranging sensor is configured to emit multiple laser beams, which are projected onto each point to detect the distance between each point on the arc surface and the laser ranging sensor.

7. A method for cleaning tires using a tire cleaning device for cleaning snow from tires of a vehicle, It is characterized in that Applied to a tire cleaning device, the vehicle has a plurality of pairs of tires, the plurality of pairs of tires are spaced apart along the driving direction of the vehicle, the tread of the tire is divided into a plurality of arc surfaces along the circumferential direction, and for any pair of tires of the vehicle, the device comprises: Controlling the vehicle to travel until the pair of tires are in contact with the tire rotating device and the current arc surfaces of the pair of tires enter the imaging range of the thermal imager; Acquire a thermal image of the current curved surface in real time; Obtaining the temperature value of the current curved surface according to the acquired thermal energy image analysis; If the temperature value is not higher than 0°, controlling the hot air device to generate hot air and blow it to the current arc surface to melt the snow on the current arc surface; The pair of tires is driven to rotate so that the next arc surface of the pair of tires enters the imaging range of the thermal imager, and so on, until the pair of tires rotates one circle and the current arc surface returns to the imaging range of the thermal imager; The tire cleaning device includes a lifter and a slide rail, wherein the lifter is arranged on the ground and connected to the slide rail to drive the slide rail to move in a vertical direction so that the slide rail and the tire in contact with the tire rotating device can be opposite to each other, and the thermal imager and the hot air device can slide along the slide rail.

8. The method according to claim 7, It is characterized in that The controlling the vehicle to travel until the pair of tires are in contact with the tire rotating device and the current arc surface of the pair of tires enters the camera range of the thermal imager specifically includes: Controlling the vehicle to travel until the pair of tires are in contact with the tire rotating device and the current arc surface of the pair of tires enters the ranging range of the laser ranging sensor of the tire cleaning device; Detecting the distance between the current curved surface and the laser ranging sensor, and calculating the radius of the tire according to the distance between the current curved surface and the laser ranging sensor; Determining a lifting height and an arc of the current arc surface according to a radius of the tire; The lifter of the tire cleaning device is controlled according to the lifting height so that the current curved surfaces of the pair of tires enter the imaging range of the thermal imager.

9. The method according to claim 7 or 8, It is characterized in that After driving the pair of tires to rotate so that the next arc surface of the pair of tires enters the imaging range of the thermal imager, and so on, until the pair of tires rotates one circle and the current arc surface returns to the imaging range of the thermal imager, the method further includes: At least detecting the distance between the current first point and the current second point on the current arc surface and the laser ranging sensor of the tire cleaning device; wherein the first point is set at the pattern on one side of the arc surface, and the second point is set at the pattern on the other side of the arc surface; Driving the pair of tires to rotate so that the next arc surface of the pair of tires enters the ranging range of the laser ranging sensor, and so on, until the pair of tires rotates one circle and the current arc surface returns to the ranging range of the laser ranging sensor; According to the distances between all points and the laser ranging sensor, a measurement curve is established and analyzed; If the measurement curve is abnormal, return to the step of acquiring the thermal energy image of the current curved surface in real time.

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