Pneumatic sweeping disc adaptive adjustment system, method and wear adjustment method

Abstract

The present invention provides a pneumatic sweeper disc adaptive adjustment system, method, and wear adjustment method, relating to the technical field of road sweeping equipment. The pneumatic sweeper disc adaptive adjustment system includes a sweeper disc bracket, a swing-out limit adjustment mechanism, a sweeper disc swing arm, a lifting cylinder displacement sensor, a sweeper disc lifting cylinder, a sweeper disc motor, a sweeper disc, a sweeper disc lifting bracket, a sweeper disc swing cylinder, a swing cylinder displacement sensor, and an air circuit control module. The pneumatic sweeper disc adaptive adjustment method includes arbitrary position positioning and self-holding adjustment, as well as adaptive adjustment of the sweeper disc's ground contact force. This method, based on the adaptive adjustment system, ensures appropriate overlap between the suction nozzle and the sweeper disc. The present invention can improve cleaning effects, increase cleaning efficiency, and avoid missed sweeps.

Description

Technical Field

[0001] The present invention relates to the technical field of road sweeping equipment, and in particular to a pneumatic sweeping disc adaptive adjustment system, method and wear adjustment method. Background Art

[0002] There are three main ways to drive and control the sweeping discs of sweepers currently on the market: hydraulic cylinder drive, electric push rod drive, and cylinder drive. All three methods can achieve the lifting and extension and retraction control of the sweeping disc. As the sweeping disc gradually wears out, although the ground force of the sweeping disc can be achieved in a variety of ways, due to the wear of the sweeping disc, the sweeping disc diameter becomes smaller, and the overlap between the sweeping disc and the suction nozzle continues to decrease, resulting in missed sweeps. The sweeping disc driven by a hydraulic cylinder or an electric push rod can adjust the sweeping width by controlling the stroke of the hydraulic cylinder or the electric push rod to ensure the overlap, but the drive method using a hydraulic cylinder or an electric push rod has a relatively rigid structure, and the passive obstacle avoidance performance is not as good as the cylinder solution. Other devices need to be installed to achieve the obstacle avoidance function, and the structure is more complicated. The compressed air in the cylinder has strong compressibility, good passive obstacle avoidance performance, and can automatically return to its original position after avoiding obstacles. It has a simple structure. However, the current solutions on the market cannot achieve the cylinder staying at any position, and it is also impossible to adjust the cleaning width in real time. The cleaning width can only be adjusted by setting a mechanical limit device to limit the stroke of the cylinder. It cannot be adjusted in real time and has a low level of intelligence.

[0003] Existing technologies generally focus on adaptive control methods for the ground force of the sweeping disc to avoid excessive wear of the sweeping disc when the ground force is too large or poor cleaning effect when the ground force is too small; the existing cleaning level adjustment control system changes the sweeping disc path in real time according to the contact with the curb to ensure that the cleaning area is not missed, and there is an overall lack of automatic adjustment devices for the overlap between the sweeping disc and the suction nozzle; the adjustment method for sweeping disc wear is mainly to obtain detection data for judging the degree of wear of the sweeping hair through the detection unit, and analyze the detection data based on the control system to judge the degree of wear of the sweeping hair, and control the working state of the sweeping disc adjustment mechanism according to different degrees of wear, but the degree of wear of the sweeping hair varies. The commonly used laser radar point cloud data mean interval judgment method and camera projection are easily affected by factors such as weather and ambient light, and cannot adaptively adjust the overlap with the suction nozzle.

[0004] Patent publication number CN111025948A discloses a method and system for intelligent swing control of the sweeping disc of a road sweeper. This system incorporates several proximity switches on the sweeping disc itself to detect when the sweeping disc is actually in position. This patent detects the time it takes for the sweeping disc to reach its position, compares it with the expected time, and then outputs a control current to a proportional valve to control the flow rate and hydraulic pressure in the hydraulic system pipeline. However, this system has the following drawbacks:

[0005] 1) The in-position signal can be directly ensured by the detection switch, and the movement speed can be adjusted by the proportional valve. However, the process of detecting the expansion and contraction time is complicated;

[0006] 2) The expansion and contraction time obtained can only be used as a comparison between the current movement and the expected value, and can be adjusted during the next movement. It cannot be adjusted during the current cylinder movement and cannot be adjusted in real time;

[0007] 3) The solution does not control the overlap between the sweeping disc and the suction nozzle;

[0008] 4) Since a hydraulic cylinder is used to control the sweeping disc, an additional obstacle avoidance mechanism is required.

[0009] Utility model patent publication number CN208981243U discloses a pneumatically controlled adaptive sweeping brush adjustment device for a sweeper. The device includes a sweeping disc assembly, a control device, and a lifting mechanism for controlling the raising and lowering of the sweeping disc assembly. One end of the lifting mechanism is hinged to the vehicle frame, and the other end is hinged to the sweeping disc assembly. The lifting mechanism is connected to the control device via an air pipeline. However, the device has the following drawbacks:

[0010] 1) During operation, pressure regulating valves I and II need to be adjusted to appropriate values, and cannot be positioned or self-maintained at any position;

[0011] 2) When the pressure rises sharply, there is no safety valve to protect the cylinder and pipeline from damage to limit the maximum pressure so that the cylinder can overflow and release the pressure, which lacks safety;

[0012] 3) The solution does not involve adaptive adjustment of the sweeping disc's swing-out and retraction amplitudes, and the adaptive adjustment solution is single.

[0013] Patent publication number CN112627088B discloses an automatic adjustment control system and method for a sweeping disc, as well as a road sweeper. A detection unit acquires detection data for determining the degree of bristle wear. The control system then analyzes the detection data to determine the degree of bristle wear and controls the operating state of the sweeping disc adjustment mechanism based on the degree of wear. The adjustment mechanism then drives the sweeping disc to swing outward to align with the curb, eliminating blind spots in curb cleaning. However, the following drawbacks apply:

[0014] 1) The solution focuses on adjusting the sweeping disc up and down and along the edge based on bristle length and angle wear, and does not involve all-round adaptive adjustment using pneumatic cylinders.

[0015] 2) The detection units of the LiDAR and camera are easily affected by environmental factors such as weather and light, which can affect the accuracy of automatic adjustment. Furthermore, the wear of the scanning disk is uneven, and the calculation of the interval mean of the LiDAR point cloud data increases the computational difficulty and uncertainty for larger wear on both sides.

[0016] 3) The solution does not control the overlap between the sweeping disc and the suction nozzle;

[0017] 4) The solution does not involve adaptive obstacle avoidance, position positioning and self-maintenance. Summary of the Invention

[0018] In view of the defects in the prior art, the present invention provides a pneumatic sweeping disc adaptive adjustment system, method and wear adjustment method.

[0019] According to the present invention, a pneumatic sweeping disc adaptive adjustment system, method and wear adjustment method are provided, and the scheme is as follows:

[0020] In a first aspect, a pneumatic sweeper plate adaptive adjustment system is provided, the system comprising: left and right sweepers, each sweeper plate comprising: a sweeper plate bracket, a swing-out limit adjustment mechanism, a sweeper plate swing arm, a lifting cylinder displacement sensor, a sweeper plate lifting cylinder, a sweeper plate motor, a sweeper plate, a sweeper plate lifting bracket, a sweeper plate swing cylinder, a swing cylinder displacement sensor, and an air circuit control module;

[0021] The sweeping disc bracket is fixed on the chassis beam, and the sweeping disc swinging cylinder controls the sweeping disc swinging arm to drive the sweeping disc lifting bracket, the sweeping disc lifting cylinder, the sweeping disc motor, and the sweeping disc to swing together, thereby realizing the swinging out and retracting of the sweeping disc;

[0022] One end of the sweeping disc lifting cylinder is fixed on the sweeping disc swing arm, and the other end is connected to the sweeping disc lifting bracket. The sweeping disc lifting cylinder controls the sweeping disc lifting bracket to drive the sweeping disc motor and the sweeping disc to rise and fall together.

[0023] The cylinder displacement sensor is installed on the sweeping plate lifting cylinder and is used to obtain the displacement of the sweeping plate lifting cylinder;

[0024] The cylinder displacement sensor is installed on the sweeping disc swing cylinder and is used to obtain the displacement of the sweeping disc when it swings out of the cylinder.

[0025] Preferably, the lifting cylinder displacement sensor and the swing cylinder displacement sensor are sensors that sense the position of the magnetic ring on the cylinder piston rod, and are wire-type displacement sensors, built-in displacement sensors, or magnetic grating displacement sensors.

[0026] Preferably, the air circuit control module includes: a lowering cylinder displacement sensor, a sweeping plate lifting cylinder, a sweeping plate swing cylinder, a swing cylinder displacement sensor, an air storage tank, an air source processing two-piece, a two-position five-way solenoid valve, a pressure regulating valve, an exhaust throttle valve, a safety valve, an induction air-controlled one-way valve and a three-position five-way solenoid valve;

[0027] Among them, the air storage tank provides the air source for the sweeping disc action, and the air source processing two-way piece outputs the regulated and stabilized airflow to the control valve; the two-position five-way solenoid valve controls the large cavity of the sweeping disc lifting cylinder, the pressure regulating valve of the large cavity circuit adjusts the air pressure entering the sweeping disc swing cylinder, the exhaust throttle valve adjusts the speed of the cylinder during extension and contraction, and the safety valve limits the maximum pressure of the large cavity; the air-controlled one-way valve and the three-position five-way solenoid valve are installed in the large cavity and small cavity circuits of the sweeping disc swing cylinder.

[0028] Preferably, the sweeping discs on the left and right sides both include a sweeping disc lifting cylinder and a sweeping disc swinging cylinder, and the sweeping discs on the left and right sides are independently extended and retracted.

[0029] In a second aspect, a pneumatic sweeper disk adaptive adjustment method is provided, the method comprising: arbitrary position positioning and self-holding adjustment, and adaptive adjustment of the sweeper disk ground force;

[0030] The arbitrary position positioning and self-holding adjustment: induction type air-controlled one-way valves are respectively installed in the large cavity and small cavity circuits of the sweeping disc swing cylinder;

[0031] When the three-position five-way solenoid valve is in the right position, the sweeping disc swing cylinder takes in air from the large chamber, the induction air-controlled one-way valve of the small chamber circuit is opened, and the small chamber begins to exhaust air;

[0032] When the three-position five-way solenoid valve is in the middle position, no air enters the two chambers of the sweeping disc swing cylinder, and the two induction-type air-controlled one-way valves are closed. The gas in the large and small chambers of the sweeping disc swing cylinder is blocked in a closed space, and the sweeping disc swing cylinder stops at this position.

[0033] The sweeper ground force is adaptively adjusted by the pressure difference on both sides of the sweeper lifting cylinder;

[0034] The large chamber of the sweeping disc lifting cylinder is controlled by a two-position five-way solenoid valve, and the pressure entering the large chamber of the sweeping disc lifting cylinder is regulated by a pressure regulating valve; when the two-position five-way solenoid valve loses power, the sweeping disc rises; when the two-position five-way solenoid valve is energized, the sweeping disc falls.

[0035] Preferably, the arbitrary position positioning and self-maintaining adjustment include: when encountering an obstacle, the external force will cause the sweeping disc swing cylinder to swing inward to perform obstacle avoidance action. At this time, the pressure in the large cavity increases, and a safety valve is added in the large cavity to limit the maximum pressure, so that the cylinder can overflow and relieve pressure.

[0036] Preferably, the adaptive adjustment of the sweeping disc ground force includes: when in the descending working position state, the gravity of the sweeping disc assembly, the supporting reaction force of the ground and the pulling force of the lifting cylinder are balanced.

[0037] Preferably, the adaptive adjustment of the sweeping disc ground force also includes: when the sweeping disc is worn, the support reaction force of the ground becomes smaller, the pressure in the small chamber of the lifting cylinder increases, and the pressure in the large chamber decreases. The pressure in the small chamber overflows through the overflow function of the air source processing two-piece, and the large chamber is supplied by the air source through the pressure regulating valve to the bottom set value, which is manifested as the lifting cylinder extending and the sweeping disc pressing down until a new equilibrium position is reached.

[0038] In a third aspect, a pneumatic sweeping disc wear adjustment method is provided, the method comprising:

[0039] Step S1: After the sweeping disc is worn, the bristles become shorter, the diameter of the sweeping disc brush decreases, and the sweeping disc automatically presses down to maintain the set grounding force and continue working;

[0040] Step S2: Obtain the displacement information of the current position of the sweeping plate through the lifting cylinder displacement sensor and the swing cylinder displacement sensor;

[0041] Step S3: using the position displacement information, according to calibration or algorithm, calculating the overlap α1 and α2 of the left and right scanning plates and the suction nozzle at this time;

[0042] Step S4: Determine whether the overlap degrees α1 and α2 have reached the minimum overlap threshold, control the left or right sweeping disc cylinder to retract a certain distance through the controller, and recalculate whether the desired threshold has been reached;

[0043] Step S5: During operation, the lifting cylinder displacement sensor and the swing cylinder displacement sensor continuously collect displacement data of the sweeping plate lifting cylinder and the sweeping plate swing cylinder, and calculate the overlap to ensure that the suction nozzle and the sweeping plate have appropriate overlap.

[0044] Preferably, the overlap degrees α1 and α2 of the left and right sweeping discs and the suction nozzles are defined based on the driver's seat in the cab, and the calculation formula is:

[0045]

[0046] Among them, α1: right sweeping plate overlap, α2: left sweeping plate overlap, L0: effective width of the suction nozzle, L1: overlap width between the right sweeping plate and the suction nozzle, L2: overlap width between the left sweeping plate and the suction nozzle.

[0047] Compared with the prior art, the present invention has the following beneficial effects:

[0048] 1. The present invention takes overlap control as its goal and automatically adjusts the cleaning width without human intervention, and has a high degree of intelligence;

[0049] 2. The present invention realizes adaptive adjustment of the pneumatic sweeper through positioning at any position, self-holding and adaptive adjustment of the sweeper ground force, thereby improving the cleaning efficiency and cleaning effect;

[0050] 3. The adaptively adjusted sweeping disc of the present invention can automatically adjust the sweeping force and sweeping width after wear, maintain the target overlap, improve the cleaning effect, increase efficiency, and avoid missed sweeps;

[0051] 4. The present invention has a simple structure and can achieve the obstacle avoidance function without auxiliary structures, with a low failure rate and safety assurance.

[0052] Other beneficial effects of the present invention will be explained through the introduction of specific technical features and technical solutions in the specific implementation methods. Those skilled in the art should be able to understand the beneficial technical effects brought about by the introduction of these technical features and technical solutions. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Other features, objects and advantages of the present invention will become more apparent upon reading the detailed description of non-limiting embodiments with reference to the following drawings:

[0054] Figure 1 This is a diagram of the sweep disk structure;

[0055] Figure 2 This is the gas circuit control module diagram;

[0056] Figure 3 The figure is a general flow chart of the pneumatic sweeper wear adjustment method;

[0057] Figure 4 This is a comparison chart of the working status of the sweep disc before and after wear;

[0058] Figure 5 It is the control logic diagram.

[0059] Figure numerals: 1. Sweeping disc bracket; 2. Swing-out limit adjustment mechanism; 3. Sweeping disc swing arm; 4. Lifting cylinder displacement sensor; 5. Sweeping disc lifting cylinder; 6. Sweeping disc motor; 7. Sweeping disc; 8. Sweeping disc lifting bracket; 9. Sweeping disc swing cylinder; 10. Swinging cylinder displacement sensor; 11. Air storage tank; 12. Air source processing two-piece; 13. Two-position five-way solenoid valve; 14. Pressure regulating valve; 15. Exhaust throttle valve; 16. Safety valve; 17. Inductive air-controlled one-way valve; 18. Three-position five-way solenoid valve. DETAILED DESCRIPTION

[0060] The present invention will be described in detail below with reference to specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those skilled in the art, several changes and improvements can be made without departing from the scope of the present invention. These all fall within the scope of protection of the present invention.

[0061] Example 1:

[0062] The embodiment of the present invention provides a pneumatic sweeper adaptive adjustment system, which can not only retain the obstacle avoidance performance of the pneumatic sweeper, but also automatically adjust the sweep width of the sweeper in real time to ensure the overlap between the sweeper and the suction nozzle, the sweeper ground force is adaptive, and the sweeper wear is automatically adjusted to improve the cleaning effect. Figure 1 and Figure 2 As shown, the system includes: left and right sweeping discs, and each sweeping disc includes: a sweeping disc bracket 1, a swing-out limit adjustment mechanism 2, a sweeping disc swing arm 3, a lifting cylinder displacement sensor 4, a sweeping disc lifting cylinder 5, a sweeping disc motor 6, a sweeping disc 7, a sweeping disc lifting bracket 8, a sweeping disc swing cylinder 9, a swing cylinder displacement sensor 10 and an air path control module.

[0063] The sweeping disc bracket 1 is fixed on the chassis beam, and the sweeping disc swinging cylinder 9 controls the sweeping disc swinging arm 3 to drive the sweeping disc lifting bracket 8, sweeping disc lifting cylinder 5, sweeping disc motor 6, and sweeping disc 7 to swing together, realizing the swinging out and retracting of the sweeping disc;

[0064] One end of the sweeping disc lifting cylinder 5 is fixed on the sweeping disc swing arm 3, and the other end is connected to the sweeping disc lifting bracket 8. The sweeping disc lifting cylinder 5 controls the sweeping disc lifting bracket 8 to drive the sweeping disc motor 6 and the sweeping disc 7 to rise and fall together.

[0065] The cylinder displacement sensor 4 is installed on the sweeping plate lifting cylinder 5 to obtain the displacement of the sweeping plate lifting cylinder. The cylinder displacement sensor 10 is installed on the sweeping plate swinging cylinder 9 to obtain the displacement of the sweeping plate swinging cylinder.

[0066] The lifting cylinder displacement sensor 4 and the swing cylinder displacement sensor 10 are sensors that sense the position of the magnetic ring on the cylinder piston rod, and are wire-type displacement sensors, built-in displacement sensors or magnetic grating displacement sensors.

[0067] The air circuit control module includes: a lowering cylinder displacement sensor 4, a sweeping plate lifting cylinder 5, a sweeping plate swing cylinder 9, a swing cylinder displacement sensor 10, an air storage tank 11, an air source processing two-way component 12, a two-position five-way solenoid valve 13, a pressure regulating valve 14, an exhaust throttle valve 15, a safety valve 16, an induction air-controlled one-way valve 17, and a three-position five-way solenoid valve 18;

[0068] Among them, the air storage tank 11 provides the air source for the sweeping disc action, and the air source processing two-way component 12 outputs the regulated and stabilized airflow to the control valve; the two-position five-way solenoid valve 13 controls the large cavity of the sweeping disc lifting cylinder 5, the pressure regulating valve 14 of the large cavity circuit adjusts the air pressure entering the sweeping disc swing cylinder 9, the exhaust throttle valve 15 adjusts the speed of the cylinder during extension and contraction, and the safety valve 16 limits the maximum pressure of the large cavity; the air-controlled one-way valve 17 and the three-position five-way solenoid valve 18 are installed in the large cavity and small cavity circuits of the sweeping disc swing cylinder 9.

[0069] The sweeping discs on both sides include sweeping disc lifting cylinder 5 and sweeping disc swing cylinder 9, and the sweeping discs on both sides are independently extended and retracted.

[0070] Example 2:

[0071] The present invention also provides a pneumatic sweeping disc adaptive adjustment method, including: arbitrary position positioning and self-holding adjustment, and sweeping disc ground force adaptive adjustment;

[0072] Arbitrary position positioning and self-holding adjustment: Induction-type air-controlled one-way valves 17 are respectively installed in the large chamber and small chamber circuits of the sweeping disc swing cylinder 9. When the three-position five-way solenoid valve 18 is in the right position, the sweeping disc swing cylinder 9 takes in air from the large chamber, the induction-type air-controlled one-way valve of the small chamber circuit is opened, and the small chamber begins to exhaust; when the three-position five-way solenoid valve 18 is in the middle position, the two chambers of the sweeping disc swing cylinder 9 do not take in air, and the two induction-type air-controlled one-way valves 17 are closed. The gas in the large chamber and the small chamber of the sweeping disc swing cylinder 9 is blocked in a closed space, and the sweeping disc swing cylinder 9 stops at this position. When encountering an obstacle, the external force will cause the sweeping disc swing cylinder 9 to swing inward to avoid the obstacle. At this time, the pressure in the large chamber increases, and a safety valve 16 is added in the large chamber to limit the maximum pressure, so that the cylinder can overflow and relieve pressure.

[0073] Adaptive adjustment of the sweeping disc grounding force: it is adjusted by the pressure difference on both sides of the sweeping disc lifting cylinder 5; the large chamber of the sweeping disc lifting cylinder 5 is controlled by a two-position five-way solenoid valve 13, and the pressure entering the large chamber of the sweeping disc lifting cylinder 5 is adjusted by a pressure regulating valve 14; when the two-position five-way solenoid valve 13 loses power, the sweeping disc rises; when the two-position five-way solenoid valve 13 is energized, the sweeping disc falls.

[0074] In the lowered working position, the gravity of the sweeping disc assembly, the ground's support reaction force, and the pulling force of the lift cylinder 5 are balanced. When the sweeping disc wears, the ground's support reaction force decreases, causing the pressure in the small chamber of the lift cylinder 5 to increase while the pressure in the large chamber to decrease. The pressure in the small chamber overflows through the overflow function of the air source treatment two-way connection 12, and the large chamber, supplied by the air source, returns to the set value through the pressure regulating valve 14. This causes the lift cylinder 5 to extend and the sweeping disc to be pressed down until the new equilibrium position is reached.

[0075] Example 3:

[0076] The present invention also provides a pneumatic sweeping disc wear adjustment method, referring to Figure 3 As shown, specifically including:

[0077] Step S1: After the sweeping disc is worn, the bristles become shorter, the diameter of the sweeping disc brush decreases, and the sweeping disc is automatically pressed downward to maintain the set grounding force and continue working.

[0078] Step S2: Obtain the displacement information of the current position of the sweeping plate through the lifting cylinder displacement sensor 4 and the swing cylinder displacement sensor 10.

[0079] Step S3: using the position displacement information, according to calibration or algorithm, calculate the overlap degrees α1 and α2 of the left and right scanning plates and the suction nozzles at this time.

[0080] Step S4: Determine whether the overlap degrees α1 and α2 have reached the minimum overlap threshold, control the left or right sweeping disc cylinder to retract a certain distance through the controller, and recalculate whether the desired threshold has been reached.

[0081] Step S5: During operation, the lifting cylinder displacement sensor 4 and the swing cylinder displacement sensor 10 continuously collect displacement data of the sweeping plate lifting cylinder 5 and the sweeping plate swing cylinder 9, and calculate the overlap to ensure that the suction nozzle and the sweeping plate have appropriate overlap.

[0082] The overlap of the left and right sweeping discs and the suction nozzles α1 and α2 is defined based on the driver's seat in the cab. The calculation formula is:

[0083]

[0084] Among them, α1: right sweep plate overlap, α2: left sweep plate overlap, L0: effective width of the suction nozzle, L1: overlap width between the right sweep plate and the suction nozzle, L2: overlap width between the left sweep plate and the suction nozzle.

[0085] The left and right sweeping disc extension and retraction cylinders of the present invention are controlled separately to realize independent extension and retraction control of the left and right sweeping discs; each sweeping disc includes a sweeping disc lifting cylinder and a sweeping disc swinging cylinder; the adaptive adjustment includes positioning at any position and self-maintenance and automatic obstacle avoidance recovery, in which the sweeping disc swinging cylinder plays a major role, and also includes the sweeping disc ground force adaptive adjustment, in which the sweeping disc lifting cylinder plays a major role; and includes a safety pressure relief valve device to improve the safety of the adaptive adjustment system; with the overlap control as the goal, the sweeping disc and suction nozzle overlap algorithm is calibrated by the displacement sensor, and the controller controls to realize the above-mentioned adaptive adjustment and realize the adjustment of the worn sweeping disc, and adjusts the cleaning width and force to improve the cleaning effect.

[0086] Next, the present invention will be described in more detail.

[0087] The present invention provides a pneumatic sweeper plate adaptive adjustment system. By installing a displacement sensor on the sweeper plate's lifting cylinder, the system senses the sweeper plate's lifting position. Through calibration or algorithms, the system can determine the wear of the sweeper plate based on the position of the sweeper plate lifting cylinder. Simultaneously, the left and right sweeper plate extension and retraction cylinders are controlled separately to achieve independent extension and retraction control of the left and right sweeper plates. The sweeper plate extension and retraction cylinders are also equipped with displacement sensors, and positioning control of the sweeper plate extension and retraction cylinders is achieved through a special air path control system. Through calibration or algorithms, the sweeper plate's wear status is fed back to the controller, which then outputs a signal to automatically adjust the positioning of the extension and retraction cylinders to ensure appropriate overlap.

[0088] Because pneumatic cylinders use compressed air as their transmission medium, and due to the compressibility of air, when encountering an obstacle, the cylinder can retreat in the direction of the force under the action of external forces, achieving passive obstacle avoidance without the need for additional external auxiliary structures. This is an advantage that hydraulic cylinders or electric push rods do not have. However, due to the compressibility of air, the pneumatic cylinder solutions currently in use on the market cannot achieve arbitrary positioning and self-holding, and can only operate in two extreme positions.

[0089] In order to achieve the above functions, a pneumatic control system is required to achieve the arbitrary positioning and self-holding of the cylinder, the adaptive ground force of the sweeper, and at the same time retain its passive obstacle avoidance performance. Figure 1 and Figure 2 As shown, the left half of the sweep disc is used as an example. The structure and air path control principle are as follows:

[0090] The sweeping disc bracket 1 is fixed on the chassis beam, and the sweeping disc swinging cylinder 9 controls the sweeping disc swinging arm 3 to drive the sweeping disc lifting bracket 8, the sweeping disc lifting cylinder 5, the sweeping disc motor 6, and the sweeping disc 7 to swing together, thereby realizing the swinging out and retracting of the sweeping disc. The sweeping disc swinging cylinder 9 is equipped with a cylinder displacement sensor 10, which is used to obtain the displacement of the sweeping disc swinging cylinder. One end of the sweeping disc lifting cylinder 5 is fixed on the sweeping disc swinging arm 3, and the other end is connected to the sweeping disc lifting bracket 8. The sweeping disc lifting cylinder 5 controls the sweeping disc lifting bracket 8 to drive the sweeping disc motor 6 and the sweeping disc 7 to rise and fall together. The sweeping disc lifting cylinder 5 is equipped with a cylinder displacement sensor 4, which is used to obtain the displacement of the sweeping disc lifting cylinder. The air tank 11 provides the air source for the sweeping disc action, and the air source processing two-piece 12 outputs the regulated and stabilized airflow to the control valve.

[0091] In order to realize the positioning and self-maintenance of the sweeping disc swing cylinder 9 at any position, an induction-type air-controlled one-way valve 17 is installed in the large and small chamber circuits of the sweeping disc swing cylinder 9 respectively. When the three-position five-way solenoid valve 18 is in the right position, the sweeping disc swing cylinder 9 takes in air from the large chamber, the induction-type air-controlled one-way valve 17 of the small chamber circuit is opened, and the small chamber begins to exhaust. When the reversing valve is in the middle position, the two chambers of the sweeping disc swing cylinder 9 do not take in air, and the two induction-type air-controlled one-way valves 17 are closed. The gas in the large and small chambers of the sweeping disc swing cylinder 9 is blocked in a closed space. At this time, the sweeping disc swing cylinder 9 will stop at this position, and the positioning and self-maintenance function of any position can be realized without being subjected to other additional forces. The one-way pressure regulating valve 14 of the large chamber circuit adjusts the air pressure entering the sweeping disc swing cylinder 9, and the exhaust throttle valve 15 adjusts the speed of the cylinder when it is extended and retracted to avoid impact and adjustment oscillation caused by excessive movement speed. When encountering an obstacle, external force will cause the sweeping disc swing cylinder 9 to swing inward to avoid the obstacle. At this time, the pressure in the large cavity rises sharply. In order to protect the cylinder and pipeline from damage, a safety valve 16 is added in this cavity to limit the maximum pressure so that the cylinder can overflow and relieve pressure.

[0092] The self-adaptation of the sweeping disc's grounding force is regulated by the pressure difference on both sides of the sweeping disc lifting cylinder 5. Since the small chamber of the sweeping disc lifting cylinder 5 is directly connected to the air source pressure, its pressure is the output pressure of the air source processing two-way component 12 and is basically constant; the large chamber of the sweeping disc lifting cylinder 5 is controlled by a two-position five-way solenoid valve 13, and the pressure entering the large chamber of the sweeping disc lifting cylinder 5 is regulated by a one-way pressure regulating valve 14. When the two-position five-way solenoid valve 13 loses power, the sweeping disc rises. When the two-position five-way solenoid valve 13 loses power, the sweeping disc descends. When in the descending working position, the gravity of the sweeping disc assembly, the support reaction force of the ground, and the pulling force of the lifting cylinder 5 are balanced. When the sweeping disc is worn, the ground support reaction force becomes smaller, causing the pressure in the small chamber of the lifting cylinder 5 to increase and the pressure in the large chamber to decrease. The pressure in the small chamber overflows through the overflow function of the air source processing two-piece 12, and the large chamber is supplied with air by the air source and returns to the bottom set value through the pressure regulating valve, which manifests as the lifting cylinder 5 extending and the sweeping disc pressing down until the ground support reaction force is appropriate and reaches a new equilibrium position, thereby realizing adaptive control of the sweeping disc contact force.

[0093] Reference for the working status of the sweeping disc before and after wear Figure 4 As shown in the figure, it can be clearly seen that the overlap of the sweeping disc becomes smaller after wear.

[0094] Taking the driver's seat in the cab as the reference, the total overlap α of the left and right sweeping discs and the suction nozzle is defined as:

[0095]

[0096] Wherein: α1: right sweeping disc overlap; α2: left sweeping disc overlap; L0: effective width of suction nozzle; L1: overlap width between right sweeping disc and suction nozzle; L2: overlap width between left sweeping disc and suction nozzle; L3: total cleaning width.

[0097] As the sweeping disc wears out, the bristles become shorter and the diameter of the sweeping disc brush decreases. Under the action of the ground force adaptive system, the sweeping disc will automatically press down to maintain appropriate ground force and continue to work. At this time, the downward pressure of the sweeping disc can be obtained through the sensor installed on the sweeping disc lifting cylinder. At the same time, the current position of the sweeping disc can be obtained through the sensor installed on the sweeping disc swinging cylinder. According to the calibration or algorithm, the overlap α1 and α2 of the left and right sweeping discs and the suction nozzle at this time can be calculated. If the calculated overlap α1 and α2 are lower than the minimum overlap threshold, the controller will send a command to the control valve to retract the left or right cylinder to a certain distance and recalculate whether the desired threshold is reached. See the control logic. Figure 5 shown.

[0098] During operation, the sensor continuously collects cylinder displacement data and calculates the overlap to ensure that the suction nozzle and the sweeping disc have appropriate overlap, thereby avoiding the situation where garbage is missed.

[0099] Embodiments of the present invention provide a pneumatic sweeper adaptive adjustment system, method, and wear adjustment method. The sweeper swing-out cylinder uses an induction check valve to achieve pneumatic sweeper positioning and self-retention, and a relief valve to achieve high-pressure load relief during obstacle avoidance. This results in a simple obstacle avoidance structure, excellent obstacle avoidance effectiveness, and a low failure rate. A displacement sensor is installed on the sweeper lift cylinder to obtain real-time displacement of the sweeper lift cylinder and the sweeper swing-out cylinder. Calibration or algorithms are used to determine the corresponding relationship between the lift cylinder displacement and sweeper wear, and between the sweeper swing-out cylinder displacement and overlap. A controller calculates the overlap between the left and right sweepers and the suction nozzle in real time, compares it with a preset target overlap within the controller, and continuously adjusts the overlap until the overlap is within a threshold deviation range. This adjustment process is human-independent and highly intelligent. Using target overlap control, the sweeper automatically returns to its original position after obstacle avoidance is complete. When the sweeper wears, it automatically adjusts its sweep width to the target overlap, resulting in excellent cleaning effectiveness, high efficiency, and a low missed sweep rate.

[0100] Those skilled in the art will appreciate that, in addition to implementing the system and its various devices, modules, and units provided by the present invention in purely computer-readable program code, it is entirely possible to implement the same functions of the system and its various devices, modules, and units provided by the present invention in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers by logically programming the method steps. Therefore, the system and its various devices, modules, and units provided by the present invention can be considered a hardware component, and the devices, modules, and units included therein for implementing various functions can also be considered as structures within the hardware component; the devices, modules, and units for implementing various functions can also be considered as both software modules implementing the method and structures within the hardware component.

[0101] The above describes specific embodiments of the present invention. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art may make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. The embodiments of this application and the features in the embodiments may be combined with each other in any manner unless there is a conflict.

Claims

1. A pneumatic sweeping disc wear adjustment method based on a pneumatic sweeping disc adaptive adjustment system, characterized in that: The pneumatic sweeping disc adaptive adjustment system includes sweeping discs on the left and right sides, and each sweeping disc includes: a sweeping disc bracket (1), a swing-out limit adjustment mechanism (2), a sweeping disc swing arm (3), a sweeping disc motor (6), a sweeping disc (7), a sweeping disc lifting bracket (8), an air circuit control module and an air circuit control module, wherein the air circuit control module includes a lifting cylinder displacement sensor (4), a sweeping disc lifting cylinder (5), a sweeping disc swing cylinder (9), and a swing cylinder displacement sensor (10); The sweeping disc bracket (1) is fixed on the chassis beam, and the sweeping disc swinging cylinder (9) controls the sweeping disc swinging arm (3) to drive the sweeping disc lifting bracket (8), the sweeping disc lifting cylinder (5), the sweeping disc motor (6), and the sweeping disc (7) to swing together, thereby realizing the sweeping disc being swung out and retracted; One end of the sweeping disc lifting cylinder (5) is fixed to the sweeping disc swing arm (3), and the other end is connected to the sweeping disc lifting bracket (8). The sweeping disc lifting cylinder (5) controls the sweeping disc lifting bracket (8) to drive the sweeping disc motor (6) and the sweeping disc (7) to rise and fall together. The lifting cylinder displacement sensor (4) is mounted on the sweeping plate lifting cylinder (5) and is used to obtain the displacement of the sweeping plate lifting cylinder; The swing cylinder displacement sensor (10) is mounted on the sweeping disc swing cylinder (9) and is used to obtain the displacement of the sweeping disc swinging out of the cylinder; The pneumatic sweeper wear adjustment method includes the following steps: Step S1: After the sweeping disc is worn, the bristles become shorter, the diameter of the sweeping disc brush decreases, and the sweeping disc automatically presses down to maintain the set grounding force and continue working; Step S2: obtaining displacement information of the current position of the sweeping plate through the lifting cylinder displacement sensor (4) and the swing cylinder displacement sensor (10); Step S3: Using the position displacement information, calculate the overlap between the left and right sweeping discs and the left sweeping disc of the suction nozzle according to calibration or algorithm. , right sweep plate overlap ; Step S4: Determine the overlap of the left sweep plate , right sweep plate overlap Whether the minimum overlap threshold is reached, the controller controls the left or right sweep disc swing cylinder to retract a certain distance and recalculates whether the desired threshold is reached; Step S5: During operation, the lifting cylinder displacement sensor (4) and the swing cylinder displacement sensor (10) continuously collect displacement data of the sweeping plate lifting cylinder (5) and the sweeping plate swing cylinder (9), and calculate the overlap to ensure that the suction nozzle and the sweeping plate have appropriate overlap; The overlap between the left and right sweeping discs and the left sweeping disc of the suction nozzle , right sweep plate overlap Based on the driver's seat in the cab, the calculation formula is: ， ， in, : Right sweep disk overlap, : overlap degree of the left sweeping disc, L0: effective width of the suction nozzle, L1: overlap width of the right sweeping disc and the suction nozzle, L2: overlap width of the left sweeping disc and the suction nozzle.

2. A pneumatic sweeping disc adaptive adjustment system, characterized in that: The pneumatic sweeping disc wear adjustment method of claim 1 is adopted, wherein the lifting cylinder displacement sensor (4) and the swing cylinder displacement sensor (10) are sensors that sense the position of the magnetic ring on the cylinder piston rod, and adopt a wire-type displacement sensor, a built-in displacement sensor or a magnetic grating displacement sensor.

3. The pneumatic sweeping disc adaptive adjustment system according to claim 2, characterized in that: The gas circuit control module further comprises: a gas storage tank (11), a gas source processing two-way component (12), a two-position five-way solenoid valve (13), a pressure regulating valve (14), an exhaust throttle valve (15), a safety valve (16), an induction gas-controlled one-way valve (17) and a three-position five-way solenoid valve (18); Among them, the air storage tank (11) provides an air source for the sweeping disc action, and the air source processing two-way component (12) outputs the regulated and stabilized air flow to the two-position five-way solenoid valve (13) and the three-position five-way solenoid valve (18); the two-position five-way solenoid valve (13) controls the large cavity of the sweeping disc lifting cylinder (5), the pressure regulating valve (14) of the large cavity circuit adjusts the air pressure entering the sweeping disc swing cylinder (9), the exhaust throttle valve (15) adjusts the speed of the cylinder when it is extended and retracted, and the safety valve (16) limits the maximum pressure of the large cavity; the induction air control one-way valve (17) and the three-position five-way solenoid valve (18) are installed in the large cavity and small cavity circuits of the sweeping disc swing cylinder (9).

4. The pneumatic sweeping disc adaptive adjustment system according to claim 2, characterized in that: The left and right side sweep plates can be extended and retracted independently.

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