Fallen leaf collecting device and working method thereof

Abstract

The invention relates to a fallen leaf collecting device and a working method thereof, and belongs to the technical field of environmental protection equipment. The device comprises a chassis, wheels, a large arm assembly, a fallen leaf storage box and an intelligent control module. The large arm is formed by hinging a plurality of sections and is cooperatively controlled through a steering engine, a pull wire and a bent straight lock, flexible unfolding and folding are achieved, and meanwhile the sweeping area can be automatically adjusted according to the width of the road surface; the brush pieces are of a flexible shell and memory alloy keel structure, the form is adjusted in combination with a heating device, and the capability of sweeping fallen leaves in a humid environment is enhanced. The device is integrated with a millimeter wave radar, a visual identification module and a humidity and photosensitive sensor, fallen leaf distribution, road width and environmental parameters can be collected in real time, and the angle of a large arm, the hardness of a brush piece, the sweeping frequency, the negative pressure strength and the sweeping height are dynamically adjusted through a microcontroller. The device has high working condition adaptability, is compact in size after being stored, and can be suitable for efficient cleaning of fallen leaves on urban roads in a complex environment.

Description

Technical Field

[0001] The invention relates to the technical field of environmental protection equipment, and in particular to a fallen leaf collecting device and a working method thereof. Background Art

[0002] A large amount of fallen leaves are piled up on the roadside, which seriously affects the cleanliness and beauty of streets and parks. Timely cleaning of fallen leaves can improve the city's image and the comfort of residents' lives. In the existing technology, most fallen leaf collection devices use sweeping discs as the front-end devices for collecting fallen leaves. The fallen leaf collection range is single and is not adaptable to roads of different widths. The range of fallen leaf collection cannot be adjusted in time according to environmental conditions, and the adaptability of the device is weak. For wider roads, it can only be cleaned by sweeping back and forth, which not only increases the operating cost, but also reduces the operating efficiency. It is not adaptable to fallen leaves under different conditions. The residual rate of fallen leaves is high in humid weather and other conditions. At the same time, some front-end collection devices are large in size, which is not conducive to the transfer of the device. Summary of the invention

[0003] The purpose of the present invention is to solve at least one of the problems existing in the prior art and to provide a fallen leaf collection device and a working method thereof, which can solve the problems of the prior art.

[0004] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a fallen leaf collection device, comprising a collection device, characterized in that: a wheel is arranged at the bottom of the collection device, a chassis is welded on the upper part of the wheel, a microcontroller is arranged at the middle part of the front end of the chassis, a metal long rod is symmetrically welded at the front end of the chassis, a first electromagnetic lock is arranged at the front end of the metal long rod, a hydraulic lifting device is symmetrically arranged at the outer side of the front end of the chassis, an elastic limiting device is fixedly connected to the front end of the hydraulic lifting device, a box is arranged at the lower end of the elastic limiting device, the box is rotatably connected to the boom through the internal first steering gear, and the front end upper surface of the boom is connected to the universal wheel through a spring. Elastic connection, an air suction hose is fixed on the inner side of the boom, the end of the air suction hose is fixedly connected to the gas flow regulating device, a third steering gear is fixed to the upper end of the box, a second traction line is arranged inside the third steering gear, and the third steering gear controls the boom to bend outwards through the second traction line, a track is fixed to the inner outer surface of the box, a fourth steering gear is arranged inside the track, the fourth steering gear moves horizontally along the track through the first motor, a third traction line is arranged inside the fourth steering gear, and the fourth steering gear controls the boom to bend inwards through the third traction line, a fallen leaf storage box is arranged in the middle of the chassis, and baffles are symmetrically arranged on the lower part of the chassis.

[0005] As a further scheme of the present invention, a fallen leaf collection device according to claim 1 is characterized in that: the upper arm includes a proximal section, a first repeating section, a second repeating section and a distal section, and the proximal section, the first repeating section, the second repeating section and the distal section all include an outer shell and a keel, a second steering gear is fixed to the proximal lower surface of the keel of the proximal section, fixed rope rings are fixed to the inner and outer sides of the upper arm and the outer side of the box body, the proximal section and the first repeating section, the first repeating section and the second repeating section, and the first repeating section and the distal section are all connected by hinges and fixed by bending and straight locks, a second lock hole is arranged in the middle of the front end of the distal section, the first steering gear can rotate horizontally around the axis, a plurality of fixed brush holes are fixed on the lower surface of the keel, the fixed brush holes are evenly distributed on the lower surface of the keel, brush plates are fixed in the holes of the fixed brush holes, the second steering gear includes a first wire take-up hole and a second wire take-up hole, the first wire take-up hole and the second wire take-up hole respectively fix the two ends of the first traction line, and the middle part of the first traction line is fixed in the hole at the upper end of the brush plate so that the brush plate swings back and forth following the retraction and release of the first traction line.

[0006] As a further solution of the present invention, the straight-bend lock includes a second electromagnetic lock, an arc track and a first lock hole. The second electromagnetic lock and the arc track are fixed on the top of the shell. The first lock hole is provided at the starting end and the upper part of the end of the arc track. The lock head of the second electromagnetic lock can move along the arc track and when the lock head moves to the first lock hole position, it can enter the first lock hole to lock the straight-bend lock.

[0007] As a further scheme of the present invention, the brush piece is composed of a flexible shell and a memory alloy keel. A heating device is installed on the outside of the memory alloy keel. The heating device is used to heat the memory alloy keel to make it bend and drive the brush piece to bend at the same time. After returning to room temperature, the brush piece can be restored to its original shape under the action of the restoring force of the memory alloy keel. The end of the second traction line is fixedly connected to the fixed rope ring at the front end of the outer side of the distal section. The second traction line passes through the upper arm and the fixed rope ring on the outside of the box body. The end of the third traction line is fixedly connected to the fixed rope ring on the inner side of the distal section.

[0008] As a further solution of the present invention, a gas flow regulating device is symmetrically arranged at the front end of the fallen leaf storage box, and the gas flow regulating device adjusts the airflow size by driving the movable baffle horizontally by a second motor. A fallen leaf absorption channel is arranged at the rear part of the fallen leaf storage box, a negative pressure generating device is fixed on the upper part of the fallen leaf storage box, and a small hole is arranged at the lower part of the suction hose.

[0009] As a further solution of the present invention, an eccentric motor is fixedly installed inside the box, an elastic limit device is fixed on the upper part of the box, the upper end of the elastic limit device is elastically connected to the upper end of the hydraulic lifting device through a spring, a millimeter-wave radar is installed at the front end of the boom, visual recognition modules are arranged at the front and rear of the upper part of the fallen leaf storage box, and a photosensor and a humidity sensor are installed on the inner surface of the boom.

[0010] As a further scheme of the present invention, a working method of a fallen leaf collection device is characterized in that it includes the following steps: Step 1, when working, the visual recognition module and the millimeter wave radar first identify the required cleaning area, and the position and number of fallen leaves are determined after processing by the microcontroller; Step 2, the first electromagnetic lock is powered on to open, and the third steering gear and the fourth steering gear control the second traction line and the third traction line to cooperate to unfold the upper arm, and then the first steering gear rotates the upper arm to the outside of the area to be cleaned; Step 3, the eccentric wheel motor and the second steering gear are started, and the two cooperate to make the brush swing, and the fallen leaves are gradually gathered to the inside of the upper arm; Step 4, the gathered fallen leaves are further gathered to the bottom of the fallen leaf absorption channel through the baffle, and are sucked into the fallen leaf storage box through the negative pressure generating device; Step 5, after the work is completed, the first steering gear, the third steering gear, the fourth steering gear, the bending and straight lock and the first motor cooperate to store the upper arm, and the upper arm is fixed by the first electromagnetic lock.

[0011] Compared with the prior art, the present invention has the following beneficial effects:

[0012] 1. The fallen leaf collection device integrates millimeter-wave radar and visual recognition modules to perform three-dimensional modeling of fallen leaf distribution, and combines environmental sensors to realize real-time collection of multi-dimensional data such as fallen leaf distribution, road width, environmental dust rate and fallen leaf humidity. By dynamically adjusting the arm opening angle, brush hardness, cleaning height and negative pressure intensity, it significantly improves the adaptability to different working conditions, further improves the cleaning efficiency, and further reduces the residual rate of fallen leaves.

[0013] 2. The fallen leaf collection device realizes the five-section extension and storage of the boom through the coordinated cooperation of the servo and the traction line; at the same time, the device adopts a bending and straight lock to ensure the stability and reliability of the device during the deployment and storage process; the volume of the device is significantly reduced after storage, which is suitable for narrow roads and temporary parking scenarios; at the same time, a repeating structural unit is introduced on this basis: the first repeating section and the second repeating section at the far end are inserted alternately into the boom when in use, and the length of the boom can be adjusted according to needs, thereby further meeting the cleaning conditions of roads of different widths.

[0014] 3. The fallen leaf collection device uses an eccentric motor to drive the arm to swing periodically, and uses a servo to control the brush to swing back and forth. The combination of the two movements can make the brush swing in a circle, thereby gathering the fallen leaves to the center; combined with the vibration frequency-negative pressure intensity adaptive matching algorithm, a dynamic coupling control system is formed to further reduce the residual rate of fallen leaves; at the same time, a reinforcement learning algorithm based on fallen leaf residue detection is introduced, which can autonomously optimize parameters such as brush height and vibration frequency, and establish a historical working condition database to predictively adjust the cleaning strategy.

[0015] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments: BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a structural schematic diagram of the present invention.

[0017] Figure 2 It is a top view of the storage of the present invention.

[0018] Figure 3 It is an expanded bottom view of the present invention.

[0019] Figure 4 It is an expanded side view of the present invention.

[0020] Figure 5 It is a partial cross-sectional view of the upper arm of the present invention.

[0021] Figure 6 It is a partial enlarged view of the side cross-sectional view of the upper arm of the present invention.

[0022] Figure 7 It is a partial enlarged view of the storage of the upper arm of the present invention.

[0023] Figure 8 It is a partial enlarged view of the upper arm of the present invention.

[0024] Fig. 9 This is a partial enlarged view of the second servo and a schematic diagram of the brush.

[0025] Fig.10 This is a schematic diagram of the first repetition section.

[0026] Fig.11 This is the bottom view of the first repeating section.

[0027] Fig.12 Schematic diagram of the elastic limit device.

[0028] Fig.13 This is a partial enlarged schematic diagram of the front end of the upper arm when viewed from above.

[0029] Fig.14 It is a flowchart of the front-end collection and upper arm workflow of the present invention.

[0030] Fig.15 This is a partial cross-sectional view of the elastic connection of the elastic limiting device.

[0031] Fig.16 It is a partial cross-sectional view of the gas flow regulating device.

[0032] Figure numerals: 1, big arm; 1-1, proximal section; 1-2, first repeating section; 1-3, second repeating section; 1-4, distal section; 2, brush; 2-1, flexible shell; 2-2, memory alloy keel; 3, universal wheel; 4, microcontroller; 5, elastic limit device; 5-1, columnar rod; 5-2, spring; 5-3, elastic limit device upper plate; 6, metal long rod; 6-1, first electromagnetic lock; 6-2, second lock hole; 7, collecting device; 8, hydraulic lifting device; 9, track; 10, wheel; 11, chassis; 12, box; 12-1, eccentric wheel motor; 13, fallen leaf storage box; 14, first traction line; 15, second traction line; 16, third traction line; 17, Negative pressure generating device; 18, fallen leaf absorption channel; 19, movable baffle; 20, baffle; 21, first servo; 22, second servo; 22-1, first take-up hole; 22-2, second take-up hole; 23, third servo; 24, fourth servo; 25, rope ring; 26, heating device; 27, shell; 28, keel; 29, brush hole; 30, gas flow regulating device; 31, first motor; 32, second motor; 33, straight and bent lock; 33-1, second electromagnetic lock; 33-2, arc track; 33-3, first lock hole; 34, millimeter wave radar; 35, visual recognition module; 36, photosensor; 37, hinge; 38, suction hose; 39, humidity sensor. DETAILED DESCRIPTION

[0033] This section will describe in detail the specific embodiments of the present invention. The preferred embodiments of the present invention are shown in the accompanying drawings. The purpose of the accompanying drawings is to supplement the description of the text part with graphics, so that people can intuitively and vividly understand each technical feature and the overall technical solution of the present invention, but it cannot be understood as a limitation on the scope of protection of the present invention.

[0034] In the description of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0035] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. Embodiment 1

[0036] See also Figure 1-16 The present invention provides a technical solution: comprising a collecting device 7, characterized in that: a wheel 10 is arranged at the bottom of the collecting device 7, a chassis 11 is welded on the upper part of the wheel 10, a metal long rod 6 is symmetrically welded at the front end of the chassis 11, a first electromagnetic lock 6-1 is arranged at the front end of the metal long rod 6, a hydraulic lifting device 8 is symmetrically arranged on the outer side of the front end of the chassis 11, an elastic limiting device 5 is fixedly connected to the front end of the hydraulic lifting device 8, a box 12 is arranged at the lower end of the elastic limiting device 5, the box 12 is rotatably connected to the boom 1 through the first steering gear 21 inside, the front end upper surface of the boom 1 is elastically connected to the universal wheel 3 through a spring, an air suction hose 38 is fixed on the inner side of the boom 1, and the end of the air suction hose 38 is fixedly connected to the gas flow regulating device 30, a third steering gear 23 is fixed on the upper end of the box 12, a second traction line 15 is arranged inside the third steering gear 23, and the third steering gear 23 controls the boom 1 to bend outward through the second traction line 15, and a track 9 is fixed on the inner outer surface of the box 12, and the track 9 is provided with a fourth steering engine 24, which moves horizontally along the track 9 through the first motor 31, and a third traction line 16 is provided inside the fourth steering engine 24, and the fourth steering engine 24 controls the arm 1 to bend inward through the third traction line 16, and the arm 1 includes a proximal section 1-1, a first repeating section 1-2, a second repeating section 1-3 and a distal section 1-4, and the proximal section 1-1, the first repeating section 1-2, the second repeating section 1-3 and the distal section 1-4 all include a shell 27 and a keel 28 A second steering gear 22 is fixed to the lower surface of the proximal end of the keel 28 of the proximal section 1-1, and rope rings 25 are fixed to the inner and outer sides of the boom 1 and the outer side of the box 12. The proximal section 1-1 and the first repeating section 1-2, the first repeating section 1-2 and the second repeating section 1-3, and the first repeating section 1-2 and the distal section 1-4 are all connected by hinges 37 and fixed by bend-straight locks 33. A second lock hole 6-2 is provided in the middle of the front end of the distal section 1-4, and the first steering gear 21 can control the horizontal rotation of the boom 1.

[0037] As a deployment mode of the upper arm 1 of the present invention, the upper arm 1 is in a storage state before deployment, and power is applied to make the lock head of the first electromagnetic lock 6-1 leave the second lock hole 6-2, thereby opening the first electromagnetic lock 6-1, and at the same time, power is applied to open the proximal section 1-1 and the proximal first repeating section 1-2 and the bend straight lock 33 between the proximal first repeating section 1-2 and the second repeating section 1-3. First, the proximal section 1-1 is driven by the first steering gear 21 to rotate outwardly counterclockwise by a certain angle, and at the same time, the fourth steering gear 24 is operated to relax the third traction line 16. At this time, the second repeating section 1-3 rotates clockwise by a certain angle with the hinge 37 between the proximal first repeating section 1-2 and the second repeating section 1-3 as the center; then the third steering gear 23 retracts the second traction line 15, and then pulls the proximal first repeating section 1-2 to rotate the proximal section 1-1 and the proximal first repeating section 1-3. The hinge 37 between the multiple sections 1-2 rotates counterclockwise as the center, and the fourth servo 24 synchronously retracts the third traction line 16, and then pulls the second repeating section 1-3 to rotate clockwise with the hinge 37 between the first repeating section 1-2 and the second repeating section 1-3 at the proximal end as the center, and the two rotate simultaneously until the bend straight lock 33 between the first repeating section 1-2 and the second repeating section 1-3 at the proximal end is locked; then the fourth servo 24 manipulates the third traction line 16 to relax it, and then the third servo 23 continues to retract the second traction line 15 until the bend straight lock 33 between the proximal section 1-1 and the proximal first repeating section 1-2 is locked; at this time, the proximal section 1-1, the proximal first repeating section 1-2 and the second repeating section 1-3 form a whole, and its function is equivalent to the proximal section 1-1 in the above process. Repeating the above operation can fully unfold the upper arm 1.

[0038] As a storage method of the boom 1 of the present invention, the boom 1 is in the unfolded state before storage, the power is turned on to open the bend straight lock 33 between the distal section 1-4 and the distal first repeating section 1-2, the first steering gear 21 is operated to swing inward at a certain angle, and the fourth steering gear 24 is operated to relax the third traction line 16. At this time, the distal section 1-4 rotates counterclockwise at a certain angle with the hinge 37 between the distal first repeating section 1-2 and the distal section 1-4 as the center; then the third steering gear 23 recovers the second traction line 15, and then the distal section 1-4 is pulled to rotate counterclockwise with the hinge 37 between the distal first repeating section 1-2 and the distal section 1-4 as the center, until the bend straight lock 33 between the distal section 1-4 and the distal first repeating section 1-2 is locked, and the third steering gear 23 stops retracting the line; then the distal first repeating section 1-2 is opened. The bending and straight lock 33 between the section 1-2 and the second repeating section 1-3 is used to operate the fourth servo 24 to recover the third traction line 16, and then the first repeating section 1-2 at the far end is pulled to rotate clockwise with the hinge 37 between the second repeating section 1-3 and the first repeating section 1-2 at the far end as the center, until the bending and straight lock 33 between the first repeating section 1-2 and the second repeating section 1-3 at the far end is locked, and the fourth servo 24 stops retracting the line; at this time, the far section 1-4, the second repeating section 1-3 and the first repeating section 1-2 at the far end form a whole, and its function is equivalent to the far section 1-4 in the above process, and the above operation is repeated to fix all the bending and straight locks 33 again; finally, the fourth servo 24 recovers the second traction line 15 and pulls the far section 1-4 to the bottom of the first electromagnetic lock 6-1 for locking, thereby completing the storage of the boom 1.

[0039] Furthermore, taking the left side boom 1 as an example, the end of the second traction line 15 is fixedly connected to the rope ring 25 at the front end of the left side of the distal section 1-4, the middle part of the second traction line 15 passes through the holes of the rope ring 25 on the left side of the boom 1 and the rope ring 25 on the left side of the box 12, and the end of the third traction line 16 is fixedly connected to the rope ring 25 on the right side of the distal section 1-4. Taking the deployment of the first repeating section 1-2 at the proximal end during the deployment of the boom 1 as an example, during deployment, the third servo 23 recovers the second traction line 15, and pulls the fixed rope ring 25 at the front end of the proximal section 1-1 and the fixed rope ring 25 at the end of the first repeating section 1-2 at the proximal end, thereby reducing the distance between the two, and then drives the first repeating section 1-2 at the proximal end to rotate outward, and finally realizes the deployment of the first repeating section 1-2 at the proximal end; taking the storage of the distal section 1-4 during the storage of the boom 1 as an example, during storage, the third servo 23 recovers the second traction line 15, and pulls the fixed rope ring 25 at the end of the distal section 1-4 and the fixed rope ring 25 at the front end of the first repeating section 1-2 at the distal end, thereby reducing the distance between the two, and then drives the distal section 1-4 to rotate outward, and finally realizes the storage of the distal section 1-4.

[0040] Further, such as Figure 1 and Figure 5As shown, a second lock hole 6-2 is provided in the middle of the front end of the distal section 1-4, and a pressure sensor is provided at the bottom of the second lock hole 6-2 to detect whether the lock head of the first electromagnetic lock 6-1 enters the second lock hole 6-2. When the first electromagnetic lock 6-1 is not powered on, the lock head is lifted up by the internal spring, and the lock head is retracted after power is turned on. When the distal section 1-4 moves to the bottom of the first electromagnetic lock 6-1, the distal section 1-4 pushes the lock head of the first electromagnetic lock 6-1 upward, and when the lock head moves to the second lock hole 6-2, the pressure sensor is triggered, thereby controlling the fourth steering gear 24 to stop winding up and locking the first electromagnetic lock 6-1 at the same time.

[0041] Further, such as Figure 7 As shown, the lower surface of the first motor 31 is fixedly connected to the upper surface of the fourth servo 24. At the same time, the driving wheel of the first motor 31 drives the first motor 31 to move horizontally along the track 9 by friction with the inner surface of the track 9, thereby pulling the distal section 1-4 to the bottom of the first electromagnetic lock 6-1 for locking.

[0042] Further, such as Fig.10 and Fig.11 As shown, the straight-bend lock 33 includes a second electromagnetic lock 33-1, an arc track 33-2 and a first lock hole 33-3. The second electromagnetic lock 33-1 and the arc track 33-2 are both fixed above the housing 27. The first lock hole 33-3 is provided at the starting end and the upper part of the end of the arc track 33-2. A pressure sensor is provided on the upper surface of the first lock hole 33-3 to detect whether the lock head of the second electromagnetic lock 33-1 enters the first lock hole 33-3. The second electromagnetic lock 33-1 can move relatively along the arc track 33-2. When the second electromagnetic lock 33-1 of the straight-bend lock 33 is not powered on, the lock head is lifted by the internal spring, and the lock head is retracted after power is supplied. Taking the example of the straight-bend lock 33 being transformed from the locked state of the first lock hole 33-3 at the starting end to the locked state of the first lock hole 33-3 at the end, first, power is turned on to retract the lock head to open the straight-bend lock 33, then the second electromagnetic lock 33-1 moves relatively along the arc track 33-2 and releases the lock head. At this time, the lock head is lifted by the spring inside the second electromagnetic lock 33-1 and moves close to the upper surface of the arc track 33-2. When the lock head reaches the position of the first lock hole 33-3 at the end, the lock head enters the first lock hole 33-3 at the end under the action of the spring, thereby locking the straight-bend lock 33 again.

[0043] By imitating the folding and unfolding methods of the mantis' forearms, the space occupied by the device under static conditions is greatly reduced; at the same time, a repeating structural unit is introduced on this basis: the first repeating section 1-2 and the second repeating section 1-3 at the distal end are inserted alternately into the upper arm, and the length of the upper arm 1 can be adjusted as needed to meet the needs of different cleaning situations. Embodiment 2

[0044] On the basis of the first embodiment, a microcontroller 4 is provided at the middle of the front end of the chassis 11, a fallen leaf storage box 13 is provided at the middle of the chassis 11, a baffle 20 is symmetrically provided at the lower part of the chassis 11, a fallen leaf absorption channel 18 is provided at the rear of the fallen leaf storage box 13, a negative pressure generating device 17 is fixed at the upper part of the fallen leaf storage box 13, a visual recognition module 35 is provided at the front and rear of the upper part of the fallen leaf storage box 13, a visual recognition module 35 is provided at the front and rear of the middle and upper part of the fallen leaf storage box 13, and a large arm 1 A millimeter-wave radar 34 is installed at the front end, a brush piece 2 is arranged on the lower surface of the boom 1, an elastic limiting device 5 is fixedly connected to the front end of the hydraulic lifting device 8, a box 12 is arranged at the lower end of the elastic limiting device 5, an eccentric motor 12-1 and a first steering gear 21 are fixedly installed inside the box 12, an elastic limiting device 5 is fixed on the upper part of the box 12, a first traction line 14 is arranged inside the second steering gear 22, and the second steering gear 22 controls the swing of the brush piece 2 through the first traction line 14.

[0045] When the device is working under normal environmental conditions, the visual recognition module 35 and the millimeter wave radar 34 at the front first identify the required cleaning area, and the position and number of fallen leaves are determined after processing by the microcontroller 4, and the first electromagnetic lock 6-1 at the front end of the metal long rod 6 is powered on to open; then the third steering gear 23 and the fourth steering gear 24 control the second traction line 15 and the third traction line 16 to cooperate to unfold the boom 1, and then the first steering gear 21 rotates the boom 1 to the outside of the area to be cleaned; the eccentric wheel motor 12-1 is started to make the boom 1 swing up and down, and at the same time, the The second servo 22 releases and retracts the first traction line 14, thereby driving the brush piece 2 to swing back and forth. The two movements are coordinated to make the brush piece 2 form a circular swing, gradually gathering the fallen leaves to the inside of the upper arm 1; the gathered fallen leaves are further gathered to the bottom of the fallen leaf absorption channel 18 through the baffle 20, and are sucked into the fallen leaf storage box 13 through the negative pressure generating device 17; finally, the rear visual recognition module 35 determines the residual amount of fallen leaves, and after analysis by the microcontroller 4, the frequency of fallen leaf cleaning and the height of the upper arm 1 from the ground are intelligently adjusted to reduce the residual rate of fallen leaves.

[0046] Further, such as Fig.12As shown, the elastic limiting device 5 includes: a columnar rod 5-1, a spring 5-2 and an upper plate 5-3 of the elastic limiting device. A hollow tubular structure is provided at the lower part of the upper plate 5-3 of the elastic limiting device. The lower end of the hollow tubular structure protrudes radially inward, and the remaining space can limit the movement of the columnar rod 5-1, so that the columnar rod 5-1 can only move upward and downward along the axis. The upper end of the columnar rod 5-1 protrudes radially outward, and the lower end of the columnar rod 5-1 is fixedly connected to the upper surface of the box 12. A spring 5-2 is provided between the upper end protrusion of the columnar rod 5-1 and the lower end protrusion of the hollow tubular structure. When the distance between the two protruding structures is reduced, the spring 5-2 is compressed, thereby realizing the elastic connection between the elastic limiting device 5 and the box 12. When the eccentric motor 12-1 rotates, the force acting on the spring 5-2 changes continuously, so that the boom 1 swings up and down, and at the same time, the frequency of the up and down vibration of the boom is controlled by controlling the rotation speed of the eccentric motor 12-1.

[0047] Further, such as Figure 1 , Figure 3 , Fig. 9 and Fig.13 As shown, a plurality of brush fixing holes 29 are fixed on the lower surface of the keel 28, and the brush fixing holes 29 are evenly distributed on the lower surface of the keel 28. A brush piece 2 is fixed in the hole of the brush fixing hole 29. A first wire taking-up hole 22-1 and a second wire taking-up hole 22-2 are provided at the front end of the second servo 22. The first wire taking-up hole 22-1 and the second wire taking-up hole 22-2 respectively fix the two ends of the first traction line 14. The middle part of the first traction line 14 is fixed in the hole at the upper end of the brush piece 2 so that the brush piece 2 swings back and forth following the retraction and release of the first traction line 14. The first traction line 14 starts from the first wire taking-up hole 22-1, passes through the holes at the upper ends of a plurality of brush pieces 2, and returns to the second wire taking-up hole 22-2 through two rope fixing rings 25 fixed on the lower surface of the farthest end of the boom 1. During cleaning, the first wire taking-up hole 22-1 retracts the first traction line 14 to drive the brush plate 2 to move backward; the second wire taking-up hole 22-2 retracts the first traction line 14 to drive the brush plate 2 to move forward; the microcontroller 4 regulates the rotation speed of the eccentric wheel motor 12-1 and the exchange speed of the two wire taking-up holes of the second servo 22 to make the two frequencies the same, thereby realizing the circular swing of the brush plate 2 and achieving the effect of gathering the fallen leaves.

[0048] The device adopts a mantis shrimp gastropod-propelled cleaning method, thereby reducing the amount of residual fallen leaves after cleaning; at the same time, the use of a front-end collection module greatly increases the range of fallen leaves collected by the device; in addition, the large arm used in the device can be rotated by a steering gear, thereby improving the adaptability of the device to roads of different widths. Embodiment 3

[0049] On the basis of Example 1 and Example 2, an air suction hose 38 is fixed to the inner side of the upper arm 1, and an air suction hole is provided on the lower surface of the air suction hose 38. The end of the air suction hose 38 is fixedly connected to the gas flow regulating device 30. The front end of the fallen leaf storage box 13 is symmetrically provided with a gas flow regulating device 30. The gas flow regulating device 30 drives the movable baffle 19 to move horizontally through the second motor 32 to adjust the size of the airflow. The brush plate 2 is composed of a flexible shell 2-1 and a memory alloy keel 2-2. A heating device 26 is installed on the outer side of the memory alloy keel 2-2. The heating device 26 is used to heat the memory alloy keel 2-2 to make it bend. Visual recognition modules 35 are provided at the front and back of the upper and middle parts of the fallen leaf storage box 13. A millimeter wave radar 34 is installed at the front end of the upper arm 1, and a photosensitive sensor 36 and a humidity sensor 39 are installed on the inner surface of the upper arm 1.

[0050] When the device works under special environmental conditions, the millimeter wave radar 34 and the visual recognition module 35 first jointly determine the position and number of fallen leaves, and control the first servo 21 to swing the arm 1 to a suitable position; then the humidity sensor 39 detects whether the environment is humid. If the environment is humid, the microcontroller 4 controls the hydraulic lifting device 8 to adjust the height of the arm 1 from the ground, thereby adjusting the height of the brush 2 from the ground, and at the same time controls the heating device 26 to heat the memory alloy keel 2-2. After heating, the memory alloy keel 2-2 of the brush 2 shrinks, so that the brush 2 produces a certain bend in the vertical direction, increasing the contact area between the brush 2 and the fallen leaves, and at the same time uses the second motor 32 to drive the baffle 19 to move horizontally, thereby increasing the air intake of the gas flow regulating device 30, thereby increasing the negative pressure strength of the lower part of the arm 1, which is convenient for humid Collection of fallen leaves; if the environment is extremely dry, the microcontroller 4 controls the hydraulic lifting device 8 to appropriately increase the height of the brush plate 2 from the ground, thereby reducing the wear of the brush plate 2; in addition, the photosensitive sensor 36 determines the amount of dust generated by the device, and when there is a lot of dust, the second motor 32 is controlled to move, thereby controlling the movable baffle 19 to open the gas flow regulating device 30, increasing the suction volume and reducing dust; during the cleaning process of the device, the microcontroller 4 records in real time the frequency of the second servo 22 alternatingly retracting and releasing the line, the speed of the eccentric wheel motor 12-1, the height of the boom 1 controlled by the hydraulic lifting device 8 from the ground, and the negative pressure intensity generated by the negative pressure generating device 17, and at the same time, the visual recognition module 35 at the rear records the residual amount of fallen leaves and feeds it back to the microcontroller 4, thereby optimizing the relevant data of the device in real time and reducing the residual amount of fallen leaves.

[0051] Further, such as Fig. 9As shown, the memory alloy keel 2-2 is arranged in an arc shape inside the flexible shell 2-1. At the same time, the material of the memory alloy keel 2-2 is nickel-titanium alloy. The heating device 26 is started in a humid environment to heat the memory alloy keel 2-2, thereby controlling the curvature of the brush plate 2 in the horizontal direction to increase, and at the same time controlling the lower end of the brush plate 2 to tilt at a certain angle toward the forward direction of the device, thereby increasing the contact area between the brush plate 2 and the fallen leaves during cleaning and reducing the residual rate of cleaning.

[0052] By using an intelligent adjustment module, the adaptability of the fallen leaf collection device in different cleaning environments is significantly improved; at the same time, the use of adjustable brushes effectively reduces the residual rate of wet fallen leaves.

[0053] The above description of the embodiments is to facilitate the understanding and use of the invention by those skilled in the art. It is obvious that those skilled in the art can easily make various modifications to these embodiments and apply the general principles described herein to other embodiments without creative work. Therefore, the present invention is not limited to the above embodiments, and improvements and modifications made by those skilled in the art based on the disclosure of the present invention without departing from the scope of the present invention should be within the scope of protection of the present invention.

Claims

1. A fallen leaf collecting device, comprising a collecting device (7), characterized in that: The bottom of the collecting device (7) is provided with a wheel (10), the upper part of the wheel (10) is welded with a chassis (11), the middle part of the front end of the chassis (11) is provided with a microcontroller (4), the front end of the chassis (11) is symmetrically welded with a metal long rod (6), the front end of the metal long rod (6) is provided with a first electromagnetic lock (6-1), the front end of the chassis (11) is symmetrically provided with a hydraulic lifting device (8) on the outer side of the front end, the front end of the hydraulic lifting device (8) is fixedly connected with an elastic limiting device (5), the lower end of the elastic limiting device (5) is provided with a box (12), the box (12) is rotatably connected to the boom (1) through an internal first steering gear (21), the front end upper surface of the boom (1) is elastically connected to the universal wheel (3) through a spring, the inner side of the boom (1) is fixed with an air suction hose (38), the air suction hose (3 The end of the housing (12) is fixedly connected to the gas flow regulating device (30), a third steering gear (23) is fixed to the upper end of the housing (12), a second traction line (15) is arranged inside the third steering gear (23), and the third steering gear (23) controls the arm (1) to bend outwardly through the second traction line (15), a track (9) is fixed to the inner outer surface of the housing (12), a fourth steering gear (24) is arranged inside the track (9), the fourth steering gear (24) moves horizontally along the track (9) through the first motor (31), a third traction line (16) is arranged inside the fourth steering gear (24), and the fourth steering gear (24) controls the arm (1) to bend inwardly through the third traction line (16), a fallen leaf storage box (13) is arranged in the middle of the chassis (11), and baffles (20) are symmetrically arranged at the lower part of the chassis (11).

2. A fallen leaf collection device according to claim 1, characterized in that: The boom (1) comprises a proximal section (1-1), a first repeating section (1-2), a second repeating section (1-3) and a distal section (1-4), and the proximal section (1-1), the first repeating section (1-2), the second repeating section (1-3) and the distal section (1-4) all comprise a housing (27) and a keel (28). A second steering gear (22) is fixed to the lower surface of the proximal end of the keel (28) of the proximal section (1-1). Rope fixing rings (25) are fixed to the inner and outer sides of the boom (1) and the outer side of the box (12). A rope fixing ring (25) is fixed to the proximal section (1-1) and the first repeating section (1-2). ) and the second repeating section (1-3), and the first repeating section (1-2) and the distal section (1-4) are connected by hinges (37) and fixed by bending and straightening locks (33); the first steering gear (21) can rotate horizontally around an axis; a plurality of brush fixing holes (29) are fixed on the lower surface of the keel (28); the brush fixing holes (29) are evenly distributed on the lower surface of the keel (28); brush plates (2) are fixed in the holes of the brush fixing holes (29); a first traction line (14) is arranged inside the second steering gear (22), and the second steering gear (22) controls the brush plate (2) to swing through the first traction line (14).

3. A fallen leaf collection device according to claim 2, characterized in that: The curved straight lock (33) comprises a second electromagnetic lock (33-1), an arc-shaped track (33-2) and a first lock hole (33-3); the second electromagnetic lock (33-1) and the arc-shaped track (33-2) are both fixed above the housing (27); the first lock hole (33-3) is provided at the starting end and the upper part of the end of the arc-shaped track (33-2); and the lock head of the second electromagnetic lock (33-1) can move along the arc-shaped track (33-2).

4. A fallen leaf collection device according to claim 1, characterized in that: The brush piece (2) is composed of a flexible shell (2-1) and a memory alloy keel (2-2). A heating device (26) is installed on the outside of the memory alloy keel (2-2). The heating device (26) is used to heat the memory alloy keel (2-2) to bend it. The end of the second traction line (15) is fixedly connected to the fixed rope ring (25) at the front end of the outside of the distal section (1-4). The second traction line (15) passes through the fixed rope ring (25) on the outside of the upper arm (1) and the box (12). The end of the third traction line (16) is fixedly connected to the fixed rope ring (25) on the inside of the distal section (1-4).

5. A fallen leaf collection device according to claim 1, characterized in that: A gas flow regulating device (30) is symmetrically arranged at the front end of the fallen leaf storage box (13), and the gas flow regulating device (30) drives the movable baffle (19) to move horizontally via a second motor (32) to adjust the airflow size. A fallen leaf absorption channel (18) is arranged at the rear of the fallen leaf storage box (13), a negative pressure generating device (17) is fixed to the upper part of the fallen leaf storage box (13), and a small hole is arranged at the lower part of the suction hose (38).

6. A fallen leaf collection device according to claim 1, characterized in that: An eccentric motor (12-1) is fixedly installed inside the box (12), an elastic limit device (5) is fixed to the upper part of the box (12), and the upper end of the elastic limit device (5) is elastically connected to the upper end of the hydraulic lifting device (8) through a spring. A millimeter wave radar (34) is installed at the front end of the upper arm (1), and visual recognition modules (35) are arranged at the front and rear of the upper part of the fallen leaf storage box (13). A photosensitive sensor (36) and a humidity sensor (39) are installed on the inner surface of the upper arm (1).

7. A working method based on the fallen leaf collection device according to any one of claims 1 to 6, characterized in that: The invention comprises the following steps: step 1, when working, firstly, the visual recognition module (35) and the millimeter wave radar (34) identify the required cleaning area, and determine the position and quantity of fallen leaves after processing by the microcontroller (4); step 2, power on to open the first electromagnetic lock (6-1), and the third steering gear (23) and the fourth steering gear (24) control the second traction line (15) and the third traction line (16) to cooperate to unfold the arm (1), and then the first steering gear (21) rotates the arm (1) to the outside of the area to be cleaned; step 3, start the eccentric wheel motor (12-1) and the fourth steering gear (24) to rotate the arm (1) to the outside of the area to be cleaned; step 4, start the eccentric wheel motor (12-1) and the first steering gear (24) to rotate the arm (1) to the outside of the area to be cleaned; step 5, start the eccentric wheel motor (12-1) and the first steering gear (24) to rotate the arm (1) to the outside of the area to be cleaned; step 6, start the eccentric wheel motor (12-1) and the first steering gear (24) to rotate the arm (1) to the outside of the area to be cleaned; step 7, start the eccentric wheel motor (12-1) and the first steering gear (24) to rotate the arm (1) to the outside of the area to be cleaned; step 8, start the eccentric wheel motor (12-1) and the first steering gear (24) to rotate the arm (1) to the outside of the area to be cleaned; step 9, start the eccentric wheel motor (12-1) and the first steering gear (24) to rotate the arm (1) to the outside of the area to be cleaned; step 10, start the eccentric wheel motor (12-1) and the first steering gear (24) to rotate the arm (1) to the outside of the area to be cleaned; step 11, The two steering gears (22) cooperate with each other to make the brush plate (2) swing, and gradually gather the fallen leaves to the inner side of the arm (1); step 4, the gathered fallen leaves are further gathered to the bottom of the fallen leaf absorption channel (18) through the baffle plate (20), and are sucked into the fallen leaf storage box (13) through the negative pressure generating device (17); step 5, after the work is completed, the first steering gear (21), the third steering gear (23), the fourth steering gear (24), the bending and straightening lock (33) and the first motor (31) cooperate to make the arm (1) be stored, and the arm (1) is fixed by the first electromagnetic lock (6-1).

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