A leaf collection device and method of operation thereof

Abstract

The present application relates to a kind of fallen leaves collection device and its working method, belong to environmental protection equipment technical field.The device includes chassis, wheel, big arm component, fallen leaves storage box and intelligent control module.Big arm is articulated by multiple segments, is cooperatively controlled by steering gear, traction line and bend straight lock, flexible deployment and storage are realized, simultaneously, can according to road width self-adjusting cleaning area;Brush piece adopts flexible shell and memory alloy keel structure, adjust morphology in combination with heating device, enhance the ability of cleaning fallen leaves in humid environment.The device integrates millimeter wave radar, visual identification module and humidity, photosensitive sensor, can real-time acquisition fallen leaves distribution, road width and environmental parameter, by microcontroller dynamically adjusting big arm angle, brush piece hardness, cleaning frequency, negative pressure intensity and cleaning height.The present application has higher working condition adaptability, compact after storage, can be applicable to the efficient cleaning of fallen leaves in city road under complex environment.

Description

TECHNICAL FIELD

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

[0002] A large number of fallen leaves are accumulated on the roadside, which seriously affects the neatness and beauty of the street and the park. Timely cleaning of fallen leaves can improve the city image and the comfort of residents' life. In the prior art, most fallen leaf collecting devices use a sweeping disc as a front-end device for collecting fallen leaves. The fallen leaf collecting range is single, and the device has poor adaptability to different widths of the road surface. The fallen leaf collecting range cannot be adjusted in time according to the environmental conditions, and the adaptability of the device is poor. For a wider road surface, the device can only be swept back and forth to clean up, which not only increases the operation cost but also reduces the operation efficiency. The device has poor adaptability to fallen leaves under different conditions. In wet weather, the residual rate of fallen leaves is high. In addition, some front-end collecting devices have a large volume, which is not conducive to the transfer of the device. SUMMARY

[0003] The present application aims to at least solve one of the problems in the prior art, and provides a fallen leaf collecting device and a working method thereof, which can solve the problems in the prior art.

[0004] To achieve the above-mentioned purpose, the present application provides the following technical scheme: a fallen leaf collecting device, comprising a collecting device, characterized in that: a wheel is arranged at the bottom of the collecting device, a bottom disc is welded to the upper part of the wheel, a microcontroller is arranged at the front end of the middle part of the bottom disc, metal long rods are symmetrically welded to the front end of the bottom disc, a first electromagnetic lock is arranged at the front end of the metal long rod, hydraulic lifting devices are symmetrically arranged on the outside of the front end of the bottom disc, a flexible limiting device is fixedly connected to the front end of the hydraulic lifting device, a box body is arranged at the lower end of the flexible limiting device, the box body is rotatably connected to a large arm through a first steering engine inside the box body, a universal wheel is elastically connected to the front end upper surface of the large arm through a spring, an air suction hose is fixedly connected to the inside of the large arm, the end of the air suction hose is fixedly connected to a gas flow adjusting device, a third steering engine is fixedly arranged at the upper end of the box body, a second traction line is arranged inside the third steering engine, and the third steering engine controls the bending of the large arm to the outside through the second traction line, a track is fixedly arranged on the inside of the box body, a fourth steering engine is arranged inside the track, the fourth steering engine moves horizontally along the track through a first motor, a third traction line is arranged inside the fourth steering engine, and the fourth steering engine controls the bending of the large arm to the inside through the third traction line, a fallen leaf storage box is arranged in the middle part of the bottom disc, and baffle plates are symmetrically arranged at the lower part of the bottom disc.

[0005] As a further scheme of the present application, the large arm comprises a proximal segment, a first repeating segment, a second repeating segment and a distal segment, and the proximal segment, the first repeating segment, the second repeating segment and the distal segment all comprise a shell and a keel, the proximal end lower surface of the keel of the proximal segment is fixed with a second steering wheel, the inner and outer sides of the large arm and the outer side of the box body are all fixed with a fixed rope ring, the proximal segment and the first repeating segment, the first repeating segment and the second repeating segment, and the first repeating segment and the distal segment are all connected through hinges and fixed through a bending-straightening lock, the middle part of the front end of the distal segment is provided with a second lock hole, the first steering wheel can rotate horizontally around the shaft, the lower surface of the keel is fixed with a plurality of fixed brush holes, the fixed brush holes are uniformly distributed on the lower surface of the keel, the holes of the fixed brush holes are fixed with brush pieces, the second steering wheel comprises a first wire winding hole and a second wire winding hole, the two ends of the first traction line are respectively fixed in the first wire winding hole and the second wire winding hole, and the middle part of the first traction line is fixed in the hole at the upper end of the brush piece so that the brush piece swings back and forth with the first traction line.

[0006] As a further scheme of the present application, the bending-straightening lock comprises a second electromagnetic lock, an arc-shaped track and a first lock hole, the second electromagnetic lock and the arc-shaped track are both fixed above the shell, the upper parts of the starting end and the terminal end of the arc-shaped track are both provided with the first lock hole, and the lock head of the second electromagnetic lock can move along the arc-shaped track and enter the first lock hole to lock the bending-straightening lock when the lock head moves to the position of the first lock hole.

[0007] As a further scheme of the present application, the brush piece is composed of a flexible shell and a memory alloy keel, the outer side of the memory alloy keel is installed with a heating device, the heating device is used for heating the memory alloy keel to make it bend and drive the brush piece to bend, the brush piece can restore to the original shape under the restoring force of the memory alloy keel after it returns to room temperature, the terminal end of the second traction line is fixedly connected with the fixed rope ring on the front end of the outer side of the distal segment, the second traction line passes through the fixed rope rings on the outer sides of the large arm and the box body, and the terminal end of the third traction line is fixedly connected with the fixed rope ring on the inner side of the distal segment.

[0008] As a further scheme of the present application, the front end of the fallen leaf storage box is symmetrically provided with a gas flow adjusting device, the gas flow adjusting device adjusts the size of the gas flow by driving the movable baffle to move horizontally through the second motor, the rear part of the fallen leaf storage box is provided with a fallen leaf absorption channel, the upper part of the fallen leaf storage box is fixed with a negative pressure generating device, and the lower part of the air suction hose is provided with a small hole.

[0009] As a further scheme of the present application, the inside of the box body is fixedly installed with an eccentric wheel motor, the upper part of the box body is fixed with an elastic limiting device, the front end of the large arm is installed with a millimeter wave radar, the front and rear of the upper part of the fallen leaf storage box are both provided with a visual recognition module, and the inner surface of the large arm is installed with a photosensitive sensor and a humidity sensor.

[0010] As a further scheme of the present application, a working method of the fallen leaf collecting device is characterized in that it comprises the following steps: step one, in working, the required cleaning area is first identified by the visual recognition module and the millimeter wave radar, and the position and quantity of the fallen leaves are determined after being processed by the microcontroller; step two, the first electromagnetic lock is opened by being powered on, the second traction line and the third traction line are cooperated by the third steering gear and the fourth steering gear to make the big arm expand, and the big arm is rotated to the outside of the required cleaning area by the first steering gear; step three, the eccentric wheel motor and the second steering gear are started, and the two are cooperated to make the brush swing and gradually gather the fallen leaves to the inside of the big arm; step four, the gathered fallen leaves are further gathered to the lower side of the fallen leaf absorption channel through the baffle, and are sucked into the fallen leaf storage box through the negative pressure generating device; and step five, after the working is completed, the big arm is stored by the cooperation of the first steering gear, the third steering gear, the fourth steering gear, the bending lock and the first motor, and the big arm is fixed by the first electromagnetic lock.

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

[0012] 1. The fallen leaf collecting device realizes real-time collection of multi-dimensional data such as fallen leaf distribution, road width, environmental dust rate and fallen leaf humidity by fusing millimeter wave radar and visual recognition module to perform three-dimensional modeling of fallen leaf distribution, combining with environmental sensors; the adaptability to different working conditions is significantly improved by dynamically adjusting the opening angle of the big arm, the hardness of the brush, the cleaning height and the negative pressure intensity, the cleaning efficiency is further improved, and the fallen leaf residue rate is further reduced.

[0013] 2. The fallen leaf collecting device realizes five-section expansion and storage of the big arm by the cooperation of the steering gear and the traction line; meanwhile, the device adopts a bending lock to ensure the stability and reliability during the expansion and storage of the device; the volume of the device is significantly reduced after being stored, and the device is suitable for narrow roads and temporary parking scenes; meanwhile, a repeated structure unit is introduced: the first repeated section and the second repeated section at the distal end, which are alternately inserted into the big arm during use, so that the length of the big arm can be adjusted as needed, thereby further meeting the cleaning of roads of different widths.

[0014] 3. The fallen leaf collecting device uses an eccentric wheel motor to drive the big arm to periodically swing, and uses a steering gear to control the front and back swinging of the brush, and the two kinds of movements cooperate to make the brush swing in a ring shape, so as to gather the fallen leaves to the center; a dynamic coupling control system is formed by combining a vibration frequency-negative pressure intensity self-adaptive matching algorithm, thereby further reducing the fallen leaf residue rate; meanwhile, 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 scheme of the present application will be further described in detail below with reference to the drawings and embodiments: BRIEF DESCRIPTION OF DRAWINGS

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

[0017] Figure 2 is a storage plan view of the present application.

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

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

[0020] Figure 5 is a partial sectional view of the present application of the expanded large arm.

[0021] Figure 6 is a partial sectional view of the present application of the large arm side view.

[0022] Figure 7 is a partial enlarged view of the present application of the large arm storage.

[0023] Figure 8 is a partial enlarged view of the present application of the large arm expansion.

[0024] Figure 9 is a partial enlarged view of the second steering wheel and a brush piece schematic diagram.

[0025] Figure 10 is a first repeating section schematic diagram.

[0026] Figure 11 is a first repeating section bottom view.

[0027] Figure 12 is a schematic diagram of the elastic limiting device.

[0028] Figure 13 is a partial enlarged view of the large arm front end bottom view.

[0029] Figure 14 is a front end collection and large arm work flow chart of the present application.

[0030] Figure 15 is a partial sectional view of the elastic connecting part of the elastic limiting device.

[0031] Figure 16 is a partial sectional view of the gas flow regulating device.

[0032] 1, large arm; 1-1, proximal segment; 1-2, first repeating segment; 1-3, second repeating segment; 1-4, distal segment; 2, brush piece; 2-1, flexible shell; 2-2, memory alloy keel; 3, universal wheel; 4, microcontroller; 5, elastic limiting device; 5-1, columnar rod; 5-2, spring; 5-3, elastic limiting 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 suction channel; 19, moving baffle; 20, baffle; 21, first steering wheel; 22, second steering wheel; 22-1, first take-up hole; 22-2, second take-up hole; 23, third steering wheel; 24, fourth steering wheel; 25, fixed rope ring; 26, heating device; 27, shell; 28, keel; 29, fixed brush hole; 30, gas flow regulating device; 31, first motor; 32, second motor; 33, bend straight lock; 33-1, second electromagnetic lock; 33-2, arc-shaped track; 33-3, first lock hole; 34, millimeter wave radar; 35, visual recognition module; 36, photosensitive sensor; 37, hinge; 38, air suction hose; 39, humidity sensor. DETAILED DESCRIPTION

[0033] This part will describe the specific embodiments of the present application in detail, the preferred embodiments of the present application are shown in the drawings, the role of the drawings is to supplement the description of the text part with figures, so that people can intuitively and visually understand each technical feature and the overall technical scheme of the present application, but it cannot be understood as a limitation on the protection scope of the present application.

[0034] In the description of the present application, it should be noted that the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore it cannot be understood as a limitation on the present application. In addition, the terms "first", "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance.

[0035] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connection" should be understood in a broad sense, for example, can be fixed connection, can also be detachable connection, or integrally connected; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through an intermediate medium, can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances. Embodiment one

[0036] Please refer to Figures 1-16 The present application provides a technical solution: including collecting device 7, characterized by: the bottom of collecting device 7 is provided with wheels 10, the upper part of wheels 10 is welded with chassis 11, the front end of chassis 11 is symmetrically welded with metal long rod 6, the front end of metal long rod 6 is provided with first electromagnetic lock 6-1, the front end of the outside of chassis 11 is symmetrically provided with hydraulic lifting device 8, the front end of hydraulic lifting device 8 is fixedly connected with elastic limiting device 5, the lower end of elastic limiting device 5 is provided with box 12, box 12 is rotatably connected with large arm 1 through the inside first steering gear 21, the front end upper surface of large arm 1 is elastically connected with universal wheel 3 through spring, the inside of large arm 1 is fixedly provided with air suction hose 38, the tail end of air suction hose 38 is fixedly connected with gas flow regulating device 30, the upper end of box 12 is fixedly provided with third steering gear 23, the inside of third steering gear 23 is provided with second traction line 15, and third steering gear 23 controls the bending of large arm 1 to the outside through second traction line 15, the inside of box 12 is fixedly provided with track 9, the inside of track 9 is provided with fourth steering gear 24, fourth steering gear 24 moves horizontally along track 9 through first motor 31, the inside of fourth steering gear 24 is provided with third traction line 16, and fourth steering gear 24 controls the bending of large arm 1 to the inside through third traction line 16, large arm 1 includes proximal segment 1-1, first repeated segment 1-2, second repeated segment 1-3 and distal segment 1-4, and proximal segment 1-1, first repeated segment 1-2, second repeated segment 1-3 and distal segment 1-4 all include shell 27 and keel 28, the lower surface of the proximal end of keel 28 of proximal segment 1-1 is fixedly provided with second steering gear 22, the inside and outside of large arm 1 and the outside of box 12 are all fixedly provided with fixed rope ring 25, proximal segment 1-1 and first repeated segment 1-2, first repeated segment 1-2 and second repeated segment 1-3, first repeated segment 1-2 and distal segment 1-4 are all connected through hinge 37 and fixed through bending straight lock 33, the middle part of the front end of distal segment 1-4 is provided with second lock hole 6-2, first steering gear 21 can control the horizontal rotation of large arm 1.

[0037] As a deployment mode of the large arm 1 of the present application, before deployment, the large arm 1 is in a storage state, energization is performed to make the lock head of the first electromagnetic lock 6-1 depart from the second lock hole 6-2, thereby opening the first electromagnetic lock 6-1, and energization is performed to open the straight lock 33 between the proximal section 1-1 and the proximal first repeating section 1-2 and 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 engine 21 to rotate outwardly and counterclockwise by a certain angle, and the fourth steering engine 24 is operated to loosen 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 second traction line 15 is retracted by the third steering engine 23, thereby pulling the proximal first repeating section 1-2 to rotate counterclockwise with the hinge 37 between the proximal section 1-1 and the proximal first repeating section 1-2 as the center, and the fourth steering engine 24 is operated to simultaneously retract the third traction line 16, thereby pulling the second repeating section 1-3 to rotate clockwise with the hinge 37 between the proximal first repeating section 1-2 and the second repeating section 1-3 as the center, both rotate simultaneously until the straight lock 33 between the proximal first repeating section 1-2 and the second repeating section 1-3 is locked; then the fourth steering engine 24 is operated to loosen the third traction line 16, and then the third steering engine 23 continues to retract the second traction line 15 until the 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 an entirety, and the effect is equivalent to the proximal section 1-1 in the above process, and the large arm 1 can be completely deployed by repeating the above operation.

[0038] As a storage mode of the large arm 1 of the present application, before storage, the large arm 1 is in an unfolded state, the bend-straight lock 33 between the distal end section 1-4 and the distal end first repeating section 1-2 is opened by energization, the first steering wheel 21 is manipulated to swing inwards by a certain angle, the fourth steering wheel 24 is manipulated to loosen the third traction line 16, at this time, the distal end section 1-4 rotates anticlockwise by a certain angle with the hinge 37 between the distal end first repeating section 1-2 and the distal end section 1-4 as the center; then the second traction line 15 is retracted by the third steering wheel 23, and the distal end section 1-4 is further pulled to rotate anticlockwise with the hinge 37 between the distal end first repeating section 1-2 and the distal end section 1-4 as the center, until the bend-straight lock 33 between the distal end section 1-4 and the distal end first repeating section 1-2 is locked, and the third steering wheel 23 stops retraction; then the bend-straight lock 33 between the distal end first repeating section 1-2 and the second repeating section 1-3 is opened, the fourth steering wheel 24 is manipulated to retract the third traction line 16, and the distal end first repeating section 1-2 is further pulled to rotate clockwise with the hinge 37 between the second repeating section 1-3 and the distal end first repeating section 1-2 as the center, until the bend-straight lock 33 between the distal end first repeating section 1-2 and the second repeating section 1-3 is locked, and the fourth steering wheel 24 stops retraction; at this time, the distal end section 1-4, the second repeating section 1-3 and the distal end first repeating section 1-2 form an integral whole, and its function is equivalent to that of the distal end section 1-4 in the above process, and the above operation is repeated to fix all the bend-straight locks 33 again; finally, the second traction line 15 is retracted by the fourth steering wheel 24 to pull the distal end section 1-4 to the position below the first electromagnetic lock 6-1 for locking, and the storage of the large arm 1 is completed.

[0039] Further, taking the left large arm 1 as an example, the end of the second traction line 15 is fixedly connected with the fixed rope ring 25 at the left front end of the distal end section 1-4, the middle part of the second traction line 15 passes through the holes of the fixed rope ring 25 at the left side of the large arm 1 and the fixed rope ring 25 at the left side of the box body 12, and the end of the third traction line 16 is fixedly connected with the fixed rope ring 25 at the right side of the distal end section 1-4. Taking the unfolding of the proximal end first repeating section 1-2 of the large arm 1 during the unfolding process as an example, during unfolding, the second traction line 15 is retracted by the third steering wheel 23, the fixed rope ring 25 at the front end of the proximal end section 1-1 and the fixed rope ring 25 at the end of the proximal end first repeating section 1-2 are pulled to reduce the distance between them, and the proximal end first repeating section 1-2 is further pulled to rotate outwards, and finally the proximal end first repeating section 1-2 is unfolded; taking the storage of the distal end section 1-4 during the storage process of the large arm 1 as an example, during storage, the second traction line 15 is retracted by the third steering wheel 23, the fixed rope ring 25 at the end of the distal end section 1-4 and the fixed rope ring 25 at the front end of the distal end first repeating section 1-2 are pulled to reduce the distance between them, and the distal end section 1-4 is further pulled to rotate outwards, and finally the distal end section 1-4 is stored.

[0040] Further, as shown in FIG. 6, the first electromagnetic lock 6-1 is arranged at the position below the distal end section 1-4, and the second electromagnetic lock 6-2 is arranged at the position below the second repeating section 1-3. Figure 1 and Figure 5As shown, the second locking hole 6-2 is arranged in the middle of the front end of the distal segment 1-4, and the bottom of the second locking hole 6-2 is provided with a pressure sensor for detecting whether the lock head of the first electromagnetic lock 6-1 enters the second locking hole 6-2. When the first electromagnetic lock 6-1 is not powered, the lock head is lifted by the internal spring, and after being powered, the lock head is retracted. When the distal segment 1-4 moves below the first electromagnetic lock 6-1, the distal segment 1-4 lifts the lock head of the first electromagnetic lock 6-1 upward, and when the lock head moves into the second locking hole 6-2, the pressure sensor is triggered, thereby controlling the fourth steering engine 24 to stop winding, and at the same time, the first electromagnetic lock 6-1 is locked.

[0041] Further, as shown in Figure 7 The lower surface of the first motor 31 is fixedly connected with the upper surface of the fourth steering engine 24, and the driving wheel of the first motor 31 drives the first motor 31 to move along the track 9 by friction with the inner surface of the track 9, thereby dragging the distal segment 1-4 below the first electromagnetic lock 6-1 for locking.

[0042] Further, as shown in Figure 10 and Figure 11 The straight bending lock 33 includes a second electromagnetic lock 33-1, an arc-shaped track 33-2, and a first locking hole 33-3. The second electromagnetic lock 33-1 and the arc-shaped track 33-2 are both fixed above the shell 27. The upper part of the starting end and the end of the arc-shaped track 33-2 are both provided with the first locking hole 33-3, and the upper surface of the first locking hole 33-3 is provided with a pressure sensor for detecting whether the lock head of the second electromagnetic lock 33-1 enters the first locking hole 33-3. The second electromagnetic lock 33-1 can move relatively along the arc-shaped track 33-2. When the second electromagnetic lock 33-1 is not powered, the lock head is lifted by the internal spring, and after being powered, the lock head is retracted. Taking the straight bending lock 33 changing from the first locking hole 33-3 at the starting end to the first locking hole 33-3 at the end as an example, first, the lock head is retracted by power to open the straight bending lock 33, and then the second electromagnetic lock 33-1 moves relatively along the arc-shaped track 33-2 while releasing the lock head. At this time, the lock head is lifted by the spring in the second electromagnetic lock 33-1 and moves closely to the upper surface of the arc-shaped track 33-2. When the lock head reaches the position of the first locking hole 33-3 at the end, the lock head enters the first locking hole 33-3 at the end under the action of the spring, thereby locking the straight bending lock 33 again.

[0043] By imitating the folding and unfolding mode of the forearms of the praying mantis, the space occupied by the device under static conditions is greatly reduced. Meanwhile, on this basis, a repeated structure unit is introduced: the first repeated segment 1-2 and the second repeated segment 1-3 at the distal end, which are alternately inserted into the large arm, so that the length of the large arm 1 can be adjusted as needed to meet the needs under different cleaning conditions. Example Two

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

[0045] When the device works under normal environmental conditions, first, the required cleaning area is identified by the front visual recognition module 35 and the millimeter wave radar 34, and the position and quantity of fallen leaves are determined after being processed by the microcontroller 4, and the first electromagnetic lock 6-1 at the front end of the metal long rod 6 is turned on; then the second traction line 15 and the third traction line 16 are cooperated to make the large arm 1 expand by the third steering wheel 23 and the fourth steering wheel 24, and then the large arm 1 is rotated to the outside of the required cleaning area by the first steering wheel 21; the large arm 1 is swung up and down by starting the eccentric wheel motor 12-1, and the second steering wheel 22 is started to collect and release the first traction line 14, so as to drive the brush 2 to swing forward and backward, and the two kinds of movements cooperate to make the brush 2 form a ring-shaped swing, and the fallen leaves are gradually gathered to the inside of the large arm 1; the gathered fallen leaves are further gathered below 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 residual amount of fallen leaves is judged by the rear visual recognition module 35, and after being analyzed by the microcontroller 4, the frequency of fallen leaf cleaning and the ground clearance of the large arm 1 are intelligently adjusted, so as to reduce the residual rate of fallen leaves.

[0046] Further, as Figure 12As shown, the elastic limiting device 5 includes a cylindrical rod 5-1, a spring 5-2 and an elastic limiting device upper plate 5-3. The lower part of the elastic limiting device upper plate 5-3 is provided with a hollow tubular structure, the lower end of the hollow tubular structure is radially inwardly protruding, and the remaining space can limit the movement of the cylindrical rod 5-1, so that the cylindrical rod 5-1 can only move upward and downward along the axis, the upper end of the cylindrical rod 5-1 is radially outwardly protruding, the lower end of the cylindrical rod 5-1 is fixedly connected with the upper surface of the box body 12, and the spring 5-2 is arranged between the protruding upper end of the cylindrical rod 5-1 and the protruding lower end of the hollow tubular structure, the spring 5-2 is compressed when the distance between the two protruding structures is reduced, thereby realizing the elastic connection between the elastic limiting device 5 and the box body 12. When the eccentric wheel motor 12-1 rotates, the force acting on the spring 5-2 changes constantly, thereby causing the large arm 1 to swing up and down, and the rotation speed of the eccentric wheel motor 12-1 is controlled to control the frequency of the up-and-down vibration of the large arm.

[0047] Further, as shown in Figure 1 、 Figure 3 、 Figure 9 and Figure 13 , the lower surface of the keel 28 is fixed with a plurality of fixed brush holes 29, the fixed brush holes 29 are uniformly distributed on the lower surface of the keel 28, and the fixed brush holes 29 are fixed with brush pieces 2. The first and second wire collecting holes 22-1 and 22-2 are arranged at the front end of the second rudder 22, and the two ends of the first traction line 14 are fixed in the first and second wire collecting holes 22-1 and 22-2, respectively. 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 with the extension and retraction of the first traction line 14. The first traction line 14 is arranged from the first wire collecting hole 22-1, passes through the holes at the upper ends of a plurality of brush pieces 2, and returns to the second wire collecting hole 22-2 through the two fixed rope rings 25 fixed on the lower surface of the farthest end of the large arm 1. During cleaning, the first wire collecting hole 22-1 retracts the first traction line 14 to drive the brush piece 2 to move backward, and the second wire collecting hole 22-2 retracts the first traction line 14 to drive the brush piece 2 to move forward. The rotation speed of the eccentric wheel motor 12-1 and the exchange speed of the two wire collecting holes of the second rudder 22 are controlled by the microcontroller 4, so that the frequencies of the two are the same, thereby realizing the circular swing of the brush piece 2 and achieving the effect of gathering fallen leaves.

[0048] The device uses a squilla abdominal foot propulsion type cleaning method to reduce the amount of fallen leaves left after cleaning. Meanwhile, the use of the front-end collecting module greatly increases the range of fallen leaves collected by the device. In addition, the large arm of the device can be rotated by the rudder, improving the adaptability of the device to different width roads. Example three

[0049] On the basis of embodiment one and embodiment two, the inner side of the arm 1 is fixed with an air suction hose 38, the lower surface of the air suction hose 38 is provided with an air suction hole, the end of the air suction hose 38 is fixedly connected with the gas flow adjusting device 30, the front end of the fallen leaf storage box 13 is symmetrically provided with the gas flow adjusting device 30, the gas flow adjusting device 30 drives the movable baffle 19 to move horizontally to adjust the air flow size through the second motor 32, the brush piece 2 is composed of a flexible shell 2-1 and a memory alloy keel 2-2, the outer side of the memory alloy keel 2-2 is installed with a heating device 26, the heating device 26 is used for heating the memory alloy keel 2-2 to make it bend, the upper middle part of the fallen leaf storage box 13 is provided with a visual recognition module 35 in front and back, the front end of the arm 1 is installed with a millimeter wave radar 34, and the inner surface of the arm 1 is installed with a photosensitive sensor 36 and a humidity sensor 39.

[0050] Under special environmental conditions, first, the position and quantity of fallen leaves are determined by the millimeter wave radar 34 and the visual recognition module 35, the arm 1 is swung to the appropriate position by controlling the first steering gear 21; then, whether the environment is humid is detected by the humidity sensor 39, if the environment is humid, the height of the arm 1 from the ground is adjusted by the hydraulic lifting device 8 controlled by the microcontroller 4, so as to adjust the height of the brush piece 2 from the ground, at the same time, the memory alloy keel 2-2 is heated by the heating device 26 controlled by the microcontroller 4, after heating, the memory alloy keel 2-2 of the brush piece 2 shrinks, so as to make the brush piece 2 bend in the vertical direction, increase the contact area of the brush piece 2 with fallen leaves, at the same time, the movable baffle 19 is driven to move horizontally by the second motor 32, so as to increase the air suction amount of the gas flow adjusting device 30, so as to improve the negative pressure intensity of the lower part of the arm 1, which is convenient for collecting the fallen leaves in the humid environment; if the environment is extremely dry, the height of the brush piece 2 from the ground is appropriately increased by the hydraulic lifting device 8 controlled by the microcontroller 4, so as to reduce the abrasion of the brush piece 2; in addition, the dust raising amount of the device is determined by the photosensitive sensor 36, when the dust raising amount is large, the movable baffle 19 is moved by the second motor 32, so as to control the gas flow adjusting device 30 to open and increase the air suction amount, so as to reduce the dust raising; during the cleaning process of the device, the frequency of the second steering gear 22 alternatingly winding and unwinding, the rotating speed of the eccentric wheel motor 12-1, the height of the arm 1 from the ground controlled by the hydraulic lifting device 8 and the negative pressure intensity generated by the negative pressure generating device 17 are recorded in real time by the microcontroller 4, at the same time, the residual amount of fallen leaves is recorded by the rear visual recognition module 35 and fed back to the microcontroller 4, so as to optimize the related data of the device in real time, and reduce the residual amount of fallen leaves.

[0051] Further, as Figure 9As shown, the memory alloy keel 2-2 is arranged in an arc shape inside the flexible shell 2-1, and the material of the memory alloy keel 2-2 is a nickel-titanium alloy. When the heating device 26 is started in a humid environment, the memory alloy keel 2-2 is heated, thereby controlling the increase of the arc of the brush sheet 2 in the horizontal direction, and controlling the lower end of the brush sheet 2 to be inclined at a certain angle in the forward direction of the device, so as to increase the contact area of the brush sheet 2 with fallen leaves during cleaning, and reduce the residual rate of cleaning.

[0052] By using the intelligent adjustment module, the adaptability of the fallen leaf collecting device in different cleaning environments is significantly improved; and the adjustable brush sheet is used, thereby effectively reducing the residual rate of wet fallen leaves.

[0053] The above description of the embodiments is for facilitating the understanding and use of the invention by those skilled in the art. Those skilled in the art can obviously easily make various modifications to the embodiments, and apply the general principles described herein to other embodiments without creative labor. Therefore, the invention is not limited to the above embodiments, and the improvements and modifications made by those skilled in the art according to the disclosure of the invention without departing from the scope of the invention should be within the protection scope of the invention.

Claims

1. A leaf collection device comprising a collection device (7), characterized in that: The bottom of the collecting device (7) is provided with wheels (10), the upper part of the wheels (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 outer side of the front end of the chassis (11) is symmetrically provided with a hydraulic lifting device (8), 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 with a large arm (1) through a first rudder (21) inside, the upper surface of the front end of the large arm (1) is elastically connected with a universal wheel (3) through a spring, the inner side of the large arm (1) is fixedly connected with an air suction hose (38), the tail end of the air suction hose (38) is fixedly connected with a gas flow adjusting device (30), the upper end of the box (12) is fixedly connected with a third rudder (23), the inside of the third rudder (23) is provided with a second traction line (15), and the third rudder (23) controls the large arm (1) to bend outwardly through the second traction line (15), the inner side of the box (12) is fixedly connected with a track (9), the inside of the track (9) is provided with a fourth rudder (24), the fourth rudder (24) moves horizontally along the track (9) through a first motor (31), the inside of the fourth rudder (24) is provided with a third traction line (16), and the fourth rudder (24) controls the large arm (1) to bend inwardly through the third traction line (16), the middle part of the chassis (11) is provided with a fallen leaf storage box (13), and the lower part of the chassis (11) is symmetrically provided with a baffle (20).

2. A leaf collection device according to claim 1, characterised in that: The large arm (1) comprises a proximal segment (1-1), a first repeating segment (1-2), a second repeating segment (1-3) and a distal segment (1-4), and the proximal segment (1-1), the first repeating segment (1-2), the second repeating segment (1-3) and the distal segment (1-4) all comprise an outer shell (27) and a keel (28), the lower surface of the proximal end of the keel (28) of the proximal segment (1-1) is fixedly connected with a second rudder (22), the inner and outer sides of the large arm (1) and the outer side of the box (12) are all fixedly connected with a fixed rope ring (25), the proximal segment (1-1) and the first repeating segment (1-2), the first repeating segment (1-2) and the second repeating segment (1-3), and the first repeating segment (1-2) and the distal segment (1-4) are all connected through hinges (37) and fixed through a bend straight lock (33), the first rudder (21) can rotate horizontally around the shaft, the lower surface of the keel (28) is fixedly connected with a plurality of fixed brush holes (29), the fixed brush holes (29) are uniformly distributed on the lower surface of the keel (28), the holes of the fixed brush holes (29) are fixedly connected with brush pieces (2), the inside of the second rudder (22) is provided with a first traction line (14), and the second rudder (22) controls the brush pieces (2) to swing through the first traction line (14).

3. A leaf collection device according to claim 2, wherein: The bending and straightening lock (33) comprises a second electromagnetic lock (33-1) and an arc-shaped track (33-2), both of which are fixed above the shell (27), and a first lock hole (33-3) arranged at the starting end and the upper end of the arc-shaped track (33-2), and the lock head of the second electromagnetic lock (33-1) is movable along the arc-shaped track (33-2).

4. A leaf collection device according to claim 3, wherein: The brush piece (2) is composed of a flexible shell (2-1) and a memory alloy keel (2-2), the outer side of the memory alloy keel (2-2) is provided with a heating device (26) for heating the memory alloy keel (2-2) to bend, the end of the second traction line (15) is fixedly connected with a fixed rope ring (25) on the outer side of the front end of the distal end segment (1-4), the second traction line (15) passes through the fixed rope ring (25) on the outer side of the large arm (1) and the box (12), and the end of the third traction line (16) is fixedly connected with a fixed rope ring (25) on the inner side of the distal end segment (1-4).

5. A leaf collection device according to claim 4, wherein: The front end of the fallen leaf storage box (13) is symmetrically provided with a gas flow adjusting device (30), the gas flow adjusting device (30) drives the movable baffle (19) to move horizontally to adjust the air flow by a second motor (32), the rear part of the fallen leaf storage box (13) is provided with a fallen leaf absorption channel (18), the upper part of the fallen leaf storage box (13) is fixedly provided with a negative pressure generating device (17), and the lower part of the air suction hose (38) is provided with a small hole.

6. A leaf collection device according to claim 5, wherein: The inside of the box (12) is fixedly provided with an eccentric wheel motor (12-1), the upper part of the box (12) is fixedly provided with an elastic limiting device (5), the front end of the large arm (1) is provided with a millimeter wave radar (34), the front and rear parts of the upper part of the fallen leaf storage box (13) are provided with visual identification modules (35), and the inner surface of the large arm (1) is provided with a photosensitive sensor (36) and a humidity sensor (39).

7. A method of operating a leaf collection device according to claim 6, characterised in that, The steps include the following: step one, during work, first identify the required cleaning area by the visual recognition module (35) and millimeter wave radar (34), and determine the position and quantity of fallen leaves after processing by the microcontroller (4); step two, turn on the first electromagnetic lock (6-1), control the second traction line (15) and the third traction line (16) by the third steering gear (23) and the fourth steering gear (24) to cooperate to make the large arm (1) unfold, and then rotate the large arm (1) to the outside of the required cleaning area by the first steering gear (21); step three, start the eccentric wheel motor (12-1) and the second steering gear (22), and make the brush (2) swing to gradually gather the fallen leaves to the inside of the large arm (1); step four, the gathered fallen leaves are further gathered to the lower side 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); step five, after work, cooperate the first steering gear (21), the third steering gear (23), the fourth steering gear (24), the bending lock (33) and the first motor (31) to make the large arm (1) be stored, and fix the large arm (1) through the first electromagnetic lock (6-1).

Images