Road surface crushed material cleaning device and control method

Abstract

The invention discloses a road surface crushed aggregate sweeping device and a control method, accurate control over pneumatic nozzles is achieved, the road surface crushed aggregate sweeping device specifically comprises a movable vehicle body support, a movable platform, a pneumatic sweeping device and a control system, the movable platform is fixedly installed on the movable vehicle body support, and the movable platform is a three-axis movable platform; the pneumatic sweeping device is fixed to the three-axis moving platform, the control system is installed on the moving vehicle body support and used for controlling the moving platform and the pneumatic sweeping device, the pneumatic sweeping device is used for accurately blowing crushed aggregates in a working area at any angle, meanwhile, the sweeping device can be replaced to achieve a multi-airflow sweeping test, and the test efficiency is improved. And the size of the blown airflow can be adjusted in real time, so that the energy consumption in the pneumatic cleaning process can be reduced while the working efficiency of pneumatic cleaning is improved, and the high intelligence of the pneumatic cleaning process is realized.

Description

Technical Field

[0001] The present invention belongs to the field of road cleaning devices, and in particular relates to a road debris cleaning device and a control method. Background Art

[0002] With the continuous development of highway construction, we are gradually facing an era of comprehensive highway maintenance. As time goes by and the total amount of facilities increases, the demand for highway maintenance shows a rapid growth trend. Pavement crushing is an important part of highway maintenance. Compared with the use of traditional milling machines to crush the road surface, water jet cutting and crushing technology has the advantages of no noise, no pollution, no tool wear, high work efficiency, etc., and the operating range is precise. It only breaks the damaged road surface and does not damage the steel bars while breaking the road surface. However, water jet pavement crushing technology has not been widely used. One of the main reasons is that the technology for recycling concrete debris after water jet crushing has not been further studied. At present, in order to clean the working surface after milling and improve the bonding strength, manual cleaning with a blower is often used. This manual blowing method has the disadvantages of secondary dust pollution, high labor intensity for workers, and low production efficiency. Summary of the Invention

[0003] The purpose of the present invention is to provide a road debris cleaning device and control method to overcome the problems of secondary dust pollution, high labor intensity and low production efficiency in the manual sweeping method used in the prior art.

[0004] To achieve the above object, the technical solution adopted by the present invention is as follows: A road debris cleaning device includes a mobile body support, a mobile platform, a pneumatic cleaning device and a control system. The mobile platform is fixedly installed on the mobile body support. The mobile platform adopts a three-axis mobile platform. The pneumatic cleaning device is fixed on the three-axis mobile platform. The control system is installed on the mobile body support and is used to control the mobile platform and the pneumatic cleaning device.

[0005] Preferably, the mobile body bracket specifically adopts an aluminum profile frame, a mobile wheel is provided at the bottom of the mobile body bracket, a driving wheel motor is provided on the mobile body bracket, the output shaft of the driving wheel motor is connected to the mobile wheel, and the control system is used to control the driving wheel motor.

[0006] Preferably, the mobile platform includes a YⅠ axis, an X axis, a Z axis, a YⅡ axis, an industrial camera and a camera bracket. The YⅠ axis, the X axis and the Z axis are arranged perpendicular to each other, the YⅠ axis and the YⅡ axis are installed in parallel on the mobile vehicle bracket, and slides are provided on the YⅠ axis and the YⅡ axis. The X axis is fixed on the slides of the YⅠ axis and the YⅡ axis through a connecting piece and can move longitudinally in the Y-axis direction with the slide. The Z axis is fixed on the X-axis slide through a connecting piece and can move horizontally in the X-axis direction with the slide; the industrial camera is fixed on the Y axis through the camera bracket.

[0007] Preferably, the pneumatic cleaning device includes a single-airflow cleaning device and a multi-airflow cleaning device.

[0008] Preferably, the single airflow cleaning device includes: a rotating shaft motor, a coupling, a rocker arm, a nozzle motor, a coupling and a pneumatic nozzle; wherein the rotating shaft motor is fixed on the Z-axis slide through a motor bracket, the rocker arm is connected to the rotating shaft motor through a coupling, and rotates along with the rotating shaft motor, the nozzle motor is fixedly connected to the rocker arm through the motor bracket, and the pneumatic nozzle is connected to the nozzle motor through a coupling.

[0009] Preferably, the multi-airflow cleaning device includes a rotary shaft motor, a coupling, a variable-angle multi-nozzle disc, a nozzle connecting rod, a connecting clip and a pneumatic nozzle; the variable-angle multi-nozzle disc is connected to the rotary shaft motor through a coupling and rotates with the rotary shaft motor, the pneumatic nozzle is fixed on the variable-angle multi-nozzle disc through the nozzle connecting rod, and the end of the pneumatic nozzle is connected to the air compressor through a hose.

[0010] Preferably, a rotating shaft is provided on the rocker arm, which is connected to the rotating shaft of the motor through a coupling to achieve rotation. A threaded hole is also provided at the other end of the rocker arm, and the nozzle motor is fixed to the rocker arm through the threaded hole. The pneumatic nozzle is then connected to the nozzle motor through a coupling.

[0011] Preferably, the variable-angle multi-nozzle disc is provided with a rotating shaft, which is connected to the rotating shaft of the motor through a coupling to achieve rotation, and the variable-angle multi-nozzle disc is also provided with multiple groups of through holes.

[0012] Preferably, a through hole is provided on the nozzle connecting rod, which is fixed to the through hole of the variable-angle multi-nozzle disc by bolts. A groove is also provided on the nozzle connecting rod to facilitate the use of a connecting buckle to fix the pneumatic nozzle on the nozzle connecting rod.

[0013] A control method based on a road debris cleaning device includes the following steps: Set the cleaning route according to the area to be cleaned, and choose to install a single airflow cleaning device or a multi-airflow cleaning device according to the size of the cleaning area; For single airflow cleaning devices, cleaning is performed according to the set cleaning route; For the multi-airflow cleaning device, multi-nozzle pneumatic cleaning at different angles can be achieved by using a combination of disc through-holes at different positions and arranging them.

[0014] Compared with the prior art, the present invention has the following beneficial technical effects: The present invention provides a road debris cleaning device to achieve precise control of a pneumatic nozzle. The device specifically includes a mobile vehicle body support, a mobile platform, a pneumatic cleaning device and a control system. The mobile platform is fixedly mounted on the mobile vehicle body support. The mobile platform adopts a three-axis mobile platform. The pneumatic cleaning device is fixed on the three-axis mobile platform. The control system is mounted on the mobile vehicle body support and is used to control the mobile platform and the pneumatic cleaning device. The present application utilizes the pneumatic cleaning device to precisely blow the debris in the working area at any angle. At the same time, the cleaning device can be replaced to achieve a multi-airflow cleaning test. The size of the blowing airflow can also be adjusted in real time. While improving the working efficiency of the pneumatic cleaning, it can also reduce the energy consumption of the pneumatic cleaning process, thereby achieving a highly intelligent pneumatic cleaning process. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 Schematic diagram of a single airflow cleaning device in an embodiment of the present invention.

[0016] Figure 2 Schematic diagram of a multi-airflow cleaning device in an embodiment of the present invention.

[0017] Figure 3 Schematic diagram of the walking device and the mobile platform in an embodiment of the present invention.

[0018] Figure 4 Schematic diagram of a single airflow working device in an embodiment of the present invention.

[0019] Figure 5 It is a schematic diagram of the structure of the test and control system in an embodiment of the present invention.

[0020] Figure 6 Schematic diagram of a multi-airflow working device in an embodiment of the present invention.

[0021] Figure 7 Schematic diagram of the nozzle connecting rod structure in an embodiment of the present invention.

[0022] Figure 8 It is a schematic diagram of the variable angle multi-nozzle disc structure in an embodiment of the present invention.

[0023] Figure 9 It is a schematic diagram of the blowing scheme of six variable-angle nozzles in an embodiment of the present invention.

[0024] Figure 10 It is a schematic diagram of a blowing scheme with four equally spaced nozzles in an embodiment of the present invention.

[0025] Figure 11 It is a schematic diagram of a blowing scheme with five equally spaced nozzles in an embodiment of the present invention.

[0026] Figure 12 It is a schematic diagram of a blowing scheme with six equally spaced nozzles in an embodiment of the present invention.

[0027] In the picture: 1—mobile vehicle body bracket, 1-1—aluminum profile frame, 1-2—drive wheel motor, 1-3—Mecanum wheel, 1-4—motor bracket; 2—mobile platform, 2-1—YⅠ axis, 2-2—X axis, 2-3—Z axis, 2-3-1—Z axis motor, 2-3-2—Z axis lead screw, 2-3-3—Z axis slide, 2-4—YⅡ axis, 2-5—industrial camera, 2-6—camera bracket; 3—single airflow cleaning device, 3-1—rotating shaft motor, 3-2—coupling, 3-3—rocker arm, 3-3-1—rocker arm rotating shaft, 3-3-2—rocker arm threaded hole, 3-4—nozzle motor, 3-5—coupling, 3-6—pneumatic nozzle; 4—Test and control system, 4-1—PLC, 4-2—Power supply, 4-3—X-axis motor controller, 4-4—Y-axis motor controller, 4-5—Z-axis motor controller, 4-6—Rotary shaft motor controller, 4-7—Nozzle motor controller, 4-8—Proportional valve, 4-9—Pressure sensor, 4-10—Flow meter; 5—Air compressor; 6—Multi-airflow cleaning device, 6-1—Variable angle multi-nozzle disc, 6-1-1—Disc shaft, 6-1-2—Disc through hole I, 6-1-3—Disc through hole II, 6-1-4—Disc through hole III, 6-1-5—Disc through hole IV, 6-1-6—Disc through hole V, 6-1-7—Disc through hole VI, 6-1-8—Disc through hole VII, 6-1-9—Disc through hole VIII, 6-1-10—Disc through hole IV, 6- 1-11—disc through hole X, 6-1-12—disc through hole XI, 6-1-13—disc through hole XII, 6-1-14—disc through hole XIII, 6-1-15—disc through hole XIV, 6-1-16—disc through hole XV, 6-1-17—disc through hole XVI, 6-2—nozzle connecting rod, 6-2-1—connecting rod through hole, 6-2-2—connecting rod groove, 6-3—connecting buckle, 6-4—pneumatic nozzle. DETAILED DESCRIPTION

[0028] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0029] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0030] like Figures 1 to 12 As shown, the present invention provides a road debris cleaning device to achieve precise control of the pneumatic nozzle, specifically comprising a mobile body support 1, a mobile platform 2, a pneumatic cleaning device and a control system 4, wherein the mobile platform 2 is fixedly mounted on the mobile body support 1, the mobile platform 2 adopts a three-axis mobile platform, the pneumatic cleaning device 3 is fixed on the three-axis mobile platform, and the control system 4 is mounted on the mobile body support 1 for controlling the mobile platform 2 and the pneumatic cleaning device 3. The present application utilizes the pneumatic cleaning device to precisely blow the debris in the working area at any angle, and the cleaning device can be replaced to realize multi-airflow cleaning tests. The size of the blowing airflow can also be adjusted in real time, which improves the working efficiency of the pneumatic cleaning while reducing the energy consumption of the pneumatic cleaning process, thereby realizing a highly intelligent pneumatic cleaning process.

[0031] like Figure 3 As shown, in a specific embodiment of the present application, the mobile body bracket 1 specifically adopts an aluminum profile frame 1-1, a moving wheel 1-3 is provided at the bottom of the mobile body bracket 1, a driving wheel motor 1-2 is provided on the mobile body bracket 1, and the output shaft of the driving wheel motor 1-2 is connected to the moving wheel 1-3, and the control system 4 is used to control the driving wheel motor 1-2; the driving wheel motor 1-2 is installed on the aluminum profile frame 1-1 through the motor bracket 1-4.

[0032] like Figure 3As shown, the mobile platform 2 includes a YⅠ axis 2-1, an X axis 2-2, a Z axis 2-3, a YⅡ axis 2-4, an industrial camera 2-5 and a camera bracket 2-6. The YⅠ axis 2-1, the X axis 2-2 and the Z axis 2-3 are arranged perpendicular to each other, the YⅠ axis 2-1 and the YⅡ axis 2-4 are installed in parallel on the mobile body bracket 1, and slides are provided on the YⅠ axis 2-1 and the YⅡ axis 2-4. The X axis 2-2 is fixedly mounted on the slides of the YⅠ axis 2-1 and the YⅡ axis 2-4 through a connecting piece and can move longitudinally in the Y-axis direction with the slide. The Z axis 2-3 is fixed to the X-axis slide through a connecting piece and can move horizontally in the X-axis direction with the slide. The industrial camera 2-5 is fixed on the Y axis through the camera bracket 2-6.

[0033] like Figure 4 As shown, the pneumatic cleaning device includes a single-airflow cleaning device 3 and a multi-airflow cleaning device 6, wherein the single-airflow cleaning device 3 includes: a rotating shaft motor 3-1, a coupling 3-2, a rocker arm 3-3, a nozzle motor 3-4, a coupling 3-5 and a pneumatic nozzle 3-6; wherein the rotating shaft motor 3-1 is fixed on the Z-axis slide through a motor bracket, the rocker arm 3-3 is connected to the rotating shaft motor 3-1 through a coupling 3-2, and rotates along with the rotating shaft motor, the nozzle motor 3-4 is fixedly connected to the rocker arm 3-3 through a motor bracket, the pneumatic nozzle 3-6 is connected to the nozzle motor 3-4 through a coupling 3-5, and rotates along with the nozzle motor, and the end of the pneumatic nozzle 3-6 is connected to the air compressor through a hose.

[0034] The multi-airflow cleaning device 6 includes a rotating shaft motor 3-1, a coupling 3-2, a variable-angle multi-nozzle disc 6-1, a nozzle connecting rod 6-2, a connecting buckle 6-3 and a pneumatic nozzle 6-4; the variable-angle multi-nozzle disc 6-1 is connected to the rotating shaft motor 3-1 through the coupling 3-2 and rotates with the rotating shaft motor. The pneumatic nozzle 6-4 is fixed on the variable-angle multi-nozzle disc 6-1 through the nozzle connecting rod 6-2, and the end of the pneumatic nozzle 6-4 is connected to the air compressor through a hose.

[0035] like Figure 1 、 Figure 2As shown, the control system 4 is installed on the mobile vehicle body bracket 1 through a control box. In the specific implementation of the present application, the control system is used to test the cleaning results. The software part of the control system includes MATLAB in the host computer and PLC programming control software TIA Portal. In a specific embodiment of the present application, the hardware structure of the control system 4 specifically includes: PLC4-1, power supply 4-2, X-axis motor controller 4-3, Y-axis motor controller 4-4, Z-axis motor controller 4-5, shaft motor controller 4-6, nozzle motor controller 4-7, proportional valve 4-8, pressure sensor 4-9 and flow meter 4-10; wherein the data collected by the pressure sensor 4-9 and the flow meter 4-10 are transmitted to the host computer for analysis through the data acquisition instrument, and the information of the target to be cleaned photographed by the industrial camera 2-5 is also transmitted to the host computer for analysis and processing by MATLAB, and then MATLAB communicates with the PLC programming control software TIA Portal through the OPC UA protocol, and sends pulse signals to the motor controllers 4-3, 4-4, 4-5, 4-6, 4-7, etc. to control the motors to drive the mobile platform and the working device. At the same time, the opening size of the proportional valve 4-8 can be controlled to control the cleaning airflow.

[0036] like Figure 4 As shown, the rocker arm 3-3 is provided with a rotating shaft 3-3-1, which is connected to the rotating shaft of the motor through a coupling to realize rotation. A threaded hole 3-3-2 is also opened at the other end of the rocker arm 3-3. The nozzle motor 3-4 is fixed to the rocker arm through the threaded hole 3-3-2. The pneumatic nozzle 3-6 is then connected to the nozzle motor 3-4 through a coupling 3-5 to realize the rotation of the nozzle.

[0037] like Figure 6-Figure 12 As shown, the variable angle multi-nozzle disc 6-1 is provided with a rotating shaft 6-1-1, which is connected to the rotating shaft of the motor through a coupling to achieve rotation. The variable angle multi-nozzle disc 6-1 is also provided with multiple groups of through holes, including disc through hole I 6-1-2, disc through hole II 6-1-3, disc through hole III 6-1-4, disc through hole IV 6-1-5, disc through hole V 6-1-6, and disc through hole VI6-1-7, disc through hole VII6-1-8, disc through hole VIII6-1-9, disc through hole IV6-1-10, disc through hole X6-1-11, disc through hole XI6-1-12, disc through hole XII6-1-13, disc through hole XIII6-1-14, disc through hole XIV6-1-15, disc through hole XV6-1-16 and disc through hole XVI6-1-17.

[0038] like Figure 7As shown, the nozzle connecting rod 6-2 is provided with a through hole 6-2-1, which is fixed to the through hole 6-1-2 of the variable-angle multi-nozzle disc 6-1 by bolts, and the nozzle connecting rod 6-2 is also provided with a groove 6-2-2, which facilitates the use of a connecting buckle 6-3 to fix the pneumatic nozzle 6-4 on the nozzle connecting rod 6-2.

[0039] The edge of the variable angle multi-nozzle disc 6-1 is provided with multiple groups of through holes at given angles, which enables the pneumatic nozzle to achieve multi-airflow cleaning according to the following angle positions: By using the combination arrangement of disc through hole Ⅰ6-1-2, disc through hole Ⅱ6-1-3, disc through hole Ⅲ6-1-4, disc through hole Ⅳ6-1-5, disc through hole Ⅴ6-1-6, and disc through hole VI6-1-7, multi-nozzle pneumatic cleaning tests with increasing angles of 5°, 10°, 15°, 20°, and 25° are achieved.

[0040] By using the combination arrangement of disc through hole III 6-1-4, disc through hole VIII 6-1-9, disc through hole XI 6-1-12, and disc through hole XIV 6-1-15, a multi-nozzle pneumatic cleaning test with four equal intervals (90° angle) is achieved.

[0041] By using the combination arrangement of disc through hole IV 6-1-5, disc through hole VII 6-1-8, disc through hole X 6-1-11, disc through hole XII 6-1-13, and disc through hole XVI 6-1-17, a multi-nozzle pneumatic cleaning test with five equal intervals (72° angle) was achieved.

[0042] By using the combination arrangement of disc through hole III 6-1-4, disc through hole VI 6-1-7, disc through hole IV 6-1-10, disc through hole XI 6-1-12, disc through hole XIII 6-1-14, and disc through hole XV 6-1-16, a multi-nozzle pneumatic cleaning test with six equal intervals (60° angle) is achieved.

[0043] The structure of the three-axis mobile platform and the walking device is as follows Figure 3As shown, the operating principle of each axis of the mobile platform is as follows: a stepper motor drives the lead screw guide to rotate, enabling the slide to move along its axial direction. The X-axis 2-2 is fixed to the slides of the Y-axis 2-1 and Y-axis 2-4 and moves with the slide in the Y-axis direction; the Z-axis 2-3 is fixed to the slide of the X-axis 2-2 and moves with the slide in the X-axis direction; and the working device is fixed to the slide of the Z-axis 2-3 and moves with the slide in the Z-axis direction, thus providing three degrees of freedom in the X, Y, and Z directions. An industrial camera 2-5 is fixed to the mobile platform via a camera bracket 2-6, transmitting real-time images of the work site. The Mecanum wheels 1-3 of the traveling mechanism are controlled by corresponding drive wheel motors 1-2, which are connected to the bottom of the aluminum chassis 1-1 via motor brackets 1-4 and controlled by a single-chip microcontroller 4-5. In addition to forward and backward movement, the platform can also perform sideways movement and in-place rotation.

[0044] The single airflow cleaning device carried by the mobile platform is as follows: Figure 1 、 Figure 3 、 Figure 4 As shown, the shaft motor 3-1 is fixed to the Z-axis slide with a motor bracket and is connected to the shaft 3-3-1 of the rocker arm 3-3 through a coupling 3-2, which can drive the rocker arm to rotate in the plane; the nozzle motor 3-4 is connected to the threaded hole 3-3-2 on the rocker arm 3-3 with bolts through the motor bracket and is connected to the pneumatic nozzle 3-6 through a coupling 3-5, which can drive the nozzle to rotate in the vertical plane. The above structure enables the nozzle to blow the crushed materials at any angle in the working area.

[0045] Test and control systems such as Figure 5 As shown, the core control component, PLC 4-1, communicates with the host computer via OPC UA. It controls the movement of the mobile platform and working mechanism by sending pulse signals to the Z-axis motor controller 4-3, Y-axis motor controller 4-4, Z-axis motor controller 4-5, shaft motor controller 4-6, and nozzle motor controller 4-7. It also controls the opening of the proportional valve 4-8 to adjust the blown airflow in real time, starting and stopping it. Power supply 4-2 supplies power to the entire control system. PLC 4-1 controls the speed and direction of the four stepper motors in the chassis. Pressure sensor 4-9 and flowmeter 4-10 transmit collected data to the data acquisition system for analysis and processing by the host computer. During the pneumatic cleaning process, the cleaning airflow is generated by the air compressor, then passes through the proportional valve 4-8, pressure sensor 4-9, and flowmeter 4-10, reaching the pneumatic nozzle 3-6 to blow the crushed material.

[0046] The multi-airflow cleaning device on the mobile platform is as follows: Figure 2 、 Figure 6As shown, the variable angle multi-nozzle disc 6-1 is connected to the rotary shaft motor 3-1 through the shaft 6-1-1 by the coupling 3-2, just like the rocker arm 3-3. The pneumatic nozzle 6-4 is fixed to the through hole 6-1-2 of the variable angle multi-nozzle disc 6-1 by bolts through the nozzle connecting rod 6-2, and is driven by the rotary shaft motor to rotate in the plane. Figure 8 As shown, on the variable angle multi-nozzle disc 6-1, there are 16 rows of through holes from 6-1-2 to 6-1-17, which allow the pneumatic nozzles to have multiple arrangements for blowing the crushed materials. Figure 9 For the variable angle blowing scheme, nozzle connecting rods are fixed on the six through holes from 6-1-2 to 6-1-7, and the angles between the corresponding pneumatic nozzles are 5°, 10°, 15°, 20° and 25°; Figure 10 For a blowing scheme with four nozzles at equal intervals, nozzle connecting rods are fixed on the four through holes of disc III 6-1-4, disc VIII 6-1-9, disc XI 6-1-12, and disc XIV 6-1-15, and the angles between the nozzles are all 90°; Figure 11 For a blowing scheme with five nozzles at equal intervals, nozzle connecting rods are fixed on the five through holes of the disc: through hole IV 6-1-5, through hole VII 6-1-8, through hole X 6-1-11, through hole XII 6-1-13, and through hole XVI 6-1-17. The angles between the nozzles are all 72°. Figure 12 For the blowing scheme with six nozzles at equal intervals, nozzle connecting rods are fixed on the six through holes of disc III 6-1-4, disc VI 6-1-7, disc IV 6-1-10, disc XI 6-1-12, disc XIII 6-1-14, and disc XV 6-1-16. The angle between the nozzles is 60 degrees. Through the rational design of the working device, the present invention achieves precise control of the pneumatic nozzle. The single-airflow cleaning device can accurately blow debris within the working area at any angle. The cleaning device can also be replaced to implement multi-airflow cleaning tests. The size of the blowing airflow can also be adjusted in real time, improving the efficiency of the pneumatic cleaning process while reducing energy consumption during the pneumatic cleaning process. Furthermore, by installing a three-axis platform on the movable chassis, the pneumatic nozzle is given a larger working range. An industrial camera is installed to transmit information about the cleaning target back to the host computer. After analysis and processing by MATLAB, communication is carried out via the OPC UA protocol and the PLC programming software TIA Portal V17. The PLC controls the motors to drive the mobile platform and working device to perform the pneumatic cleaning test, achieving a highly intelligent pneumatic cleaning process.

Claims

1. A road debris cleaning device, characterized in that: The invention comprises a mobile vehicle body support (1), a mobile platform (2), a pneumatic cleaning device and a control system (4), wherein the mobile platform (2) is fixedly mounted on the mobile vehicle body support (1), the mobile platform (2) adopts a three-axis mobile platform, the pneumatic cleaning device (3) is fixed on the three-axis mobile platform, and the control system (4) is mounted on the mobile vehicle body support (1) and is used to control the mobile platform (2) and the pneumatic cleaning device (3).

2. A road debris cleaning device according to claim 1, characterized in that: The mobile vehicle body bracket (1) specifically adopts an aluminum profile frame (1-1), a mobile wheel (1-3) is provided at the bottom of the mobile vehicle body bracket (1), a driving wheel motor (1-2) is provided on the mobile vehicle body bracket (1), an output shaft of the driving wheel motor (1-2) is connected to the mobile wheel (1-3), and a control system (4) is used to control the driving wheel motor (1-2).

3. A road debris cleaning device according to claim 1, characterized in that: The mobile platform (2) includes a YⅠ axis (2-1), an X axis (2-2), a Z axis (2-3), a YⅡ axis (2-4), an industrial camera (2-5) and a camera bracket (2-6). The YⅠ axis (2-1), the X axis (2-2) and the Z axis (2-3) are arranged perpendicular to each other. The YⅠ axis (2-1) and the YⅡ axis (2-4) are installed in parallel on the mobile vehicle bracket (1). Slides are provided on the YⅠ axis (2-1) and the YⅡ axis (2-4). The X axis (2-2) is fixed on the slides of the YⅠ axis (2-1) and the YⅡ axis (2-4) through a connecting piece and can move longitudinally in the Y-axis direction with the slide. The Z axis (2-3) is fixed on the X-axis slide through a connecting piece and can move horizontally in the X-axis direction with the slide. The industrial camera (2-5) is fixed on the Y axis through the camera bracket (2-6).

4. A road debris cleaning device according to claim 1, characterized in that: The pneumatic cleaning device comprises a single-airflow cleaning device (3) and a multi-airflow cleaning device (6).

5. A road debris cleaning device according to claim 4, characterized in that: The single airflow cleaning device (3) comprises: a rotating shaft motor (3-1), a coupling (3-2), a rocker arm (3-3), a nozzle motor (3-4), a coupling (3-5) and a pneumatic nozzle (3-6); wherein the rotating shaft motor (3-1) is fixed on a Z-axis slide via a motor bracket, the rocker arm (3-3) is connected to the rotating shaft motor (3-1) via a coupling (3-2) and rotates along with the rotating shaft motor, the nozzle motor (3-4) is fixedly connected to the rocker arm (3-3) via a motor bracket, and the pneumatic nozzle (3-6) is connected to the nozzle motor (3-4) via a coupling (3-5).

6. A road debris cleaning device according to claim 4, characterized in that: The multi-airflow cleaning device (6) comprises a rotating shaft motor (3-1), a coupling (3-2), a variable-angle multi-nozzle disc (6-1), a nozzle connecting rod (6-2), a connecting buckle (6-3) and a pneumatic nozzle (6-4); the variable-angle multi-nozzle disc (6-1) is connected to the rotating shaft motor (3-1) via the coupling (3-2) and rotates along with the rotating shaft motor; the pneumatic nozzle (6-4) is fixed to the variable-angle multi-nozzle disc (6-1) via the nozzle connecting rod (6-2), and the end of the pneumatic nozzle (6-4) is connected to the air compressor via a hose.

7. The road debris cleaning device according to claim 5, characterized in that: The rocker arm (3-3) is provided with a rotating shaft (3-3-1), which is connected to the rotating shaft of the motor via a coupling to achieve rotation. The other end of the rocker arm (3-3) is also provided with a threaded hole (3-3-2). The nozzle motor (3-4) is fixed to the rocker arm via the threaded hole (3-3-2). The pneumatic nozzle (3-6) is connected to the nozzle motor (3-4) via a coupling (3-5).

8. A road debris cleaning device according to claim 7, characterized in that: The variable-angle multi-nozzle disc (6-1) is provided with a rotating shaft (6-1-1), which is connected to the rotating shaft of the motor via a coupling to achieve rotation. The variable-angle multi-nozzle disc (6-1) is also provided with multiple groups of through holes.

9. The road debris cleaning device according to claim 7, characterized in that: A through hole (6-2-1) is provided on the nozzle connecting rod (6-2) and is fixed to the through hole (6-1-2) of the variable-angle multi-nozzle disc (6-1) by means of bolts. A groove (6-2-2) is also provided on the nozzle connecting rod (6-2) to facilitate the use of a connecting buckle (6-3) to fix the pneumatic nozzle (6-4) to the nozzle connecting rod (6-2).

10. A control method for a road debris cleaning device according to claim 4, characterized in that: The following steps are involved: Set the cleaning route according to the area to be cleaned, and choose to install a single airflow cleaning device or a multi-airflow cleaning device according to the size of the cleaning area; For single airflow cleaning devices, cleaning is performed according to the set cleaning route; For the multi-airflow cleaning device, multi-nozzle pneumatic cleaning at different angles can be achieved by using a combination of disc through-holes at different positions and arranging them.

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