CN113136828A - Intelligent sensing guardrail cleaning vehicle and control method thereof - Google Patents
Intelligent sensing guardrail cleaning vehicle and control method thereof Download PDFInfo
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- CN113136828A CN113136828A CN202110585992.9A CN202110585992A CN113136828A CN 113136828 A CN113136828 A CN 113136828A CN 202110585992 A CN202110585992 A CN 202110585992A CN 113136828 A CN113136828 A CN 113136828A
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
- E01H1/00—Removing undesirable matter from roads or like surfaces, with or without moistening of the surface
- E01H1/005—Mobile installations, particularly for upkeeping in situ road or railway furniture, for instance road barricades, traffic signs; Mobile installations particularly for upkeeping tunnel walls
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Abstract
The invention discloses an intelligent sensing guardrail cleaning vehicle and a control method thereof, wherein the intelligent sensing guardrail cleaning vehicle comprises a cleaning vehicle and a guardrail rolling sweeping device arranged on the cleaning vehicle, wherein the guardrail rolling sweeping device comprises an inner rolling brush assembly and an outer rolling brush assembly which are distributed on the left side and the right side of a guardrail; the front parts of the inner rolling brush combination and the outer rolling brush combination corresponding to the advancing direction are respectively provided with a sensing device, one side of the sensing device corresponding to the guardrail is provided with a plurality of sensing contacts distributed at different positions, and the sensing contacts at different positions and the contact of the guardrails with different widths feed back different control signals to the cleaning vehicle controller; an ultrasonic sensor is arranged on the inner rolling brush assembly or the outer rolling brush assembly to detect the distance between the inner rolling brush assembly and the outer rolling brush assembly in real time and transmit the distance to a cleaning vehicle controller; when the width of the guardrail becomes smaller or the vehicle deviates during running, the cleaning vehicle controller controls the telescopic oil cylinders of the guardrail rolling and sweeping device to automatically adjust the distance between the outer rolling brush combination and the inner rolling brush combination on the left side and the right side of the guardrail to be kept unchanged. The intelligent cleaning device disclosed by the invention is intelligent in cleaning and does not need manual operation.
Description
Technical Field
The invention relates to the technical field of environmental sanitation special vehicles, in particular to an intelligent sensing guardrail cleaning vehicle and a control method thereof.
Background
When guardrail cleaning vehicles on the market carry out guardrail cleaning operation at present, although all guardrail cleaning actions can both be accomplished in the driver's cabin is automatically controlled, but each item operation still can not leave artificial control, need observe guardrail cleaning state often, this operation degree of difficulty to the driver when actual road vehicle moves will improve greatly, also can't adjust the vehicle to best cleaning state simultaneously.
Disclosure of Invention
The invention aims to provide an intelligent sensing guardrail cleaning vehicle and a control method thereof, and solves the problems that the guardrail cleaning vehicle cannot be intelligently cleaned and needs to be manually operated.
The technical scheme adopted by the invention is as follows:
the intelligent sensing guardrail cleaning vehicle comprises a cleaning vehicle and a guardrail rolling and sweeping device arranged on the cleaning vehicle, wherein the guardrail rolling and sweeping device comprises an inner rolling brush assembly and an outer rolling brush assembly which are distributed on the left side and the right side of a guardrail; the front parts of the inner rolling brush combination and the outer rolling brush combination corresponding to the advancing direction are respectively provided with a sensing device, one side of the sensing device corresponding to the guardrail is provided with a plurality of sensing contacts distributed at different positions, and the sensing contacts at different positions and the contact of the guardrails with different widths feed back different control signals to the cleaning vehicle controller; an ultrasonic sensor is arranged on the inner rolling brush assembly or the outer rolling brush assembly to detect the distance between the inner rolling brush assembly and the outer rolling brush assembly in real time and transmit the distance to a cleaning vehicle controller; when the width of the guardrail becomes smaller or the vehicle deviates during running, the cleaning vehicle controller controls the telescopic oil cylinders of the guardrail rolling and sweeping device to automatically adjust the distance between the outer rolling brush combination and the inner rolling brush combination on the left side and the right side of the guardrail to be kept unchanged.
Further, as a preferred embodiment, the guardrail rolling sweeping device is provided with a fixed base, the fixed base is fixed on a vehicle chassis, a rear swing arm and a front swing arm are hinged on the fixed base, a swing arm oil cylinder is arranged between the rear swing arm and the front swing arm to push the rear swing arm and the front swing arm, the upper ends of the rear swing arm and the front swing arm are hinged with a large telescopic arm, the large telescopic arm is divided into an outer rolling brush large telescopic arm and an inner rolling brush large telescopic arm, sliding tracks are respectively arranged inside the outer rolling brush large telescopic arm and the inner rolling brush large telescopic arm to respectively provide the outer rolling brush small telescopic arm and the inner rolling brush small telescopic arm for telescopic sliding, the outer sides of the outer rolling brush large telescopic arm and the inner rolling brush large telescopic arm are respectively and correspondingly provided with an outer rolling brush telescopic oil cylinder and an inner rolling brush telescopic oil cylinder, the telescopic ends of the outer rolling brush telescopic oil cylinder and the inner rolling brush telescopic oil cylinder are respectively and fixedly connected with the corresponding outer rolling brush small telescopic arm and inner rolling brush telescopic arm, thereby pushing the telescopic small arm of the outer rolling brush and the telescopic small arm of the inner rolling brush to slide relatively; the telescopic small arm of the inner rolling brush is fixedly connected with the inner rolling brush assembly, and the telescopic small arm of the outer rolling brush is connected with the rolling brush assembly.
Further, as a preferred implementation mode, the telescopic small arm of the outer rolling brush is matched with the outer rolling brush through a pin shaft, and an outer rolling brush overturning oil cylinder is arranged between the telescopic small arm of the outer rolling brush and the outer rolling brush to realize the overturning action of the outer rolling brush.
Further, as a preferred embodiment, the inner rolling brush assembly or the outer rolling brush assembly comprises a rolling brush fixing frame, a rolling brush shaft, a rolling brush motor and a rolling brush, wherein the rolling brush fixing frame is connected with the corresponding outer rolling brush telescopic small arm or the corresponding inner rolling brush telescopic small arm, the rolling brush motor is fixed on the rolling brush fixing frame, and the rolling brush motor is connected with the rolling brush shaft and drives the rolling brush to rotate.
Further, as a preferred implementation, the sensing device includes a sensing device fixing frame, a sensing device fixing slide and a sensor fixing plate, the sensing device fixing frame is fixedly connected with the corresponding inner rolling brush assembly or the corresponding outer rolling brush assembly, the sensing device fixing slide is fixedly connected with the sensing device fixing frame, an offset sensor is fixed in the sensing device fixing slide, the offset sensor is fixedly connected with one end of the offset spring, the other end of the offset spring is fixedly connected with the sensor fixing plate, the sensor fixing plate compresses the offset spring in the sensing device fixing slide under the external force, and when a rated pressure value is reached, the offset sensor is triggered to transmit an output signal to the controller.
Furthermore, as an optimal implementation mode, a plurality of sensing contacts are distributed on one side of the sensor fixing plate corresponding to the guardrail, each sensing contact is provided with a touch sensor, the sensing contacts are divided into width detection section width detection sections along the front and back of the traveling direction, the distances between the sensing contacts of the width detection sections and the guardrail are sequentially reduced from front to back, the distances between the sensing contacts of the deviation detection sections and the guardrail are the same, and the distances between the sensing contacts of the deviation detection sections and the guardrail are smaller than the distances between the sensing contacts of the width detection sections and the guardrail. Different sensors are arranged on different sensing contacts, and different signals are fed back respectively.
Further, as a preferred implementation mode, an elastic layer is laid on one side, corresponding to the guardrail, of the sensor fixing plate, and the plurality of sensing contacts are distributed on one side, corresponding to the guardrail, of the elastic layer along the traveling direction.
Further, as a preferred embodiment, the sensor fixing plate has a connecting part which penetrates into the sensing device fixing slideway and slides relatively; the connecting part of the sensor fixing plate fixes the compression spring inside the sliding block along the sensing device under the action of external force.
Further, as a preferred embodiment, the elastic layer is formed by attaching a rubber material.
Further, as a preferred embodiment, the sensing device fixing frame is provided with a plurality of mounting holes, so that the relative mounting position of the sensing device and the corresponding inner rolling brush assembly or outer rolling brush assembly can be adjusted, and the relative distance between the sensing device and the guardrail can be further adjusted.
By adopting the technical scheme, the intelligent sensing device of the guardrail cleaning device mainly surrounds the intelligent operation of the intelligent sensing guardrail cleaning vehicle, the change of the distance between the rolling brush and the guardrail is sensed through the sensor of the sensing device so as to realize real-time regulation and control, different output signals are fed back according to different sensed values so as to perform corresponding actions, and the damage to the mechanism and the influence on the guardrail cleaning effect caused by the change of the distance between the rolling brush and the guardrail are effectively avoided. Meanwhile, humanized operation is provided for one-key cleaning action of the guardrail cleaning device, so that the operation of a driver is more convenient and safer.
Drawings
The invention is described in further detail below with reference to the accompanying drawings and the detailed description;
FIG. 1 is a schematic structural view of a guardrail rolling-sweeping device of the intelligent sensing guardrail cleaning vehicle of the invention;
FIG. 2 is a schematic top view of the rolling-sweeping device of the intelligent sensing guardrail cleaning vehicle according to the present invention;
FIG. 3 is a schematic view of the installation state of the sensing device of the intelligent sensing guardrail cleaning vehicle of the invention;
FIG. 4 is a schematic structural view of an induction device of the intelligent sensing guardrail cleaning vehicle of the invention;
FIG. 5 is a schematic view of a key action of the intelligent sensing guardrail cleaning vehicle of the invention;
FIG. 6 is a schematic layout view of a transfer case of the intelligent sensing guardrail cleaning vehicle in the chassis.
Reference numerals: 1. The device comprises a fixed base, 2, a rear swing arm, 3, a swing arm oil cylinder, 4, a front swing arm, 5, an outer rolling brush telescopic big arm, 6, an inner rolling brush telescopic big arm, 7, an inner rolling brush telescopic oil cylinder, 8, an outer rolling brush telescopic oil cylinder, 9, an inner rolling brush telescopic small arm, 10, an outer rolling brush telescopic small arm, 11, an inner rolling brush combination, 12, an outer rolling brush overturning oil cylinder, 13, an outer rolling brush combination, 20, a guardrail rolling sweeping device, 30, a sensing device, 31, a sensing device fixing frame, 32, a sensing device fixing slide way, 33, a sensor fixing plate, 34, an offset sensor, 35, an offset spring, 36, an elastic layer, 40, a guardrail, 50, a transfer case, 60 and a transmission shaft.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application.
As shown in one of fig. 1 to 6, the invention discloses an intelligent sensing guardrail cleaning vehicle, which comprises a cleaning vehicle and a guardrail rolling-sweeping device 20 arranged on the cleaning vehicle, wherein the guardrail rolling-sweeping device 20 comprises an inner rolling-brush assembly 11 and an outer rolling-brush assembly 13 which are distributed on the left side and the right side of a guardrail 40; the front parts of the inner rolling brush assembly 11 and the outer rolling brush assembly 13 corresponding to the advancing direction are respectively provided with a sensing device 30, one side of the sensing device 30 corresponding to the guardrail 40 is provided with a plurality of sensing contacts 31 distributed at different positions, and the contact of the sensing contacts 31 at different positions and the guardrails 40 with different widths feeds back different control signals to the cleaning vehicle controller; an ultrasonic sensor is arranged on the inner rolling brush assembly 11 or the outer rolling brush assembly 13 to detect the distance between the inner rolling brush assembly 11 and the outer rolling brush assembly 13 in real time and transmit the distance to a cleaning vehicle controller; when the width of the guardrail 40 becomes smaller or the vehicle deviates during running, the cleaning vehicle controller controls the telescopic oil cylinders of the guardrail rolling and sweeping device 20 to automatically adjust the distance between the inner rolling brush assembly 11 and the outer rolling brush assembly 13 on the left side and the right side of the guardrail 40 and the guardrail 40 to be kept unchanged.
Further, as shown in fig. 1, as a preferred embodiment, the guardrail rolling sweeping device 20 has a fixed base 1, the fixed base 1 is fixed on the chassis of the vehicle, a rear swing arm 2 and a front swing arm 4 are hinged on the fixed base 1, a swing arm cylinder 3 is arranged between the rear swing arm 2 and the front swing arm 4 to push the rear swing arm 2 and the front swing arm 4, the upper ends of the rear swing arm 2 and the front swing arm 4 are hinged with a large telescopic arm, the large telescopic arm is divided into an outer rolling brush large telescopic arm 5 and an inner rolling brush large telescopic arm 6, the inner parts of the outer rolling brush large telescopic arm 5 and the inner rolling brush large telescopic arm 6 are respectively provided with a sliding track to be respectively provided for the outer rolling brush small telescopic arm 10 and the inner rolling brush small telescopic arm 9 to slide telescopically, the outer sides of the outer rolling brush large telescopic arm 5 and the inner rolling brush large telescopic arm 6 are respectively provided with an outer rolling brush telescopic cylinder 8 and an inner rolling brush telescopic cylinder 7, and the telescopic ends of the outer rolling brush telescopic cylinder 8 and the inner rolling cylinder 7 are respectively corresponding to the outer rolling brush small arm 10 and the inner rolling brush telescopic arm 10 and the inner brush telescopic cylinder 7 The small arm 9 is fixedly connected, so that the telescopic small arm 10 of the outer rolling brush and the telescopic small arm 9 of the inner rolling brush are pushed to slide relatively; the inner rolling brush telescopic small arm 9 is fixedly connected with an inner rolling brush assembly 11, and the outer rolling brush telescopic small arm 10 is connected with a rolling brush assembly.
Further, as a preferred embodiment, the telescopic small arm 10 of the outer rolling brush is matched with the outer rolling brush assembly 13 through a pin shaft, and an outer rolling brush overturning oil cylinder 12 is arranged between the telescopic small arm 10 of the outer rolling brush and the outer rolling brush assembly 13 to realize the overturning action of the outer rolling brush.
Further, as a preferred embodiment, the inner rolling brush assembly 11 or the outer rolling brush assembly 13 includes a rolling brush fixing frame 14, a rolling brush shaft 15, a rolling brush motor 16 and a rolling brush 17, the rolling brush fixing frame 14 is connected with the corresponding outer rolling brush telescopic small arm 10 or the corresponding inner rolling brush telescopic small arm 9, the rolling brush motor 16 is fixed on the rolling brush fixing frame 14, and the rolling brush motor 16 is connected with the rolling brush shaft 15 and drives the rolling brush 17 to rotate.
Further, as shown in one of fig. 2 to 4, as a preferred embodiment, the sensing device 30 includes a sensing device fixing frame 31, a sensing device fixing slideway 32 and a sensor fixing plate 33, the sensing device fixing frame 31 is fixedly connected with the corresponding inner rolling brush assembly 11 or the corresponding outer rolling brush assembly 13, and the sensing device fixing slideway 32 is fixedly connected with the sensing device fixing frame 31. As shown in fig. 4, an offset sensor 34 is fixed in the sensing device fixing slide 32, the offset sensor 34 is fixedly connected with one end of an offset spring 35, the other end of the offset spring 35 is fixedly connected with a sensor fixing plate 33, the sensor fixing plate 33 compresses the offset spring 35 inside the fixed slide of the sensing device 30 under the action of external force, and when a rated pressure value is reached, the offset sensor 34 is triggered to transmit an output signal to the controller.
Further, as a preferred embodiment, a plurality of sensing contacts 31 are distributed on one side of the sensor fixing plate 33 corresponding to the guardrail 40, each sensing contact 31 is provided with a touch sensor, the sensing contacts 31 are divided into width detection section width detection sections along the traveling direction, the distance between the sensing contact 311 of the width detection section and the guardrail 40 is reduced from front to back, the distance between the sensing contact 312 of the deviation detection section and the guardrail 40 is the same, and the distance between the sensing contact 312 of the deviation detection section and the guardrail 40 is smaller than the distance between the sensing contact 311 of the width detection section and the guardrail 40. Different sensors are arranged on different sensing contacts 31, and different signals are fed back respectively.
Further, as a preferred embodiment, an elastic layer 36 is laid on the side of the sensor fixing plate 33 corresponding to the guardrail 40, and the plurality of sensing contacts 31 are distributed on the side of the elastic layer 36 corresponding to the guardrail 40 along the traveling direction.
Further, as a preferred embodiment, the sensor fixing plate 33 has a connecting portion penetrating into the sensing device fixing slide 32 and relatively sliding; the sensor fixing plate 33 fixes the slider inner compression biasing spring 35 along the sensing device 30 at the connection portion of the sensor fixing plate 33 by an external force.
Further, as a preferred embodiment, the elastic layer 36 is formed by attaching a rubber material.
Further, as a preferred embodiment, the sensing device fixing frame 31 is provided with a plurality of mounting holes 37, so that the relative mounting position of the sensing device 30 and the corresponding inner rolling brush assembly 11 or outer rolling brush assembly 13 can be adjusted, and the relative distance between the sensing device 30 and the guardrail 40 can be further adjusted.
The specific intelligent sensing guardrail cleaning operation mode is as follows:
firstly, the guardrail is cleaned by one-key action, as shown in figure 5,
and (I) the driver adjusts the distance between the guardrail cleaning vehicle and the guardrail.
And (II) starting the one-key rolling sweeping action, controlling the front swing arm 2 and the rear swing arm 2 to extend the internal and external rolling sweeping devices out of the vehicle, and stopping the swing arm oil cylinder 3 when a travel switch at the swing arm senses the internal and external rolling sweeping devices. Firstly, the outer rolling brush telescopic oil cylinder 8 extends for a certain distance, if: stopping after 100mm, and then turning the outer rolling sweeper by 90 degrees through the outer rolling sweeper turning oil cylinder, and then sensing that the outer rolling sweeper is turned by 90 degrees through the turning proximity switch.
And thirdly, the oil cylinder of the rear swing arm 2 continuously pushes the front swing arm 2 and the rear swing arm 2 to extend out (a time relay is adopted to control the swinging time of the swing arm oil cylinder 3). After the time of the swing arm is over, the inner and outer rolling sweeping telescopic oil cylinders of the upper and lower telescopic arms at the telescopic arm are controlled to simultaneously extend out (the time of the outer rolling sweeping oil cylinder extending out is controlled by a time relay), and when the sensing device 30 at the inner rolling brush assembly 11 contacts the guardrail, the inner rolling sweeping telescopic oil cylinder of the lower telescopic arm stops extending out.
And (IV) after the outer rolling-sweeping telescopic oil cylinder of the telescopic upper arm continuously extends to a critical value.
And (V) controlling the outer rolling sweep overturning oil cylinder to overturn the outer rolling sweep back by 90 degrees to an initial state (at the moment, the reset proximity switch senses).
And (VI) finally, retracting the outer rolling sweeper telescopic oil cylinder, so that the inner and outer rolling sweeper devices clamp the guardrail in the middle when the induction switch at the outer rolling sweeper part is in contact with the guardrail. The ultrasonic sensor installed at this time records that the distance between the fixed values of the inner and outer rolling brushes is set as an initial value, and then the rolling brush motor 16 and the water pump are started to perform the guardrail rolling brush and guardrail cleaning actions.
Secondly, automatically adjusting the distance between the rolling brushes: when the guardrail rolling brush device is used for cleaning the guardrail along with the advancing of a vehicle, the conditions of running deviation of the vehicle and width change of the guardrail can occur, and the guardrail cleaning device can automatically adjust the distance between the rolling brush and the guardrail according to the conditions of running deviation of the vehicle and width change of the guardrail, and the detailed description is as follows:
2.1 when the guardrail cleaning process, the vehicle is deviated: 1) when the vehicle runs, the inner rolling brush assembly 11 is close to the guardrail, and the outer rolling brush assembly 13 deviates from the guardrail; at this time, the offset sensing contact 31 on the sensing device 30 of the inner rolling brush assembly 11 contacts with the guardrail, when the contact generates inward extrusion force, the sensor fixing plate 33 compresses the offset spring 35 to move inward, so as to avoid the damage of the device, and at the same time, when the offset sensing contact 31 senses the contact with the guardrail, a signal is transmitted to the controller, the controller gives an instruction to the inner rolling brush telescopic cylinder 7 to move inward until the offset sensing contact 31 is not in contact with the guardrail, and simultaneously, the distance between the inner rolling brush fixing frame 14 and the outer rolling brush fixing frame 14 is changed due to the inward movement of the inner rolling brush assembly 11 under the pushing of the inner rolling brush telescopic cylinder 7, which directly affects that the outer rolling brush assembly will deviate from the guardrail, at this time, the ultrasonic sensor transmits the change value to the controller, so that the outer rolling brush telescopic cylinder 8 moves inward, so as to reach the initial value set by the ultrasonic sensor (for example, the distance between the inner rolling brush fixing frame 14 and the outer rolling brush fixing frame is 400mm, the inner rolling brush assembly 11 moves 50mm towards the inner side, the distance between the inner rolling brush fixing frame and the outer rolling brush fixing frame 14 at the moment is 450mm, the outer rolling brush telescopic oil cylinder 8 drives the outer rolling brush assembly 13 to move 50mm towards the inner side, the distance between the inner rolling brush assembly and the outer rolling brush assembly is kept unchanged, and the distance between the inner rolling brush assembly 13 and the guardrail is always kept to be a rated value).
2) When the vehicle runs and the inner rolling brush assembly 11 deviates from the guardrail, the outer rolling brush assembly 13 approaches the guardrail; at this moment, the offset sensing contact 31 on the sensing device 30 of the outer rolling brush combination 13 is contacted with the guardrail, when the contact generates outward extrusion force, the sensor fixing plate 33 is enabled to compress the offset spring 35 to move inwards to avoid the damage of the device, meanwhile, when the offset sensing contact 31 senses the contact with the guardrail, a signal is transmitted to the controller, the controller issues an instruction to move the outer rolling brush telescopic oil cylinder 8 outwards until the offset sensing contact 31 is not contacted with the guardrail, meanwhile, the distance between the inner rolling brush fixing frame and the outer rolling brush fixing frame 14 is changed due to the outward movement of the outer rolling brush combination 13 under the pushing of the outer rolling brush telescopic oil cylinder 8, the direct influence is that the offset guardrail is deviated by the inner rolling brush combination, at the moment, the ultrasonic sensor transmits the change value to the controller, so that the outer rolling brush telescopic oil cylinder 8 moves inwards, and the initial value set by the ultrasonic sensor is reached
3) When the vehicle running deviation exceeds a rated value, in the state that the deviation spring 35 is compressed at the deviation sensor 34 to trigger a rated pressure value, the deviation sensor 34 on the inner and outer rolling brush assemblies 13 feeds back different signals to the controller, and the controller outputs the signals to a direction sensor in a cab to prompt a driver to control a steering wheel to adjust the distance between the steering wheel and a guardrail. The deviation sensor 34 of the sensing device 30 of the inner rolling brush assembly 11 prompts the driver to operate the steering wheel of the vehicle to return to the right side in the driving process, and the deviation sensor 34 of the sensing device 30 of the outer rolling brush assembly 13 prompts the driver to operate the steering wheel of the vehicle to return to the left side in the driving process
2.2 when guardrail cleaning process, guardrail width suddenly increases: what width modulation response contact 31 adopted is that the titanium alloy pole is connected the design with the response electric shock, and the guardrail is when getting an electric shock with the width modulation response, because the width modulation response is got an electric shock small, the quality is light, the pliability is strong, can not produce great impact force when the contact and damage induction system 30, and the reconversion that can be quick when separating with the guardrail is indeformable simultaneously, has effectively improved life.
When the width adjustment sensing contact 31 at the foremost end of the guardrail device senses a wider guardrail, different output signals are fed back to the controller through the sensing contacts 31 at different positions, so that different output signals are fed back according to the contact feedback change values of the guardrail with the sensing contacts 31 at different widths, the stretching amount of the outer rolling brush stretching oil cylinder 8 and the inner rolling brush stretching oil cylinder 7 is controlled, and the distance between the rolling brush device and the guardrail is controlled to be kept unchanged. (for example, the distance between the initial inner and outer rolling brush holders 14 is 400mm, the guardrail width at this time is 100mm, when the guardrail width is increased to 200mm, the width adjusting sensor on the inner and outer rolling brush assembly 13 is simultaneously spaced from the guardrail to transmit signals, and the inner and outer rolling brush telescopic cylinders 8 are adjusted to respectively operate the inner and outer rolling brushes to move inwards and outwards, so that the distance between the inner and outer rolling brush holders 14 is changed to 500 mm), after the distance between the inner and outer rolling brush holders 14 is increased and the guardrail is widened, the inner and outer rolling brush cylinders are adjusted to respectively adjust towards the initial value direction by delaying for a few seconds through a time relay, so that the distance between the inner and outer rolling brush holders 14 is restored to the initial value, if the deviation sensor comes into contact with the guard rail during the recovery process, the deviation will be stopped, and the sensing of the deviation sensor in the first or second step is repeated, and meanwhile, after delaying for a few seconds, the inner and outer rolling brushes continue to move towards the initial value direction and finally reach the initial distance value.
Adjustment of the sensing device 30: the contact area between the round brush and the guardrail when the guardrail of co-altitude and required induction system 30 senses the guardrail is adjusted through induction system mount 31 of fixed induction system 30, the height adjustment is carried out around spray lance and fixed orifices on the combination 13 of the inner and outer round brush, the distance is adjusted about a plurality of mounting holes 37 that set up at induction system mount 31, satisfy the best round brush cleaning contact area to the guardrail of co-altitude and width.
Thirdly, adjusting the rotating speed of the automatic rolling brush motor 16, adjusting the vehicle speed and adjusting the rotating speed of the water pump:
3.1 automatic rolling brush motor 16 speed regulation: as the inner and outer rolling brush assemblies 13 are closer to each other, the contact area between the inner and outer rolling brushes is increased, the generated resistance is larger, the high-speed running condition of the rolling brush motor 16 is kept, the quick abrasion of the sweeping brush is caused, the service life of equipment and guardrails is influenced, and the rotating speed of the rolling brush motor 16 needs to be adjusted according to the distance between the inner and outer rolling brush fixing frames 14.
The distance between the inner and outer rolling brush fixing frames 14 sensed by the ultrasonic sensor is adopted, signals are fed back to the controller according to different distances, and different values are transmitted to the electric proportional throttle valve of the rolling brush motor 16 according to different signals to adjust the rotating speed of the rolling brush motor 16.
1) When the inner and outer rolling brush combination 13 is just tangent, the guardrail cleaning device can clean the widest state of the guardrail, the distance between the inner and outer rolling brush fixing frames 14 is 530mm, and the width of the washable guardrail is 0-290 mm
2) When the maximum critical value of the contact area of the inner and outer rolling brush combination 13 is reached, the contact area between the inner and outer rolling brushes reaches two thirds of the width of the sweeping brush, the distance between the inner and outer rolling brush fixing frames 14 is 390mm, and the width of the washable guardrail is 0-200 mm
3) The rotating speed of the rolling brush motor 16 is gradually reduced from the set highest rotating speed to the set lowest rotating speed within the range of 530 mm-390 mm between the inner and outer rolling brush fixing frames 14.
Vehicle speed regulation: when the distance between the inner and outer brush holders 14 is small, the contact area between the inner and outer brushes is large, and it is necessary to reduce the speed of the vehicle in addition to reducing the rotational speed of the brush motor 16. On the one hand, the impact force between the guardrail and the rolling brush is slowed down, and on the other hand, the guardrail can be ensured to be cleaner.
As shown in fig. 6, the approach taken to this is to install a secondary reduction transfer case 50 between the drive shaft 60 between the chassis gearbox and the rear axle. The speed ratio of the reduction gear is 1:2, and the gear shifting mode of the transfer case 50 is controlled by adopting cylinder pushing;
1) when the distance between the inner and outer rolling outer fixing frames is in the range of 450-530 mm, the vehicle guardrail can be kept to be cleaned quickly, and the secondary speed reduction transfer case 50 is not combined and is suitable for the condition that the guardrail is cleaner;
2) when the distance between the inner and outer rolling outer fixing frames is within the range of 390-450 mm, the air cylinder pushes the two-stage deceleration transfer case 50 to be combined, the running speed of the vehicle is reduced by one time, and the vehicle is suitable for the dirty state of the guardrail.
Adjusting the rotating speed of the water pump: the waterway system is provided with 2 water pumps which are respectively a high-pressure water pump and a direct-current water pump, the high-pressure water pump is driven by an auxiliary engine, a driver needs to select a guardrail cleaning mode according to the requirement of cleaning a road guardrail due to different cleaning rates of the guardrail, the direct-current water pump or the high-pressure water pump is selected in an electric control box panel of a cab, and the adjustment of the high-pressure water pump is realized by adjusting the rotating speed of the auxiliary engine.
By adopting the technical scheme, the intelligent sensing device 30 of the guardrail cleaning device mainly surrounds the intelligent operation of the intelligent sensing guardrail cleaning vehicle, the change of the distance between the rolling brush and the guardrail is sensed through the sensor of the sensing device 30 so as to realize real-time regulation and control, different output signals are fed back according to different sensed values so as to perform corresponding actions, and the damage to the mechanism and the influence on the guardrail cleaning effect caused by the change of the distance between the rolling brush and the guardrail are effectively avoided. Meanwhile, humanized operation is provided for one-key cleaning action of the guardrail cleaning device, so that the operation of a driver is more convenient and safer.
The intelligent operation is realized, namely, the guardrail is cleaned by one key; aiming at the change of different guardrail widths, the guardrail cleaning device can adjust the space between the rolling brush and the guardrail in real time, and simultaneously adjust the speed of the vehicle and the rotating speed of the rolling brush according to different cleaning widths. Therefore, the best energy-saving cleaning effect is achieved, the operation of a driver is greatly reduced, the rolling brush cleaning state does not need to be observed all the time when the vehicle is driven, and the safety of the driving process is improved.
It is to be understood that the embodiments described are only a few embodiments of the present application and not all embodiments. The embodiments and features of the embodiments in the present application may be combined with each other without conflict. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the detailed description of the embodiments of the present application is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Claims (10)
1. Intelligent perception guardrail washs car, its characterized in that: the guardrail rolling sweeping device comprises an inner rolling brush assembly and an outer rolling brush assembly which are distributed on the left side and the right side of a guardrail; the front parts of the inner rolling brush combination and the outer rolling brush combination corresponding to the advancing direction are respectively provided with a sensing device, one side of the sensing device corresponding to the guardrail is provided with a plurality of sensing contacts distributed at different positions, and the sensing contacts at different positions and the contact of the guardrails with different widths feed back different control signals to the cleaning vehicle controller; an ultrasonic sensor is arranged on the inner rolling brush assembly or the outer rolling brush assembly to detect the distance between the inner rolling brush assembly and the outer rolling brush assembly in real time and transmit the distance to a cleaning vehicle controller; when the width of the guardrail becomes smaller or the vehicle deviates during running, the cleaning vehicle controller controls the telescopic oil cylinders of the guardrail rolling and sweeping device to automatically adjust the distance between the outer rolling brush combination and the inner rolling brush combination on the left side and the right side of the guardrail to be kept unchanged.
2. The intelligent sensing guardrail cleaning vehicle of claim 1, wherein: the guardrail rolling sweeping device is provided with a fixed base, the fixed base is fixed on a vehicle chassis, a rear swing arm and a front swing arm are hinged on the fixed base, a swing arm oil cylinder is arranged between the rear swing arm and the front swing arm to push the rear swing arm and the front swing arm, the upper ends of the rear swing arm and the front swing arm are hinged with a large telescopic arm which is divided into an outer rolling brush large telescopic arm and an inner rolling brush large telescopic arm, sliding tracks are respectively arranged inside the outer rolling brush large telescopic arm and the inner rolling brush large telescopic arm, the telescopic ends of the outer rolling brush telescopic oil cylinder and the inner rolling brush telescopic oil cylinder are fixedly connected with the corresponding outer rolling brush telescopic small arm and the corresponding inner rolling brush telescopic small arm respectively, so that the outer rolling brush telescopic small arm and the inner rolling brush telescopic small arm are pushed to slide relatively; the inner rolling brush combination is fixedly connected to the inner rolling brush telescopic small arm, the outer rolling brush telescopic small arm is matched with the outer rolling brush combination through a pin shaft, and an outer rolling brush overturning oil cylinder is arranged between the inner rolling brush telescopic small arm and the outer rolling brush combination to realize overturning action of the outer rolling brush.
3. The intelligent sensing guardrail cleaning vehicle of claim 2, wherein: the inner rolling brush assembly or the outer rolling brush assembly comprises a rolling brush fixing frame, a rolling brush shaft, a rolling brush motor and a rolling brush, wherein the rolling brush fixing frame is connected with the corresponding outer rolling brush telescopic small arm or the inner rolling brush telescopic small arm, the rolling brush motor is fixed on the rolling brush fixing frame, and the rolling brush motor is connected with the rolling brush shaft and drives the rolling brush to rotate.
4. The intelligent sensing guardrail cleaning vehicle of claim 1, wherein: the induction system comprises an induction system fixing frame, an induction system fixing slide and a sensor fixing plate, the induction system fixing frame is fixedly connected with a corresponding inner rolling brush assembly or an outer rolling brush assembly, the induction system fixing slide is fixedly connected with the induction system fixing frame, a deviation sensor is fixed in the induction system fixing slide, the deviation sensor is fixedly connected with one end of a deviation spring, the other end of the deviation spring is fixedly connected with the sensor fixing plate, the sensor fixing plate compresses the deviation spring inside the induction system fixing slide block under the action of external force, and the deviation sensor is triggered to transmit an output signal to the controller when a rated pressure value is reached.
5. The intelligent sensing guardrail cleaning vehicle of claim 4, wherein: the elastic layer is laid on one side of the sensor fixing plate corresponding to the guardrail, the plurality of sensing contacts are distributed on one side of the elastic layer corresponding to the guardrail along the advancing direction, a touch sensor is arranged on each sensing contact, the sensing contacts are divided into width detection section width detection sections around the advancing direction, the distance between the sensing contact of the width detection section and the guardrail is reduced from front to back in sequence, the distance between the sensing contact of the deviated detection section and the guardrail is the same, and the distance between the sensing contact of the deviated detection section and the guardrail is smaller than the distance between the sensing contact of the width detection section and the guardrail.
6. The intelligent sensing guardrail cleaning vehicle of claim 5, wherein: the elastic layer is formed by attaching rubber materials.
7. The intelligent sensing guardrail cleaning vehicle of claim 4, wherein: the sensor fixing plate is provided with a connecting part which penetrates into the induction device fixing slideway and slides relatively; the connecting part of the sensor fixing plate fixes the compression spring inside the sliding block along the sensing device under the action of external force.
8. The intelligent sensing guardrail cleaning vehicle of claim 4, wherein: the induction device fixing frame is provided with a plurality of mounting holes, and the relative mounting positions of the induction device and the corresponding inner rolling brush combination or the corresponding outer rolling brush combination can be adjusted, so that the relative distance between the induction device and the guardrail can be adjusted.
9. The control method of the intelligent sensing guardrail cleaning vehicle adopts the intelligent sensing guardrail cleaning vehicle as claimed in any one of claims 1 to 8, and is characterized in that: the method comprises the following steps:
step 1, operating a guardrail rolling sweeping device to enable an inner rolling brush assembly and an outer rolling brush assembly to be distributed on the left side and the right side of a guardrail;
step 2, acquiring detection data of the sensing contact of the width detection section to judge whether the width of the guardrail changes; if yes, executing step 3; otherwise, executing step 4;
step 3, outputting different output signals by the controller according to the change value of the guardrail width fed back by the contact of the sensing contact to control the stretching amount of the outer rolling brush stretching oil cylinder and the stretching amount of the inner rolling brush stretching oil cylinder, so as to control the distance between the inner rolling brush combination and the guardrail and the distance between the outer rolling brush combination and the guardrail to be constant;
step 4, acquiring detection data of the sensing contact of the deviation detection section to judge whether the vehicle deviates; if yes, executing step 5; otherwise, executing step 2;
step 5, the controller controls the guardrail rolling and sweeping device to perform adaptive adjustment according to the deviation condition of the vehicle so as to keep the distance between the inner rolling brush combination and the guardrail and the distance between the outer rolling brush combination and the guardrail unchanged;
when the inner rolling brush combination is close to the guardrail and the outer rolling brush combination deviates from the guardrail during the running of the vehicle; the controller gives an instruction to the inner rolling brush telescopic oil cylinder to move inwards until the inner rolling brush telescopic oil cylinder deviates from the induction contact and is not in contact with the guardrail, meanwhile, the ultrasonic sensor transmits a change value to the controller, and the controller enables the outer rolling brush telescopic oil cylinder to move inwards to reach an initial value set by the ultrasonic sensor and executes the step 2;
when the inner rolling brush combination deviates from the guardrail during the running of the vehicle, the outer rolling brush combination approaches the guardrail; the controller gives an instruction to the outer rolling brush telescopic oil cylinder to move outwards until the outer rolling brush telescopic oil cylinder deviates from the induction contact and is not in contact with the guardrail, meanwhile, the ultrasonic sensor transmits the change value to the controller, and the controller enables the outer rolling brush telescopic oil cylinder to move inwards to reach the initial value set by the ultrasonic sensor and executes the step 2;
when the running deviation of the vehicle exceeds a rated value, different signals are fed back to the controller by the deviation sensor on the inner rolling brush and the outer rolling brush, the controller outputs the signals to the direction sensor in the cab, and a driver is prompted to control the steering wheel to adjust the distance between the steering wheel and the guardrail; the deviation sensor of the inner rolling brush combination sensing device prompts a driver to operate the vehicle steering wheel to return to the right side in a running mode, and the deviation sensor of the outer rolling brush combination sensing device prompts the driver to operate the vehicle steering wheel to return to the left side in a running mode; and step 2 is performed.
10. The control method of the intelligent sensing guardrail cleaning vehicle as claimed in claim 9, wherein: it also includes the speed regulating step:
step 6-1, installing a secondary speed reduction transfer case between a transmission shaft between a chassis gearbox and a rear axle; the speed ratio of the reduction gear is 1:2, and the gear shifting mode of the transfer case adopts cylinder pushing control;
step 6-2, when the distance between the inner and outer rolling outer fixing frames is in the range of 450-530 mm, the vehicle guardrail is kept to be cleaned quickly, and the secondary speed reduction transfer case is not combined;
and 6-3, when the distance between the inner and outer rolling and outer fixing frames is in the range of 390-450 mm, the cylinder pushes the second-stage deceleration transfer case to be combined, and the running speed of the vehicle is reduced by one time.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110585992.9A CN113136828A (en) | 2021-05-27 | 2021-05-27 | Intelligent sensing guardrail cleaning vehicle and control method thereof |
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| CN202110585992.9A CN113136828A (en) | 2021-05-27 | 2021-05-27 | Intelligent sensing guardrail cleaning vehicle and control method thereof |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113931109A (en) * | 2021-10-13 | 2022-01-14 | 江苏悦达专用车有限公司 | Guardrail washs car round brush anticollision warning and dodges device |
| CN113931108A (en) * | 2021-10-13 | 2022-01-14 | 江苏悦达专用车有限公司 | Reset mechanism is dodged in horizontal migration anticollision of guardrail cleaning vehicle round brush |
| CN114059497A (en) * | 2021-12-16 | 2022-02-18 | 山东交通学院 | Mobile spraying device suitable for various roadside guardrails and mobile control method |
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2021
- 2021-05-27 CN CN202110585992.9A patent/CN113136828A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113931109A (en) * | 2021-10-13 | 2022-01-14 | 江苏悦达专用车有限公司 | Guardrail washs car round brush anticollision warning and dodges device |
| CN113931108A (en) * | 2021-10-13 | 2022-01-14 | 江苏悦达专用车有限公司 | Reset mechanism is dodged in horizontal migration anticollision of guardrail cleaning vehicle round brush |
| CN113931109B (en) * | 2021-10-13 | 2024-01-12 | 江苏悦达专用车有限公司 | Anti-collision alarm avoiding device for rolling brush of guardrail cleaning vehicle |
| CN113931108B (en) * | 2021-10-13 | 2024-04-12 | 江苏悦达专用车有限公司 | Reset mechanism is dodged in anticollision of guardrail cleaning vehicle round brush horizontal migration |
| CN114059497A (en) * | 2021-12-16 | 2022-02-18 | 山东交通学院 | Mobile spraying device suitable for various roadside guardrails and mobile control method |
| CN114059497B (en) * | 2021-12-16 | 2023-08-25 | 山东交通学院 | Mobile spraying device suitable for various road side guardrails and mobile control method |
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