NL2030142B1

NL2030142B1 - Cleaning machine with suction power control

Info

Publication number: NL2030142B1
Application number: NL2030142A
Authority: NL
Inventors: Prins Rob
Original assignee: Ravo B V
Priority date: 2021-12-15
Filing date: 2021-12-15
Publication date: 2023-06-27
Also published as: WO2023113593A1; CA3240778A1

Abstract

The invention is in the field of a mobile installation for street cleaning, also referred to as a cleaning machine for a road or pavement or gutter, for removing undesirable matter from roads or like surfaces, With or Without moistening of the surface. These machines are used to remove objects, such as small items, such as leaves, and debris, and dirt from a road or the like, using a broom system for cleaning the road or the like, and typically a storage for re— moved objects and dirt.

Description

100695NL00

Cleaning machine with suction power control

FIELD OF THE INVENTION

The invention is in the field of a mobile installation for street cleaning, also referred to as a cleaning machine for a road or pavement or gutter, for removing undesirable matter from roads or like surfaces, with or without moistening of the surface. These machines are used to remove objects, such as small items, such as leaves, and debris, and dit from a road or the like, using a broom system for cleaning the road or the like, and typically a storage for re- moved objects and dirt.

BACKGROUND OF THE INVENTION

The present invention relates to a cleaning machine. A main function of such a cleaning machine is to remove dirt/debris specifically from the gutter (side of the road, edge of the pavement; curb) and to remove it from the street; dirt/debris may be understood to relate to all smaller items being present and to be up-taken. Collecting and removing the debris is typi- cally done by means of broom(es) which sweep the debris in a direction of an uptake element, and uptake of the debris then takes place, such as by under-pressure, e.g. vacuum. Figure 1 shows an example of a prior art cleaning machine, wherein brooms, located underneath the cleaning machine and rotating, sweep the dirt/debris towards a suction mouth. The suction mouth is provided with under-pressure, thereby up-taking the dirt/debris into the machine, though a suction tube, towards a container of the machine.

For proper up-taking of dirt/debris an operator, typically the driver of the cleaning ma- chine, uses a broom control device to move the brooms towards the dirt and debris, and at the same time steering the cleaning machine, paying attention to traffic and pedestrians, and so on. The broom control device may be a joy stick or the like. The position of the entire ma- chine is controlled by the steering controls of the driver, such as a typical steering wheel. It is found that manually and simultaneously controlling all these movements requires a high level of practice, as well as good eye-hand coordination, and concentration. In practice, there are very few operators that are skilled enough to get optimum performance of the system. Lack of accuracy of the above described manual process may have a large impact on quality, effi- ciency, and speed of the cleaning work performed. Also, from an ergonomics point of view, the above is a challenging topic to address, as it is physically demanding and technically very complex to solve.

Some documents may be referred to. For instance DE 10 2017 117013 Al recites a semi-autonomous following device, having at least one drive apparatus, at least one apparatus for steering the drive apparatus, at least one apparatus for detecting a guidance signal, at least one control unit which activates, as a manipulated variable, the apparatus for steering the at least one drive apparatus, as a function of the guidance signal. According to the invention there is provision that the control unit or a unit which is separate from the control unit acti- vates further apparatuses as a function of the guidance signal, wherein the further apparatuses are selected from the group comprising: direction indicator, vehicle lights, machine modules and radio-operated remote-control systems. The interconnection of the apparatuses increases the safety of the locomotion of the following device in the public space and also the efficiency of the cooperation between the machine and the user. CN 103 161 133 A recites a an intelli- gent road-cleaning vehicle based on machine vision. The intelligent road-cleaning vehicle comprises a vehicle body provided with a cleaning machine, a first light source, a second light source, an image obtaining device, an image extracting device, an image processing device, a first judging device and an automatic turning device, wherein the image extracting device is used for extracting an image of a targeted area from a road surface image, the image pro- cessing device is used for conducting grayscale adjustment and binarization treatment to the image of the targeted area to generate a binary image and covering a two-dimensional array corresponding to the binary image to count the number of elements with values of one in the two-dimensional array, the first judging device is used for judging whether the number of the elements with the values of one is larger than a preset value, and the automatic turning device is used for sending an order of turning right to the vehicle body when a judging result of the first judging device is yes, and sending an order of turning left to the vehicle body when the judging result of the first judging device is no. The intelligent road-cleaning vehicle is based on the machine vision, is capable of turning and changing speed automatically, and has a value of actual popularization. CN 103 696 381 A recites a control method, a control device, acontrol system and a sweeping vehicle for road edge cleaning. The control method com- prises the following steps: obtaining the distance between a sweeping device and a road edge in real time according to the information of the road edge; when the distance between the sweeping device and the road edge exceeds a preset range, sending out a control command so as to adjust the position of the sweeping device, so that the distance between the sweeping de- vice and the road edge is always in the preset range so as to ensure that the sweeping of the road edge is efficiently completed, avoid collision with the road edge, reduce the working dif- ficulty of operators and improve the work efficiency. WO 2020/144011 Al, which is pub- lished after the present priority date, recites a method for operating a cleaning vehicle, in par- ticular a road sweeper which can be operated in an automated manner, by means of a control device, wherein a trajectory is calculated and control commands for longitudinal guidance and lateral guidance of the cleaning vehicle when driving along the calculated trajectory are gen- erated, measurement data are received from at least one sensor for determining a cleaning area, and at least one actuator for positioning a cleaning apparatus of the cleaning vehicle for cleaning the cleaning area is controlled in the longitudinal direction and/or transverse direc- tion relative to a direction of travel of the cleaning vehicle on the basis of the received meas- urement data. A control device, a computer program and a machine-readable storage medium are also disclosed.

Cleaning machines are capable of producing lots of noise. They also consume signifi- cant amounts of energy.

The present invention therefore relates to an improved cleaning machine, which is more energy efficient, more silent, and with an equivalent amount energy can clean more road or pavement, which overcome one or more of the above disadvantages, without jeopardizing functionality and advantages.

SUMMARY OF THE INVENTION

The present invention relates in a first aspect to a cleaning machine (1) for a road or pavement or gutter comprising a vehicle (2), the vehicle comprising a suction system for up- taking debris and dirt from a suction point, such as an enlarged suction opening, connected to the suction opening a suction tube, at the other end of the suction tube a container for receiv- ing dirt and debris, and a fan for providing suction, such as by under-pressure, and at least one broom system (3), wherein brooms are adapted to sweep debris and dirt to a suction point, such as by rotating, at least one camera (7) providing images, typically a 2D or 3D camera, pattern recognition software adapted to process the images, wherein the pattern recognition software is configured to identify physical characteristics of debris and dirt to be up taken by the suction point, and at least one controller (4) for operating said broom system (3), charac- terized in that the at least one controller (4) is configured to increase or decrease suction by controlling said fan in view of the physical characteristics of debris and dirt to be up taken by the suction point. The at least one camera is typically positioned such that debris and dirt in front of the present cleaning machine are recognised, such as by placing it at a front side of the present machine. The suction may be varied from 10-100% of a maximum, for suction of lightweight material to suction of relatively heavy material, in particular from 20-90% of a maximum, such as from 25-80% of a maximum, or stepwise from 5% in steps to 100% of said maximum, such as in steps of relatively 1% increment or decrement, respectively. Suc- tion power is typically controlled by increasing or decreasing power of a fan or the like, such as by controlling the rotation speed trom typically 1000-4000 rpm, more in particular from 1500-3000 rpm. At low speed the suction is typically some — 1kPa, whereas at maximum speed suction may be in the order of — 20 kPa, depending on the suction device. Therewith the present cleaning machine is more energy efficient, more silent, and with an equivalent amount energy can clean more road or pavement. The at least one vertically and horizontally movable broom system is typically provided on a right side of the cleaning machine in countries where vehicles drive at a right side of the road, or in the alternative on the left side. A second broom may typically be provided at the other (left or right) side. So each broom system may com- prise one broom, two brooms, or more than two brooms, such as three brooms. Therewith sig- nificant improvements are achieved. By implementing a camera, image recognition and con- necting it to the described machine control functions, the above described functions are auto- mated during a significant part of the operating/cleaning process. A reliable, automated broom positioning system is found to have a positive effect on quality, efficiency, speed and ergo- nomic aspects of the work performed. A reliable recognition of the curb is provided, by ignor- ing the dirt (to be removed) visible in the image, compensating for broom-wear, and adapting for difficult image situations (high contrast, low light, etc.). Added value of the system is found in a lower strain, stress, and fatigue for the operator during significant part of the opera- tion, both physical (ergonomics, repetitive movements, sitting position) and psychological (concentration, fatigue), a better and more constant quality of work, i.e. better and more effi- cient cleaning, and no declining of quality by loss of concentration or distraction of the opera- tor. Further it is found that past experience of the operator has less or no influence on the quality of the work. In addition, an improved traffic security is provided, as the operator can pay more attention to traffic, pedestrians and other surroundings. Typical components of the present pavement track system are a 3D camera, image recognition software + hardware, in- cluding a connection to machine control functions. The image recognition software used may be Open Source software. The software is taught to detect the curb. Electronic control of at least one broom side-shift is provided, as well as electronic control of vehicle steering (includ- ing manual override safety). Some main software steps may be acquisition of a 3D image from the camera, a translation of the 3D-image to a 2D image, a determination of a “rising edge” or “falling edge” in the 2D image, representing the curb, identifying at least 3 points on the “rising edge”/ falling edge” and thereby validating a line representing the curb on reliabil- ity, such as by calculation a standard deviation, establishing if these at least 3 points are relia- ble for at least 2 consecutive frames/images and then accepting the representation of the curb, and further, when accepted, these points are sent to a machine control such as via CAN, to ini- tiate the required control actions. It is found that the identification of the falling edge, i.e. an upper edge of a curb, provides more reliable and reproduceable results. The edge is preferably determined ahead of the machine, in the direction of movement, such as 0.5-3 m ahead of the machine, e.g. 1-2 m. As the speed of the cleaning machine is known, the speed of the ma- chine, and the measured distance of the broom from a curb, can be used to move the brush- system towards or from the curb when advancing. Typically positioning of the can be done by moving the broom-system and/or vehicle sideways such that a distance between the broom system and side of the road is controlled. The vehicle control can at least partly by overtaken by an automated system, in view of the present hydraulic system, such as an orbitrol. The au- tomated system can perform relatively simple tasks, such as positioning of the cleaning ma- chine, driving, steering, and somewhat more complex tasks, as recognition of obstacles and human beings, especially in front of the machine. In view of the limited speed of the cleaning machine such an automated system could already be sufficient.

For improved range and added functionality, an option is to use the third broom sys- tem. This option provides an increased sweeping width/range and is often used with a dedi- cated broom for weed removal. Operating this third broom typically has similar requirements as the first and second brooms: it may be too far from the curb and thereby dirt/debris is missed/not picked up, it may be too close to the curb and the wires of the broom are pushed flat, the broom does not move the dirt effectively. Operation of the third broom may be done by a second joystick, in addition to the standard controls. For the operator this implies operat- ing two joysticks simultaneously; operating/movement of this 3rd broom is very frequent. The construction of the third broom is typically similar to the first and second broom system: the position of the third broom relative to the machine, controlled by the so-called “third broom 5 side-shift”, this is a linear movement, perpendicular to the length axis of the machine (driving direction). And the distance between the machine itself and the curb is controlled.

In a second aspect the present invention relates to a pavement track system computer program comprising instructions for operating the cleaning machine (1) according to the invention, the instructions causing the computer (1) to carry out the following steps: loading 3D images, processing the 3D-images with pattern recognition software, wherein the pattern recognition software is configured to identify physical characteristics of debris and dirt to be up taken by the suction point, obtaining said physical characteristics, and increasing or decreasing suction by controlling said fan in view of the physical characteristics of debris and dirt to be up taken by the suction point.

Thereby the present invention provides a solution to one or more of the above-men- tioned problems.

Advantages of the present invention are detailed throughout the description.

DETAILED DESCRIPTION OF THE INVENTION

The present invention relates in a first aspect to a cleaning machine according to claim I.

In an exemplary embodiment the present cleaning machine comprises a pavement track system (6) comprising a (further) 3D camera (7) providing 3D-images, pattern recognition software adapted to process the 3D-images, wherein the pattern recognition software identi- fies a side of the road, and wherein the pattern recognition software measures a distance from the vehicle to the side of the road, and wherein the at least one controller is adapted to move the broom-system sideways with respect to the vehicle such that a distance between the broom system and side of the road is controlled. The same camera as for identification of physical characteristics may be used, or at least one additional camera. Likewise the same controller may be used, or at least one additional controller. By using the pavement track sys- tem the present cleaning machine can be operated semi- or fully automatically.

In an exemplary embodiment of the present cleaning machine brooms are adapted to move with respect to the cleaning-machine in a horizontal direction and/or vertical direction, preferably move each individually, and preferably move independent in the horizontal and vertical direction. Therewith amongst others broom wear is minimized.

In an exemplary embodiment of the present cleaning machine the at least one controller is adapted to move the broom-system sideways with respect to the vehicle such that a distance between the broom system and side of the road is controlled, in particular wherein the vehicle comprises at least one seat for an operator.

In an exemplary embodiment of the present cleaning machine the physical characteris- tics of debris and dirt to be up taken are selected from size, volume, chemical species, weight, density, colour, and combinations thereof.

In an exemplary embodiment of the present cleaning machine suction is decreased in case of low density objects, or likewise lightweight objects, such as decreased by 1-20 kPa, and wherein the suction is increased in case of high density objects, or likewise higher weight objects, such as in case of sand, pebble, and dirt, such as increased by -1 to -20 kPa. So for in- stance if mainly leaves, plastic bags, or the like are detected, then suction is decreased, whereas if pebbles or the like are detected, the suction is increased. The increase or decrease is typically maintained for 1-10 seconds, such as 2-5 seconds, until the objects are sucked in, and then suction is returned to “normal” operation mode. A normal operation mode is typi- cally at 7-80% of a maximum suction power.

In an exemplary embodiment of the present cleaning machine the fan is adapted to pro- vide a suction power of -30 kPa to -1 kPa, in particular -20 kPa to -2 kPa, such as -30kPa.

In an exemplary embodiment of the present cleaning machine the fan is adapted to re- duce noise by 3-20 dB, in particular 5-8 dB.

In an exemplary embodiment of the present cleaning machine the controller is adapted to move the vehicle sideways such that a distance between the broom system and side of the road is controlled.

In an exemplary embodiment of the present cleaning machine the controller adapts the distance in view of broom wear.

In an exemplary embodiment the present cleaning machine further comprises a second broom system, and optionally a third broom system.

In an exemplary embodiment of the present cleaning machine the software adapts for contrast and/or wherein the software adapts for shadow effects.

In an exemplary embodiment of the present cleaning machine the software is trained for recognizing the pavement, such as for identifying a rising edge thereof (curb).

In an exemplary embodiment the present cleaning machine is adapted to be steered by an operator or driver.

In an exemplary embodiment of the present cleaning machine the software is adapted to validate a position of the rising edge, such as by validating if at least three identified points of the rising edge have a linear relationship (are on one line), and/or wherein the rising edged is validated on at least two consecutive 3D-images, and combinations thereof.

In an exemplary embodiment of the present cleaning machine the control is electronic, and/or wherein a CAN-bus is used for control.

In an exemplary embodiment of the present cleaning machine the controller is adapted to be manually over-ride.

In an exemplary embodiment of the present cleaning machine the controller is adapted to maintain the distance between the broom system and side of the road at a constant value within a predetermined limit.

In an exemplary embodiment of the present cleaning machine an orientation of the 3D- camera is adaptable, such as adaptable to be oriented substantially towards a side of the road, and/or adaptable to be in a height position providing images of the side of the road.

In an exemplary embodiment of the present cleaning machine the cleaning machine comprises at least one ventilation opening, and an outlet, preferably comprising a filter for re- moving small particles.

In an exemplary embodiment of the present cleaning machine comprises a display (5).

In an exemplary embodiment the present pavement track system computer program fur- ther comprises instructions for compensating for broom-wear, and/or adapting for difficult image situations, such as high contrast, and low light.

The invention is further detailed by the accompanying figures and examples, which are exemplary and explanatory of nature and are not limiting the scope of the in- vention. To the person skilled in the art it may be clear that many variants, being obvi- ous or not, may be conceivable falling within the scope of protection, defined by the present claims.

SUMMARY OF THE FIGURES

Figure 1 show an exemplary embodiment of the present machine.

Figures 2a-b show a third broom system.

Figures 3a-d show operational aspects of the present cleaning machine.

DETAILED DESCRIPTION OF THE FIGURES

In the figures: 1 Cleaning machine 2a fust right hand broom 2b optional second left hand broom 2c optional third broom 3 suction mouth 4 suction tube 5 container 6 filter 7 outlet 8 suction fan 9 side shift 10 3D camera

Figure 1 show an exemplary embodiment of the present machine.

Figures 2a-b show a third broom system, indicated with a circle.

The figures are further detailed in the description and examples below.

The present cleaning machine takes over a significant part of the manual control of sev- eral functions of the sweeper, during sweeping operation. This reliefs the driver of a difficult,

tiring task.

In an example the present modification is designed and integrated in the sweeper, leav- ing all existing/present functions of e.g. the Ravo type 5 machine otherwise unchanged. Con- trolling these functions can still be performed manually, but also an automatic mode is availa- ble.

The present sweeper, or streetsweeper, can best be described as a large domestic vac- uum cleaner. All typical components of a vacuum cleaner are typically there: an engine driv- ing a (centrifugal) fan that creates vacuum, thus creating air movement in a suction nozzle that picks up dirt/debris. Through a (suction)tube the airflow transports the dirt/debris into the dirt/debris container (See figure 1). To be able to work on a road surface, the machine typi- cally meets a number of road-specific requirements: (i) it provides sufficient cleaning width: as the width of the suction nozzle is typically only 30 cm, this is too narrow to deliver effi- cient cleaning. To increase the cleaned surface width, brooms are added, that move dirt/debris from both sides (L+R) to the center of the machine, where the suction nozzle is located (See figure 1); (ii) as a standard two brooms (L+R) are typically provided, which result in a total sweeping width of approximately 2 meters; (iii) an optional third 3rd broom is provided for an increased width with approximately 70 — 90 cm extra. It also provides an increased flexibility to reach into corners and other hard to reach areas. (iv) As the brooms typically use a certain force on the ground, that 1s kept more or less constant, independent from shape of the road- surface, speed-bumps and broom wear (a worn broom weighs less than a new one)

This load-regulating system is based on a spring-loaded mechanism; (v) The brooms are best kept in a rather precise position relative to the side of the road and/or curb to function properly; when they are too far from the curb dirt/debris may be missed, when they are too close to the curb hairs/wires from the broom may be pushed flat to the surface, and the broom may not work properly. This relative position is typically determined by two factors: The po- sition of the entire machine; this may be controlled by the driver/operator, steering the ma- chine towards- or away from the curb (normal/standard steering function of the vehicle); The position of the 2 standard brooms, relative to the machine; to provide easy, fast position changing of the brooms, vertically and horizontally movable broom system onto which these brooms are preferably mounted on a sub-frame (“broom carriage”) that can move sideways (perpendicular to the driving direction of the vehicle); this system is called “side-shift” and enables the brooms to be positioned closer or further away to the curb. This side-shift, and the relative position of the broom with respect to the machine is controlled with a sensor, the sen- sor measuring the relative position and capable of adapting the relative position. This move- ment is controlled by hand, with a controller, by the operator. Electrical signals from the joy- stick (part of the controller) are connected to the computer controlling the machine (PLC); this PLC in its turn sends electrical signals to the hydraulic valves (operator, joystick). The physical movement of the entire broom carriage is typically powered by a hydraulic cylinder (See figure 1); (vi) The principle of operating the 3rd broom is identical to that of the standard brooms, but it is mounted on a separate frame and thus able to function independent from the standard brooms (See figures 2a and 2b).

The above describes functionality of the present sweeper, relating to proven Ravo 5 technology.

The integration of the present invention into the Ravo 5 machine may be done mainly electrically, such as through software, or by adding an electrical function to an existing (hy- draulic) component. An example of the latter is an additional, electrically controlled steering function. This allows the electronic machine control to influence the mechanical/hydraulic steering unit, thus creating automated steering.

Addition of the 3D camera to the machine, creating a 3D image to determine the dis- tance between the machine and the curb, by image recognition, and bring this information with respect to the distance to the control-computer of the machine, allows the introduction of an automatic sweep function, relieving the driver of a tiring task, creating better efficiency, and more safety.

The following section is added to support the search of the subject-matter of the present in- vention and it is considered to be the English version of the subsequent Dutch translation thereof. 1. Cleaning machine (1) for a road or pavement or gutter comprising a vehicle (2), the vehicle comprising a suction system for up-taking debris and dirt from a suction point, such as an enlarged suction opening, connected to the suction point a suction tube, at the other end of the suction tube a container for receiving dirt and debris, and a fan for providing suction, such as by under-pressure, and at least one broom system (3), wherein brooms are adapted to sweep debris and dirt to a suction point, such as by rotating, at least one camera (7) providing images, pattern recognition software adapted to process the images, wherein the pattern recognition software is configured to identify physical characteristics of debris and dirt to be up taken by the suction point, and at least one controller (4) for operating said broom system (3), characterized in that the at least one controller (4) is configured to increase or decrease suction by controlling said fan in view of the physical characteristics of debris and dirt to be up taken by the suction point. 2. Cleaning machine according to embodiment 1, comprising a pavement track system (6) comprising a 3D camera (7) providing 3D-images, pattern recognition software adapted to process the 3D-images, wherein the pattern recognition software identifies a side of the road, and wherein the pattern recognition software measures a distance from the vehicle to the side of the road, and wherein the at least one controller is adapted to move the broom-system sideways with respect to the vehicle such that a distance between the broom system and side of the road is controlled.

3. Cleaning machine according to any of embodiments 1-2, wherein brooms are adapted to move with respect to the cleaning-machine in a horizontal direction and/or vertical direction, preferably move each individually, and preferably move independent in the horizontal and vertical direction, and/or wherein the at least one controller is adapted to move the broom-system sideways with respect to the vehicle such that a distance between the broom system and side of the road is controlled, in particular wherein the vehicle comprises at least one seat for an operator.

4. Cleaning machine according to any of embodiments 1-3, wherein the physical characteristics of debris and dirt to be up taken are selected from size, volume, chemical species, weight, density, color, and combinations thereof.

5. Cleaning machine according to any of embodiments 1-4, wherein suction is decreased in case of low density objects, such as decreased by 1-20 kPa, and wherein the suction is increased in case of high density objects, such as in case of sand, pebble, and dirt, such as increased by -1 to -20 kPa.

6. Cleaning machine according to any of embodiments 1-5, wherein the fan is adapted to provide a suction power of -30 kPa to -1 kPa, in particular -20 kPa to -2 kPa,

such as -3--6kPa.

7. Cleaning machine according to any of embodiments 1-6, wherein the fan is adapted to reduce noise by 3-20 dB, in particular 5-8 dB.

8. Cleaning machine according to any of embodiments 1-7, wherein the controller is adapted to move the vehicle sideways such that a distance between the broom system and side of the road is controlled.

9. Cleaning machine according to any of embodiments 1-8, wherein the controller adapts the distance In view of broom wear.

10. Cleaning machine according to any of embodiments 1-9, further comprising a second broom system, and optionally a third broom system.

11. Cleaning machine according to any of embodiments 1-10, wherein the software adapts for contrast and/or wherein the software adapts for shadow effects, and/or wherein the software is trained for recognizing the pavement, such as for identifying a rising edge thereof (curb). 12. Cleaning machine according to any of embodiments 1-11, adapted to be steered by an operator or driver.

13. Cleaning machine according to embodiment 11, wherein the software is adapted to validate a position of the rising edge, such as by validating if at least three identified points of the rising edge have a linear relationship (are on one line), and/or wherein the rising edged is validated on at least two consecutive 3D-

images, and combinations thereof.

14. Cleaning machine according to any of embodiments 1-13, wherein the control is electronic, and/or wherein a CAN-bus is used for control.

15. Cleaning machine according to any of embodiments 1-14, wherein the controller is adapted to be manually over-ride.

16. Cleaning machine according to any of embodiments 1-15, wherein the controller is adapted to maintain the distance between the broom system and side of the road at a constant value with-in a predetermined limit.

17. Cleaning machine according to any of embodiments 1-16, wherein an orientation of the

3D-camera is adaptable, such as adaptable to be oriented substantially towards a side of the road, and/or adaptable to be in a height position providing images of the side of the road.

18. Cleaning machine according to any of embodiments 1-17,

wherein the cleaning machine comprises at least one ventilation opening, and an outlet,

preferably comprising a filter for removing small particles, and/or further comprising a display (5).

19. A computer program comprising instructions for operating the cleaning machine (1) according to one of the embodiments 1-18, the instructions causing the computer (1) to carry out the following steps:

loading images, processing the images with pattern recognition software, wherein the pattern recognition software is configured to identify physical characteristics of debris and dirt to be up taken by the suction point, obtaining said physical characteristics, and increasing or decreasing suction by controlling said fan in view of the physical characteristics of debris and dirt to be up taken by the suction point. 20. Computer program according to embodiment 19, further comprising instructions for compensating for broom-wear, and/or adapting for difficult image situations, such as high contrast, and low light.

Claims

ConclusiesConclusions

1. Reinigingsmachine (1) voor een weg of trottoir of dakgoot omvattend een voertuig (2), waarbij het voertuig een zuigsysteem omvat om vuil en afval op te zuigen vanaf een aanzuigpunt, zoals een vergrote aanzuigopening, verbonden met het aanzuigpunt een aanzuigbuis, verbonden aan het andere uiteinde van de aanzuigbuis een container om vuil en afval in op te vangen, en een ventilator om aan te zuigen, zoals door onderdruk, en ten minste één bezemsysteem (3), waarin de bezems geschikt zijn om vuil en afval naar een aanzuigpunt te vegen, zoals door ronddraaien, ten minste een camera (7) die beelden levert, patroonherkenningssoftware die is aangepast om de beelden te verwerken, waarbij de patroonherkenningssoftware is geconfigureerd om fysieke kenmerken van vuil en stof te identificeren die door het afzuigpunt worden opgezogen, en ten minste één controller (4) voor de bediening van dat bezemsysteem (3), gekenmerkt in dat het ten minste één controlemechanisme (4) geconfigureerd is om de zuiging te vergroten of te verminderen door bovengenoemde ventilator te controleren met het oog op de fysieke kenmerken van vuil en afval die door het zuigingspunt moeten worden opgenomen.A road or sidewalk or gutter cleaning machine (1) comprising a vehicle (2), the vehicle comprising a suction system for sucking up dirt and debris from a suction point, such as an enlarged suction port, connected to the suction point and a suction pipe connected at the other end of the suction tube, a container for collecting dirt and debris, and a fan for suction, such as by negative pressure, and at least one broom system (3), in which the brooms are adapted to carry dirt and debris to a suction point sweeping, such as by spinning, at least one camera (7) that provides images, pattern recognition software adapted to process the images, the pattern recognition software being configured to identify physical characteristics of dirt and dust that are picked up by the suction point, and at least one controller (4) for operating said broom system (3), characterized in that the at least one controller (4) is configured to increase or decrease the suction by controlling said fan in view of the physical characteristics of dirt and debris to be picked up by the suction point.

2. Reinigingsmachine volgens conclusie 1, omvattend een trottoirvolgsysteem (6) omvattende een verdere 3D-camera (7) die 3D-beelden (7) levert, software voor patroonherkenning die is aangepast om de 3D-beelden te verwerken, waarbij de software voor patroonherkenning een kant van de weg identificeert, en waarbij de software voor patroonherkenning een afstand van het voertuig tot de kant van de weg meet, en waarbij de regelaar is aangepast om het borstelsysteem en/of het voertuig zijdelings te bewegen zodat een afstand tussen het borstelsysteem en de zijkant van de weg wordt gecontroleerd.A cleaning machine according to claim 1, comprising a pavement tracking system (6) comprising a further 3D camera (7) providing 3D images (7), pattern recognition software adapted to process the 3D images, the pattern recognition software identifies a side of the road, and the pattern recognition software measures a distance from the vehicle to the side of the road, and the controller is adjusted to move the brush system and/or vehicle laterally so that a distance between the brush system and the side of the road is checked.

3. Reinigingsmachine volgens één van de conclusies 1-2, waarin de bezems zijn aangepast om te bewegen ten opzichte van de reinigingsmachine in horizontale richting en/of verticale richting, bij voorkeur elk afzonderlijk, en bij voorkeur onafhankelijk in horizontale en verticale richting, en/of waarbij de ten minste één besturingseenheid aangepast is om het bezemsysteem zijwaarts te bewegen ten opzichte van het voertuig, zodat de afstand tussen het bezemsysteem en de kant van de weg verkleind wordt, in het bijzonder wanneer het voertuig ten minste één stoel voor een operator omvat.A cleaning machine according to any one of claims 1-2, wherein the brooms are adapted to move relative to the cleaning machine in horizontal direction and/or vertical direction, preferably each separately, and preferably independently in horizontal and vertical direction, and /or wherein the at least one control unit is adapted to move the broom system sideways with respect to the vehicle so as to reduce the distance between the broom system and the roadside, especially when the vehicle has at least one seat for an operator includes.

4. Reinigingsmachine volgens een van de conclusies 1-3, waarbij de fysieke kenmerken van op te ruimen vuil en stof zijn gekozen uit grootte, volume, chemische soorten, gewicht, dichtheid, kleur en combinaties daarvan.A cleaning machine according to any one of claims 1-3, wherein the physical characteristics of dirt and dust to be cleaned are selected from size, volume, chemical species, weight, density, color and combinations thereof.

5. Reinigingsmachine volgens een van de conclusies 1-4, waarbij de zuigkracht wordt verminderd voor voorwerpen met een lage dichtheid, bijvoorbeeld met 5 tot 30 kPa, en wordt verhoogd voor voorwerpen met een hoge dichtheid, bijvoorbeeld zand, kiezelstenen en vuil, bijvoorbeeld met -5 tot -30 kPa.A cleaning machine according to any one of claims 1 to 4, wherein the suction power is reduced for low density objects, e.g. by 5 to 30 kPa, and is increased for high density objects, e.g. sand, pebbles and dirt, e.g. -5 to -30 kPa.

6. Reinigingsmachine volgens een van de conclusies 1-5, waarbij de ventilator is aangepast om een zuigkracht te leveren van -30 kPa tot -1 kPa, in het bijzonder -20 kPa tot -2 kPa, zoals -3-6kPa.A cleaning machine according to any one of claims 1 to 5, wherein the fan is adapted to provide a suction force of -30 kPa to -1 kPa, in particular -20 kPa to -2 kPa, such as -3-6 kPa.

7. Reinigingsmachine volgens een van de conclusies 1-6, waarin de ventilator is aangepast om het geluid te verminderen met 3-20 dB, in het bijzonder 5-85 dB.A cleaning machine according to any one of claims 1-6, wherein the fan is adapted to reduce noise by 3-20 dB, in particular 5-85 dB.

8. Reinigingsmachine volgens een van de conclusies 1-7, waarbij de besturing is aangepast om het voertuig zijwaarts te bewegen, zodat een afstand tussen het bezemsysteem en de zijkant van de weg wordt geregeld.A cleaning machine according to any one of claims 1 to 7, wherein the control is adapted to move the vehicle sideways so as to control a distance between the broom system and the side of the road.

9. Reinigingsmachine volgens een van de conclusies 1-8, waarbij de besturing de afstand aanpast met het oog op de slijtage van de bezem.A cleaning machine according to any one of claims 1 to 8, wherein the control adjusts the distance in view of the wear of the broom.

10. Reinigingsmachine volgens een van de conclusies 1-9, verder omvattend een tweede bezemsysteem, en optioneel een derde bezemsysteem.A cleaning machine according to any one of claims 1-9, further comprising a second broom system, and optionally a third broom system.

11. Reinigingsmachine volgens een van de conclusies 1-10, waarin de software zich aanpast aan contrast en/of waarin de software zich aanpast aan schaduweffecten, en/of waarin de software is getraind voor het herkennen van de bestrating, zoals voor het identificeren van een opstaande rand daarvan (stoeprand).A cleaning machine according to any one of claims 1-10, wherein the software adjusts to contrast and/or wherein the software adjusts to shadow effects, and/or wherein the software is trained to recognize the pavement, such as to identify a raised edge thereof (curb).

12. Reinigingsmachine volgens een van de conclusies 1-11, aangepast om te worden bestuurd door een operator of bestuurder.A cleaning machine as claimed in any one of claims 1 to 11 adapted to be controlled by an operator or driver.

13. Reinigingsmachine volgens conclusie 11, waarin de software is aangepast om een positie van de opstaande rand te valideren, zoals door te valideren of ten minste drie geïdentificeerde punten van de opstaande rand een lineair verband hebben (op één lijn liggen), en/of waarin de opstaande rand wordt gevalideerd op ten minste twee opeenvolgende 3D-beelden, en combinaties daarvan.The cleaning machine of claim 11, wherein the software is adapted to validate a position of the upstand, such as by validating that at least three identified points of the upstand are linear (aligned), and/or wherein the raised edge is validated on at least two consecutive 3D images, and combinations thereof.

14. Reinigingsmachine volgens een van de conclusies 1-13, waarbij de besturing elektronisch is, en/of waarbij een CAN-bus wordt gebruikt voor de besturing.14. Cleaning machine as claimed in any of the claims 1-13, wherein the control is electronic, and/or wherein a CAN bus is used for the control.

15. Reinigingsmachine volgens een van de conclusies 1-14, waarin de besturing is aangepast om handmatig te worden overbrugd.A cleaning machine as claimed in any one of claims 1 to 14, wherein the control is adapted to be overridden manually.

16. Reinigingsmachine volgens een van de conclusies 1-15, waarbij de besturing is aangepast om de afstand tussen het bezemsysteem en de zijkant van de weg op een constante waarde binnen een vooraf bepaalde limiet te houden.A cleaning machine according to any one of claims 1 to 15, wherein the controller is adapted to maintain the distance between the broom system and the side of the road at a constant value within a predetermined limit.

17. Reinigingsmachine volgens een van de conclusies 1-16, waarbij de oriëntatie van de 3D- camera kan worden aangepast, zoals de oriëntatie in de richting van de zijkant van de weg, en/of de hoogtepositie waarbij beelden van de zijkant van de weg worden verkregen.A cleaning machine according to any one of claims 1 to 16, wherein the orientation of the 3D camera can be adjusted, such as the orientation towards the side of the road, and/or the height position whereby images from the side of the road are obtained.

18. Reinigingsmachine volgens een van de conclusies 1-17, waarbij de reinigingsmachine ten minste één ventilatieopening, en een uitlaat omvat, bij voorkeur met een filter voor het verwijderen van kleine deeltjes, en/of verder voorzien is van een display (5).A cleaning machine according to any one of claims 1-17, wherein the cleaning machine comprises at least one ventilation opening, and an outlet, preferably with a filter for removing small particles, and/or is further provided with a display (5).

19. Een computerprogramma dat instructies bevat voor het bedienen van de reinigingsmachine (1) volgens één van de conclusies 1-18, waarbij de instructies ervoor zorgen dat de computer (1) de volgende stappen uitvoert: het laden van beelden, het verwerken van de beelden met patroonherkenningssoftware, waarbij de patroonherkenningssoftware is geconfigureerd om fysieke kenmerken te identificeren van puin en vuil dat door het afzuigpunt moet worden opgezogen, het verkrijgen van deze fysieke kenmerken, en het verhogen of verlagen van de afzuiging door het regelen van de ventilator met het oog op de fysieke kenmerken van vuil en stof die door het afzuigpunt moeten worden opgenomen.A computer program containing instructions for operating the cleaning machine (1) according to any one of claims 1-18, the instructions causing the computer (1) to perform the following steps: loading images, processing the images with pattern recognition software, where the pattern recognition software is configured to identify physical characteristics of debris and dirt to be picked up by the extraction point, obtain these physical characteristics, and increase or decrease the extraction by visually controlling the fan on the physical characteristics of dirt and dust to be absorbed by the extraction point.

20. Het computerprogramma volgens conclusie 19, verder omvattend instructies voor het compenseren voor bezem-slijtage, en/of het aanpassen voor moeilijke beeldsituaties, zoals hoog contrast, en laag licht.The computer program of claim 19, further comprising instructions for compensating for broom wear, and/or adjusting for difficult image situations, such as high contrast, and low light.