CN109183973A - The intelligent broken leaf cruise vehicle of dredging sewer - Google Patents
The intelligent broken leaf cruise vehicle of dredging sewer Download PDFInfo
- Publication number
- CN109183973A CN109183973A CN201811276978.5A CN201811276978A CN109183973A CN 109183973 A CN109183973 A CN 109183973A CN 201811276978 A CN201811276978 A CN 201811276978A CN 109183973 A CN109183973 A CN 109183973A
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- rotating blade
- sewer
- water flow
- control panel
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- E—FIXED CONSTRUCTIONS
- E03—WATER SUPPLY; SEWERAGE
- E03F—SEWERS; CESSPOOLS
- E03F7/00—Other installations or implements for operating sewer systems, e.g. for preventing or indicating stoppage; Emptying cesspools
- E03F7/10—Wheeled apparatus for emptying sewers or cesspools
-
- E—FIXED CONSTRUCTIONS
- E03—WATER SUPPLY; SEWERAGE
- E03F—SEWERS; CESSPOOLS
- E03F7/00—Other installations or implements for operating sewer systems, e.g. for preventing or indicating stoppage; Emptying cesspools
- E03F7/10—Wheeled apparatus for emptying sewers or cesspools
- E03F7/106—Accessories, e.g. hose support
-
- E—FIXED CONSTRUCTIONS
- E03—WATER SUPPLY; SEWERAGE
- E03F—SEWERS; CESSPOOLS
- E03F7/00—Other installations or implements for operating sewer systems, e.g. for preventing or indicating stoppage; Emptying cesspools
- E03F7/12—Installations enabling inspection personnel to drive along sewer canals
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Hydrology & Water Resources (AREA)
- Public Health (AREA)
- Water Supply & Treatment (AREA)
- Operation Control Of Excavators (AREA)
Abstract
The broken leaf cruise vehicle of intelligent dredging sewer of the invention, mechanical arm control panel, mechanical arm, camera, water flow detector are installed on intelligent carriage, the mainboard of intelligent carriage is separately connected steering engine, mechanical arm control panel, motor driving plate, camera, water flow detector, the mechanical arm end is equipped with rotating blade mechanism, is controlled by mechanical arm control panel；Water flow detector is used to carry out automatic measurement, display and storage to the water flow of sewer fence mouth；Camera is used to acquire road information；Mechanical arm connects mechanical arm control panel, and mechanical arm control panel receives the instruction of mainboard, and control mechanical arm drives rotating blade lifting and landing, and controls rotating blade high speed rotation and crush the leaf blocked in sewer.Whether the present invention is blocked by water flow detector test sewer, is crushed tamper using the rotating blade on intelligent carriage, is kept water flow more unobstructed, is realized mechanization, the intelligence of the sundries such as rainy day cleaning leaf, has been liberated manpower significantly.
Description
Technical field
The present invention relates to a kind of intelligent carriage, specifically a kind of cruise vehicle for the broken leaf of intelligent dredging sewer.
Background technique
In rainstorm weather, many area surface gathered waters are serious, if sewer is blocked by sundries such as leaves, by aggravation road surface product
Water seriously affects traffic condition and passerby's safety.Manpower dredging is time-consuming and laborious, and rainstorm weather bad environments, is unfavorable for people
Work cleaning.Furthermore dredging sewer cleaning work environment is poor, and working efficiency is low, it has been difficult to it and has set up special work hilllock
Position, therefore the demand of the field mechanization is very urgent.
Summary of the invention
The purpose of the present invention is overcoming the deficiencies in the prior art, a kind of broken leaf cruise of intelligent dredging sewer is provided
Vehicle provides equipment for the daily dredging of sewer of rainwater more regions.
According to technical solution provided by the invention, the broken leaf cruise vehicle of the intelligent dredging sewer, including car body, car body
Front wheels and rear wheels are housed, front-wheel connects steering engine, controls direction of advance by steering engine under chassis；Rear-wheel connects motor and rotary coding
Device, motor and rotary encoder are connect with motor driving plate, and the advance and retrogressing of plate control car body is driven by motor；The car body
On be also equipped with mainboard, mechanical arm control panel, mechanical arm, camera, water flow detector, the mainboard be separately connected steering engine,
Mechanical arm control panel, motor driving plate, camera, water flow detector, the mechanical arm end are equipped with rotating blade mechanism,
Controlled by mechanical arm control panel, water flow detector be used to carry out the water flow of sewer fence mouth automatic measurement, display and
Storage；Camera is used to acquire road information；Mechanical arm connects mechanical arm control panel, and mechanical arm control panel receives the finger of mainboard
It enables, control mechanical arm drives the lifting of rotating blade mechanism and landing, and controls the high speed of the rotating blade in rotating blade mechanism and revolve
Turn the leaf blocked in crushing sewer.
Further, the rotating blade mechanism includes: rotating electric machine, protective cover, rotating blade, shaft, fixes bracket,
The rotating blade is mounted in shaft, and shaft connects rotating electric machine, wherein and intermediate one group of rotating blade is to be fixedly mounted, two
The rotating blade of side is separately connected support bracket fastened lower end, and support bracket fastened upper end is connected and fixed screw, and the fixed screw exists
When sliding in the sliding slot on protective cover, rotating blade is driven to translate on the key of shaft；The protective cover and shaft are mounted on machine
The control terminal of tool arm end, rotating electric machine connects mechanical arm control panel.
Further, the rotating blade is one group of blade that multiple identical blades are constituted.
Further, GPS positioning module and wireless communication module are installed on the car body, connect, passes through with mainboard
The location of the GPS positioning module and wireless communication module acquisition car body, when car body reaches setting sewer fence mouth position
When setting, mainboard issues instruction control mechanical arm and rotating blade works.
Further, when the mechanical arm drives rotating blade to protrude into sewer fence mouth or less to be greater than set depth, rotation
Rotor piece is started to work under the drive of rotating electric machine.
Further, the mainboard is camera power supply, and converts and analyze the traffic information of camera acquisition.
The invention has the advantages that whether blocked by water flow detector test sewer, using being installed on intelligent carriage
Rotating blade tamper is crushed, keep water flow more unobstructed, realize mechanization, the intelligence of the rainy day cleaning sundries such as leaf
Change, has liberated manpower significantly.
Detailed description of the invention
Fig. 1 is system structure schematic diagram of the invention.
Fig. 2 is the mechanical structure schematic diagram of intelligent carriage.
Fig. 3 is mechanical arm and rotating blade structural scheme of mechanism.
Fig. 4 is rotating blade mechanism main view.
Fig. 5 is rotating blade mechanism top view.
Fig. 6 is rotating blade mechanism cross-sectional view.
Specific embodiment
Present invention will be further explained below with reference to the attached drawings and examples.
As shown in figures 1 and 2, chassis of vehicle body 4 of the invention is lower is equipped with front-wheel 2 and rear-wheel 10, and front-wheel 2 connects steering engine 1, by rudder
Machine 1 controls direction of advance；The connection motor 7 of rear-wheel 10 and rotary encoder 7, motor 7 and rotary encoder 7 and motor driving plate 6
Advance and retrogressing that plate 6 controls car body is driven by motor in connection；Be also equipped on the car body mainboard 5, mechanical arm control panel 3,
Mechanical arm 11, camera 8, water flow detector 9, the mainboard 5 are separately connected steering engine 1, mechanical arm control panel 3, motor driven
Plate 6, camera 8, water flow detector 9.The mainboard 5 is the power supply of camera 8, and converts and analyze the road that camera 8 acquires
Condition information.
As shown in figure 3,11 end of mechanical arm is equipped with rotating blade mechanism, the rotating electric machine 12 of rotating blade mechanism
It is controlled by mechanical arm control panel 3, and then drives rotating blade 14.
Water flow detector 9 is used to carry out automatic measurement, display and storage to the water flow of sewer fence mouth；Camera
8 are used to acquire road information；Mechanical arm 11 connects mechanical arm control panel 3, and mechanical arm control panel 3 receives the instruction of mainboard 5, control
Mechanical arm 11 drives the lifting of rotating blade mechanism and landing, and controls the 14 high speed rotation powder of rotating blade in rotating blade mechanism
The leaf blocked in broken sewer.All information processing, conversion and intelligent controls are carried out by the program in input mainboard 5
Control.The core of mainboard 5 is microcontroller.
As shown in figures 4-6, the rotating blade mechanism includes: rotating electric machine 12, protective cover 13, rotating blade 14, shaft
17, fixed bracket 18, the rotating blade 14 are mounted in shaft 17, and shaft 17 connects rotating electric machine 12, wherein one group intermediate
Rotating blade 14 is to be fixedly mounted, and the rotating blade 14 of two sides is separately connected the lower end of fixed bracket 18, fixes the upper of bracket 18
End is connected and fixed screw 15.
Sliding slot 16 is provided in protective cover 13, the fixed screw 15 can slide in sliding slot 16 manually, drive rotation
Blade 14 translates on the key of shaft 17.The structure of fixed screw 15, fixed bracket 18 and sliding slot 16 is for adjusting rotating blade
Spacing between 14 after regulating spacing, tightens fixed screw 15, the position of rotating blade 14 is fixed.
The protective cover 13 and shaft 17 are mounted on 11 end of mechanical arm, and the control terminal of rotating electric machine 12 connects mechanical arm control
Making sheet 3.Protective cover 13 is installed above rotating blade 14, foreign matter in blade and work can be protected to splash, ensured passing
Pedestrains safety.
As shown in fig. 6, the rotating blade 14 is one group of blade that multiple identical blades are constituted, for crushing leaf.
As shown in Figure 1, being equipped with GPS positioning module and wireless communication module (such as GPRS) on car body, connect with mainboard 5
It connects, the location of car body is acquired by the GPS positioning module and wireless communication module, when car body reaches setting sewer grating
When column mouth position, mainboard 5 issues instruction control mechanical arm 11 and rotating blade 14 works.
It causes to damage to prevent rotating blade 14 from getting to fence, the mechanical arm 11 drives rotating blade 14 to protrude into sewer
When being greater than set depth below fence mouth, rotating blade 14 is started to work again, and specific depth can carry out people according to working environment
For setting, a working depth range may also set up according to the practical structures of sewer mouth.
For the present invention using intelligent carriage as carrier, the part of driving trolley traveling is referred to as drive system in Fig. 1.The broken leaf
Its front-wheel 2 of vehicle cruise by the control trolley direction of advance of steering engine 1, rear-wheel 10 is driven by motor 7, is passed through motor 7 and is driven rear-wheel
10 provide the power to advance to trolley, and rotary encoder 7 feeds back travel speed, and car top installs camera 8, for acquiring
Road information feeds back to mainboard 5, controls 1 duty ratio of steering engine by mainboard 5 and adjusts steering angle, changes trolley direction of travel, Yi Jifa
Send instruction to motor driving plate 6.
The present invention detects the water flow velocity of sewer by water flow detector 9 on intelligent vehicle, judge sewer whether by
The blocking of the sundries such as leaf, feedback information is to mainboard 5.If current sewer is not blocked, continue to travel；If blocking,
Using the rotating blade on intelligent vehicle mechanical arm by crushings such as leaves, until sewer is dredged, then along fixed route
It travels to next sewer mouth.
The course of work of the embodiment of the present invention is as follows:
Intelligent carriage navigates to the job site for needing to crush leaf by GPS positioning module, and acquires road by camera 8
Information, the road information that will test feed back to mainboard 5.Mainboard 5 sends instructions to motor driving plate 6 and controls trolley advance, when
Moving of car to setting sewer fence mouth at, stop driving motor 7, water flow detector 9 to water flow carry out automatic measurement,
Display and storage, and mainboard 5 is sent information to, mainboard 5 analyzes water flow size by program, judges at sewer fence mouth
Whether it is blocked, and then decides whether processing leaf.If a determination be made that being blocked, then controls mechanical arm and start work
Make, by reducing mechanical arm 11, so that rotating blade 14 is protruded into sewer fence set depth (such as 2~4cm or so), then pass through
It powers to rotating electric machine 12, rotating electric machine 12 drives 14 high speed rotation of rotating blade to crush leaf, setting time by shaft 17
(such as 5~10 seconds) rotating blade 14 stops rotating afterwards, and mechanical arm 11 stops working when being raised to original position, so far primary broken leaf mistake
Journey terminates.Judge that whether there is or not blockings for sewer again, if still blocked, second of broken leaf process is carried out, if it is determined that not having
Blocking, then trolley is travelled along fixed route to next sewer mouth, repeats above content.Mainboard 5 can also pass through wireless telecommunications
Module carries out data transmission, and transmits information to background server.
Structure of the invention and control logic are simple, and manufacturing cost is low, save manpower, can be effectively improved rainstorm weather feelings
Road ponding situation under condition.
Claims (6)
- Vehicle, including car body 1. the intelligent broken leaf of dredging sewer cruises, are equipped with front-wheel (2) and rear-wheel (10) under chassis of vehicle body (4), preceding (2) connection steering engine (1) is taken turns, direction of advance is controlled by steering engine (1)；Rear-wheel (10) connects motor (7) and rotary encoder (7), electricity Machine (7) and rotary encoder (7) are connect with motor driving plate (6), and the advance and retrogressing of plate (6) control car body is driven by motor； It is characterized in that being also equipped with mainboard (5), mechanical arm control panel (3), mechanical arm (11), camera (8), water flow on the car body It measures detector (9), the mainboard (5) is separately connected steering engine (1), mechanical arm control panel (3), motor driving plate (6), camera (8), water flow detector (9), mechanical arm (11) end are equipped with rotating blade mechanism, are controlled by mechanical arm control panel (3) System, water flow detector (9) are used to carry out automatic measurement, display and storage to the water flow of sewer fence mouth；Camera (8) For acquiring road information；Mechanical arm (11) connects mechanical arm control panel (3), and mechanical arm control panel (3) receives the finger of mainboard (5) It enables, control mechanical arm (11) drives the lifting of rotating blade mechanism and landing, and controls the rotating blade in rotating blade mechanism (14) high speed rotation crushes the leaf blocked in sewer.
- The vehicle 2. the broken leaf of intelligence dredging sewer as described in claim 1 cruises, characterized in that rotating blade mechanism packet It includes: rotating electric machine (12), protective cover (13), rotating blade (14), shaft (17), fixed bracket (18), the rotating blade (14) it is mounted on shaft (17), shaft (17) connects rotating electric machine (12), wherein intermediate one group of rotating blade (14) is to fix Installation, the rotating blade (14) of two sides are separately connected the lower end of fixed bracket (18), and the upper end of fixed bracket (18) is connected and fixed Screw (15), the fixed screw (15) when sliding, drive rotating blade (14) to exist in the sliding slot (16) on protective cover (13) It is translated on the key of shaft (17)；The protective cover (13) and shaft (17) are mounted on mechanical arm (11) end, rotating electric machine (12) Control terminal connect mechanical arm control panel (3).
- The vehicle 3. the broken leaf of intelligence dredging sewer as claimed in claim 2 cruises, characterized in that the rotating blade (14) is more One group of blade that a identical blade is constituted.
- The vehicle 4. the broken leaf of intelligence dredging sewer as described in claim 1 cruises, characterized in that be equipped with GPS on the car body Locating module and wireless communication module are connect with mainboard (5), are acquired by the GPS positioning module and wireless communication module The location of car body, when car body reaches setting sewer fence mouth position, mainboard (5) issues instruction control mechanical arm (11) It works with rotating blade (14).
- The vehicle 5. the broken leaf of intelligence dredging sewer as described in claim 1 or 4 cruises, characterized in that mechanical arm (11) band When dynamic rotating blade (14) protrude into sewer fence mouth or less and are greater than set depth, rotating blade (14) is started to work.
- The vehicle 6. the broken leaf of intelligence dredging sewer as described in claim 1 cruises, characterized in that the mainboard (5) is camera (8) it powers, and converts and analyze the traffic information of camera (8) acquisition.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811276978.5A CN109183973A (en) | 2018-10-30 | 2018-10-30 | The intelligent broken leaf cruise vehicle of dredging sewer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811276978.5A CN109183973A (en) | 2018-10-30 | 2018-10-30 | The intelligent broken leaf cruise vehicle of dredging sewer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109183973A true CN109183973A (en) | 2019-01-11 |
Family
ID=64940625
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811276978.5A Pending CN109183973A (en) | 2018-10-30 | 2018-10-30 | The intelligent broken leaf cruise vehicle of dredging sewer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109183973A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110534009A (en) * | 2019-09-05 | 2019-12-03 | 北京青橙创客教育科技有限公司 | A kind of unmanned course teaching aid of artificial intelligence |
| CN112878476A (en) * | 2021-01-12 | 2021-06-01 | 华中科技大学 | Pipeline cleaning method |
| CN113216372A (en) * | 2020-07-22 | 2021-08-06 | 郭紫怡 | Use method of road sewer dredging device |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100866028B1 (en) * | 2008-01-21 | 2008-10-30 | 이원규 | Dredging machine for sludge disposal of underdrain box |
| CN203821582U (en) * | 2013-12-07 | 2014-09-10 | 张冬 | Intelligent sewer cleaning vehicle |
| CN205148643U (en) * | 2015-11-23 | 2016-04-13 | 无锡荣能半导体材料有限公司 | Silicon rod cutting machine |
| CN205277387U (en) * | 2015-12-15 | 2016-06-01 | 闫鹏 | Prevent stifledly glib based on detect oil flow |
| CN107227791A (en) * | 2017-07-13 | 2017-10-03 | 福建（泉州）哈工大工程技术研究院 | A kind of dredging robot and its application method |
| CN207309951U (en) * | 2017-06-30 | 2018-05-04 | 南京信息工程大学 | A kind of intelligent ball collecting robot |
-
2018
- 2018-10-30 CN CN201811276978.5A patent/CN109183973A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100866028B1 (en) * | 2008-01-21 | 2008-10-30 | 이원규 | Dredging machine for sludge disposal of underdrain box |
| CN203821582U (en) * | 2013-12-07 | 2014-09-10 | 张冬 | Intelligent sewer cleaning vehicle |
| CN205148643U (en) * | 2015-11-23 | 2016-04-13 | 无锡荣能半导体材料有限公司 | Silicon rod cutting machine |
| CN205277387U (en) * | 2015-12-15 | 2016-06-01 | 闫鹏 | Prevent stifledly glib based on detect oil flow |
| CN207309951U (en) * | 2017-06-30 | 2018-05-04 | 南京信息工程大学 | A kind of intelligent ball collecting robot |
| CN107227791A (en) * | 2017-07-13 | 2017-10-03 | 福建（泉州）哈工大工程技术研究院 | A kind of dredging robot and its application method |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110534009A (en) * | 2019-09-05 | 2019-12-03 | 北京青橙创客教育科技有限公司 | A kind of unmanned course teaching aid of artificial intelligence |
| CN113216372A (en) * | 2020-07-22 | 2021-08-06 | 郭紫怡 | Use method of road sewer dredging device |
| CN112878476A (en) * | 2021-01-12 | 2021-06-01 | 华中科技大学 | Pipeline cleaning method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109183973A (en) | The intelligent broken leaf cruise vehicle of dredging sewer | |
| CN103287429B (en) | A kind of Lane Keeping System and track keep control method | |
| CN106915271B (en) | A kind of intelligent electric bus and its wireless charging platform | |
| CN202656920U (en) | Following illuminating device of vehicle at corners on basis of single chip microcomputer | |
| CN211055032U (en) | Anti-collision system of unmanned road roller | |
| CN105679050A (en) | Intelligent traffic signal lamp control system | |
| CN207529529U (en) | A kind of adjustable road conditions information gathering monitoring device for relieving traffic congestion | |
| CN207885254U (en) | Electric intelligent hedgeclipper | |
| CN101202430A (en) | Remote-control electrodynamic mechanical type line de-icing system | |
| CN104002810A (en) | Beidou satellite navigation positioning vehicle speed limiting system and method | |
| CN202657102U (en) | Automatic control system for travel deviation rectification of dual-drive steering vehicle | |
| CN204821319U (en) | Self -driving car sleet sky adaptive system | |
| CN200943022Y (en) | Tyre type container gantry crane with duplicate supply electricity-receiving mechanism | |
| CN104020764A (en) | Air cushion vehicle navigation and positioning device | |
| CN203433366U (en) | Automatic tracking warning device | |
| CN210086017U (en) | Full-automatic road marking machine | |
| CN206920912U (en) | A kind of control system suitable for culvert desilting creeper truck robot | |
| CN212294476U (en) | Unmanned small-sized sweeping machine | |
| CN201483066U (en) | plate cutter | |
| CN205468961U (en) | Intelligent windscreen wiper | |
| CN111893930A (en) | Unmanned intelligent sweeping machine based on machine vision | |
| CN211787517U (en) | Rotatable road indicator lamp | |
| CN113895426B (en) | Automatic driving and steering system of new energy automobile | |
| CN210712644U (en) | Highway railing avoiding device | |
| CN214028913U (en) | Differential trackless flat carriage |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190111 |
|
| RJ01 | Rejection of invention patent application after publication |