CN113179782B - Lane cleaning equipment for intelligent traffic and working method thereof - Google Patents
Lane cleaning equipment for intelligent traffic and working method thereof Download PDFInfo
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- CN113179782B CN113179782B CN202110414725.5A CN202110414725A CN113179782B CN 113179782 B CN113179782 B CN 113179782B CN 202110414725 A CN202110414725 A CN 202110414725A CN 113179782 B CN113179782 B CN 113179782B
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G3/00—Cutting implements specially adapted for horticultural purposes; Delimbing standing trees
- A01G3/04—Apparatus for trimming hedges, e.g. hedge shears
- A01G3/0426—Machines for pruning vegetation on embankments and road-sides
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G3/00—Cutting implements specially adapted for horticultural purposes; Delimbing standing trees
- A01G3/002—Cutting implements specially adapted for horticultural purposes; Delimbing standing trees for comminuting plant waste
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Abstract
The invention discloses lane cleaning equipment for intelligent traffic and a working method thereof, wherein the lane cleaning equipment comprises a detection mechanism and a cleaning mechanism which are arranged at green belts adjacent to a lane, the detection mechanism comprises a first track part arranged between the outermost boundary line of the lane and the green belts, a first moving part is arranged in the first track part, and a plurality of detection areas and collision detection units are arranged above the first moving part; the cleaning mechanism comprises a cutting device and a second rail component arranged in the green belt, a second moving component is arranged in the second rail component, a telescopic component connected with the second moving component is arranged above the second moving component, and the telescopic component comprises a first telescopic rod body which is longitudinally telescopic, a second telescopic rod body which is transversely telescopic and a rotating device for connecting the first telescopic rod body and the second telescopic rod body; the cutting device is connected with the second telescopic rod body; the detection mechanism and the cleaning mechanism are remotely controlled by the control mechanism, and can automatically detect and remove sundries stretching into the motor vehicle lane.
Description
Technical Field
The invention relates to the field of intelligent traffic, in particular to lane cleaning equipment used in intelligent traffic and a working method thereof.
Background
The center of part of motor vehicle lanes is provided with an isolation belt which is mainly used as a safety facility for isolating bidirectional vehicles, the isolation belt comprises a flower box type isolation fence and a green belt isolation fence besides a fence type isolation fence with a simple structure, the isolation fence can also play the roles of beautifying the environment and purifying the air, but green crops in the isolation fence are close to the motor vehicle lanes, and vehicles running in the motor vehicle lanes are very easy to be scratched by the extending greening effect, such as branches, so that sanitation workers are often required to trim the green crops in the isolation fence, and the trimming is labor-consuming and dangerous. In addition, when part of branches grow, the branches shrink inside crops and are blocked by other branches, the long branches are not sheared, and the subsequent long branches can be ejected out, so that the vehicles are scratched.
Disclosure of Invention
The purpose of the invention is as follows: in order to overcome the defects in the background art, the embodiment of the invention provides lane cleaning equipment for intelligent traffic and a working method thereof, which can effectively solve the problems related to the background art.
The technical scheme is as follows:
a lane cleaning device for smart traffic comprises a detection mechanism and a cleaning mechanism, wherein the detection mechanism and the cleaning mechanism are arranged at green belts adjacent to a lane, the detection mechanism comprises a first rail part arranged between the outermost boundary line of the lane and the green belts, the first rail part extends along the green belts, the extending direction of the first rail part is consistent with the lane direction, the length of the first rail part is equal to that of the green belts, a first moving part is arranged in the first rail part, a cylinder connected with the first moving part is arranged above the first moving part, the cylinder is divided into a plurality of detection areas, and a collision detection unit is arranged in each detection area;
the cleaning mechanism comprises a cutting device and a second rail component arranged in the green belt, the second rail component and the first rail component are parallel and equal in length, a second moving component is arranged in the second rail component, a telescopic component connected with the second moving component is arranged above the second moving component, and the telescopic component comprises a first telescopic rod body which is longitudinally telescopic, a second telescopic rod body which is transversely telescopic and a rotating device for connecting the first telescopic rod body and the second telescopic rod body; the cutting device is connected with the second telescopic rod body;
detection mechanism and clearance mechanism is by control mechanism remote control, control mechanism includes the processing unit, the processing unit is connected with each collision detecting element respectively, collision detecting element is used for detecting each detection area and receives the stress value of barrier and will the stress value sends for the processing unit, control mechanism still includes the drive unit, the drive unit respectively with first moving part, second moving part, the flexible body of rod of first flexible body of rod, second, the flexible body of rod, rotary device and cutting device link to each other, first moving part is used for the drive detection area moves along the greenbelt edge, the second moving part is used for the drive cutting device tracks collision detecting element, the flexible body of rod of first flexible body of rod, second and rotary device are used for adjusting cutting device's cutting position.
In a preferred aspect of the present invention, a third rail member is provided on a side surface of the column, a third moving member is provided in the third rail member, the third moving member is provided with an electric jig connected thereto, the third moving member and the electric jig are respectively connected to the driving unit, the third moving member drives the electric jig to follow the collision detecting unit, and the electric jig fixes an obstacle.
In a preferred aspect of the present invention, the column further includes a storage box disposed below the electric clamp, the storage box receiving the cut-off obstacle.
In a preferred aspect of the present invention, the cylinder further includes a crushing device that communicates with the storage box, and the crushing device is connected to the driving unit and crushes and discharges the obstacle in the storage box.
As a preferable mode of the present invention, the column body is provided with a camera device, the camera device is connected to the processing unit and configured to capture an image of an environment around the column body and send the image to the processing unit, the second telescopic rod body is provided with a protective bracket, the protective bracket is connected to the driving unit, and the protective bracket covers the cutting device after being extended.
A lane cleaning method, the method comprising the steps of:
s101: the processing unit outputs a first moving signal to the driving unit, and the driving unit drives the first moving part to move along a first track part;
s102: each collision detection unit detects a stress value in a detection area and sends the stress value to the processing unit;
s103: the processing unit judges whether the received stress value is greater than or equal to a preset stress value;
s104: if yes, the processing unit extracts a collision detection unit of which the sent stress value is greater than or equal to a preset stress value, and controls the first moving part to pause moving;
s105: the processing unit records a first position of the first moving part at the moment, extracts a second position corresponding to the first position on the second track part, outputs a second moving signal to the driving unit, and drives the second moving part to move to the second position;
s106: the processing unit edits working strokes of the first telescopic rod body, the second telescopic rod body and the rotating device according to a detection area where the collision detection unit is located, and outputs a first extension signal to the driving unit, the driving unit drives the first telescopic rod body to extend for a first preset length, the processing unit outputs a second extension signal to the driving unit, the driving unit drives the second telescopic rod body to extend for a second preset length, the processing unit outputs a rotating signal to the driving unit, and the driving unit drives the rotating device to rotate for a preset angle;
s107: the processing unit outputs a cutting signal to the driving unit, and the driving unit drives the cutting device to cut off the obstacle.
As a preferred embodiment of the present invention, before S107, the method further includes:
the processing unit extracts a third position on the column where the detection region is located in S106;
the processing unit outputs a third moving signal to the driving unit, and the driving unit drives a third moving part to move to the position above the third position;
the processing unit outputs a clamping signal to the driving unit, and the driving unit drives the electric clamp to clamp the obstacle.
As a preferred embodiment of the present invention, after S107, the method further includes:
the processing unit outputs a loosening signal to the driving unit, the driving unit drives the electric clamp to loosen the cut-off obstacles, and the obstacles fall into the containing box;
the processing unit outputs a crushing signal to the driving unit, and the driving unit drives the crushing device to start.
As a preferred embodiment of the present invention, S107 further includes:
the camera device shoots an image of the surrounding environment of the cylinder and sends the image to the processing unit;
the processing unit judges whether vehicles and pedestrians exist in a preset range of the cylinder body;
if so, the processing unit outputs a protection signal to the driving unit, the driving unit drives the protective support to extend out, and the protective support covers the cutting device after extending;
after the vehicle or the pedestrian leaves the preset range, the processing unit outputs a retraction signal to the driving unit, and the driving unit drives the protective bracket to retract.
As a preferred embodiment of the present invention, S101 and S105 further include:
when the first moving component is driven to move, the second moving component is synchronously driven to move, and the position of the second moving component on the second track component keeps corresponding to the position of the first moving component on the first track component at any moment.
The invention realizes the following beneficial effects:
1. according to the invention, the detection mechanism is arranged between the lane and the green isolation belt, the first track parts are distributed along the green isolation belt, and the detection area arranged on the column body can cover the space between the edge motor lane and the green isolation belt in the moving process of the first moving part, so that branches (obstacles) of green crops extending into the motor lane are comprehensively detected, and the obstacles are positioned through the position of the detection area; the cleaning mechanism is arranged in the greening isolation belt, the second track part is arranged inside the greening isolation belt, and the cutting device tracks the obstacles through the second moving part, so that greening crops in the isolation belt can be automatically trimmed, missed obstacles can be automatically detected, and motor vehicles are prevented from being scratched.
2. The cleaning mechanism is hidden, and the telescopic component is accommodated in the green isolation belt, so that the appearance structure of the green isolation belt cannot be influenced no matter the cleaning mechanism is in a standby state or a moving state; the cleaning mechanism can only extend out of the green isolation belt after the position of the obstacle is determined and the second moving part reaches the position of the obstacle, so that the aesthetic function of the green isolation belt is not influenced to the maximum extent.
3. According to the invention, the detection areas are distributed on the column body, the electric clamp covers the detection areas through the third track part and the third moving part, when the obstacles are trimmed, the electric clamp is started to clamp the obstacles, and then the cutting device is used for cutting off the obstacles, so that the success rate of cutting off the obstacles with good toughness or elasticity by the cutting device is improved.
4. According to the invention, the storage box and the smashing device are further arranged on the column body, the storage box is positioned below the electric clamp, after the cutting device cuts off the obstacle, the electric clamp releases the obstacle, the cut obstacle falls into the storage box below, the storage box is communicated with the smashing device, the obstacle further falls into the smashing device, the smashing device smashes the obstacle into fragments, and finally the fragments are discharged into the greening isolation belt without generating extra waste.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.
Fig. 1 shows the structure of the detection mechanism.
Fig. 2 shows the structure of the third rail member.
Fig. 3 shows the structure of the storage box and the crushing apparatus.
Fig. 4 shows the structure of the cleaning mechanism.
Fig. 5 shows the structure of the lane cleaning apparatus.
Fig. 6 shows the working state of the protective bracket.
Fig. 7 shows a connection relationship of the processing units.
Fig. 8 shows a method sequence for operating the lane cleaning system.
Fig. 9 shows a flow of the obstacle fixing method.
Fig. 10 shows a flow of the obstacle handling method.
Wherein: the device comprises a first track part-1, a first moving part-2, a column-3, a collision detection unit-4, a cutting device-5, a second track part-6, a second moving part-7, a first telescopic rod-8, a second telescopic rod-9, a rotating device-10, a processing unit-11, a driving unit-12, a third track part-13, a third moving part-14, an electric clamp-15, a storage box-16, a crushing device-17, a camera device-18 and a protective bracket-19.
Detailed Description
Embodiments of the present disclosure are described herein. However, it is to be understood that the following embodiments of the present disclosure are merely examples, and that other embodiments may take many and alternative forms. The figures are not necessarily to scale; some features may be exaggerated or minimized to show details of particular components. Therefore, specific structural and functional details disclosed herein are not to be interpreted as limiting, but merely as a representative basis for teaching one skilled in the art to variously employ the present invention. As one of ordinary skill in the art will appreciate, various features illustrated and described with reference to any one of the figures may be combined with features illustrated in one or more other figures to produce embodiments that are not explicitly illustrated or described. The combination of features shown provides a representative embodiment for typical applications. However, various combinations and modifications of the features consistent with the teachings of the present disclosure may be desired for particular applications or embodiments.
Example one
The embodiment provides lane cleaning equipment for intelligent traffic, which comprises a detection mechanism and a cleaning mechanism, wherein the detection mechanism and the cleaning mechanism are arranged at a green belt adjacent to a lane.
As shown in fig. 1, the detection mechanism includes a first rail member 1 disposed between an outermost boundary line of a lane and a green belt, the first rail member 1 extends along the green belt, an extending direction is consistent with a lane direction, a length of the first rail member 1 is equal to a length of the green belt, a first moving member 2 is disposed in the first rail member 1, a column 3 connected to the first moving member 2 is disposed above the first moving member 2, the column 3 is divided into a plurality of detection areas, and a collision detection unit 4 is disposed in each detection area.
As shown in fig. 4, the cleaning mechanism includes a cutting device 5 and a second rail member 6 disposed in the green belt, the second rail member 6 is parallel to the first rail member 1 and has the same length, a second moving member 7 is disposed in the second rail member 6, a telescopic member connected to the second moving member 7 is disposed above the second moving member 7, and the telescopic member includes a first telescopic rod 8 which is longitudinally telescopic, a second telescopic rod 9 which is transversely telescopic, and a rotating device 10 which connects the first telescopic rod 8 and the second telescopic rod 9; the cutting device 5 is connected with the second telescopic rod body 9.
As shown in fig. 7, the detecting mechanism and the cleaning mechanism are remotely controlled by a control mechanism, the control mechanism includes a processing unit 11, the processing unit 11 is respectively connected to the collision detecting units 4, the collision detecting units 4 are configured to detect a force value of an obstacle in each detection area and send the force value to the processing unit 11, the control mechanism further includes a driving unit 12, the driving unit 12 is respectively connected to the first moving member 2, the second moving member 7, the first telescopic rod 8, the second telescopic rod 9, the rotating device 10 and the cutting device 5, the first moving member 2 is configured to drive the detection area to move along an edge of a green belt, the second moving member 7 is configured to drive the cutting device 5 to track the collision detecting unit 4, and the first telescopic rod 8, the second telescopic rod 9 and the rotating device 10 are configured to adjust a cutting position of the cutting device 5.
As shown in fig. 2, a third rail member 13 is provided on a side surface of the column 3, a third moving member 14 is provided in the third rail member 13, an electric jig 15 connected to the third moving member 14 is provided on the third moving member 14, the third moving member 14 and the electric jig 15 are connected to the driving unit 12, respectively, the third moving member 14 drives the electric jig 15 to follow the collision detecting unit 4, and the electric jig 15 fixes an obstacle.
As shown in fig. 1-3, the column 3 further includes a storage box 16, the storage box 16 is located below the electric clamp 15, and the storage box 16 is used for receiving the cut-off obstacle; the cylinder 3 further includes a crushing device 17, the crushing device 17 communicates with the storage box 16, and the crushing device 17 is connected to the driving unit 12 to crush the obstacle in the storage box 16 and discharge the crushed obstacle.
As shown in fig. 7, a camera 18 is disposed on the column 3, the camera 18 is connected to the processing unit 11, and is configured to capture an image of an environment around the column 3 and send the image to the processing unit 11, as shown in fig. 6, a protective bracket 19 is disposed on the second telescopic rod 9, the protective bracket 19 is connected to the driving unit 12, and the protective bracket 19 covers the cutting device 5 after being extended.
Specifically, the lane cleaning apparatus provided by the present invention includes a first rail member 1, a first moving member 2, a column 3, a collision detection unit 4, a cutting device 5, a second rail member 6, a second moving member 7, a first telescopic rod 8, a second telescopic rod 9, a rotating device 10, a processing unit 11, a driving unit 12, a third rail member 13, a third moving member 14, an electric clamp 15, a storage box 16, a crushing device 17, a camera 18, and a protective bracket 19.
The motor vehicle lane is separated from the green isolation belt by a distance, in the distance, a first track component 1 is arranged, the motor vehicle lane refers to a motor vehicle lane closest to the green isolation belt, and if the motor vehicle lane is separated from the green isolation belt by a longer distance, the first track component 1 is arranged at a position slightly close to the green isolation belt.
The first rail member 1 extends along the green isolation belt, the length of the first rail member 1 is equal to that of the green isolation belt, the first moving member 2 is arranged in the first rail member 1, the first moving member 2 can move in the first rail member 1 in two directions, if the green isolation belt is long, a plurality of first moving members 2 can be arranged on the first rail member 1, the first rail member 1 is divided into a plurality of sections, one first moving member 2 is arranged on each section, and each first moving member 2 only moves in the corresponding part of the first rail member 1.
Set up cylinder 3 on the first movable part 2, the side of this cylinder 3 is provided with a plurality of longitudinal arrangement's detection area, all be provided with a collision detection unit 4 in every detection area, no matter first movable part 2 moves along which direction, all can detect the barrier that stretches out the greenery median, the height-adjustable of this cylinder 3, in this embodiment, the biggest height-adjustable of cylinder 3 reaches the twice of initial height, when the height of this cylinder 3 changes, corresponding detection area's position has also changed, can improve detection area's coverage.
The second track part 6 is pre-buried inside the green isolation belt, when the cleaning mechanism does not work, the cleaning mechanism can be completely retracted inside the green isolation belt, the cleaning mechanism cannot be seen from the outside, the second track part 6 is located in the center of the green isolation belt, the second track part 6 extends along the green isolation belt, the length of the second track part 6 is equal to that of the green isolation belt, a second moving part 7 is arranged in the second track part 6, the second moving part 7 can move in the second track part 6 in a two-way mode, if the length of the green isolation belt is long, a plurality of second moving parts 7 can be arranged on the second track part 6, the second track part 6 is divided into a plurality of sections, each section is provided with one second moving part 7, and each second moving part 7 only moves in a corresponding part of the second track parts 6.
If the length of the green isolation belt is longer, each section of the first track part 1 is provided with a section of the second track part 6 corresponding to the first track part, or the whole section of the second track part 6 corresponds to a plurality of sections of the first track parts 1.
Set up flexible part on the second movable part 7, this flexible part includes a first flexible body of rod 8 at least, a flexible body of rod 9 of second and a rotary device 10, first flexible body of rod 8 and the flexible body of rod 9 of second are connected to this rotary device 10, first flexible body of rod 8 links to each other with second movable part 7, first flexible body of rod 8 can vertically extend or shorten, the flexible body of rod 9 of second can transversely extend or shorten, rotary device 10 can adjust the direction that the flexible body of rod 9 of second extends or shortens, cutting device 5 links to each other with the flexible body of rod 9 of second, first flexible body of rod 8, the flexible body of rod 9 of second and rotary device 10 adjust cutting device 5's position jointly. When the obstacle is not detected, the cutting device 5 is hidden in the greening isolation belt by the first telescopic rod body 8, the second telescopic rod body 9 and the rotating device 10, and the appearance harmony of the greening isolation belt is not imaged.
The number of the first telescopic rod body 8, the second telescopic rod body 9 and the rotating device 10 is adjusted according to the size of the greening isolation belt, and the cutting device 5 can be guaranteed to act on greening crops on the outermost side.
The side of the column 3 is provided with a third rail part 13, the third rail part 13 is arranged longitudinally and faces the motor vehicle lane, a third moving part 14 is arranged in the third rail part 13, the third moving part 14 can move up and down, and an electric clamp 15 is arranged on the third moving part 14, the electric clamp 15 can clamp the obstacle under the driving of the driving unit 12, and plays a role of fixing the obstacle during the operation of the cutting device 5. This electric fixture 15 still can set up to the telescopic body of rod of taking the recess, and this recess is located the top of the body of rod, and when this third moving element 14 upwards moved, the barrier fell into this recess, and when cutting device 5 moved from last to down, this body of rod also can play the fixed action.
The side of the column 3 is also provided with a storage box 16, the top of the storage box 16 is a motor box cover, the motor box cover is connected with the driving unit 12, and when an obstacle is stored, the motor box cover is opened. The containing box 16 is located on the same side as the electric clamp 15 and the detection area, the containing box 16 is located under the electric clamp 15, after the obstacle is cut off by the cutting device 5, the electric clamp 15 releases the cut obstacle, and the obstacle can just fall into the containing box 16 under the obstacle.
The cylinder 3 is internally provided with a smashing device 17, the input end of the smashing device 17 is communicated with the containing box 16, the input end is arranged to be a slope, the barrier can automatically slide into the smashing device 17 from the containing box 16, after the electric box cover is closed, the smashing device 17 processes the barrier to form fragments, the output end of the smashing device 17 leads to an external green isolation belt, and finally the fragments are discharged into the green isolation belt.
The top of this cylinder 3 is provided with camera device 18, and this camera device 18 faces the motor vehicle lane for detect the vehicle position on the motor vehicle lane, be provided with protective bracket 19 on this second telescopic rod body 9, can wrap up cutting device 5 when this protective bracket 19 stretches out.
The bottom of cylinder 3 is a rotatable base, and this base is connected with this drive unit 12, and this base can drive this cylinder 3 and rotate 180 degrees, and when this cylinder 3 rotated 180, this detection area can detect the afforestation crop of another side.
Example two
As shown in fig. 5, 7-8, a lane cleaning method using a lane cleaning apparatus for intelligent traffic according to the first embodiment includes the following steps:
s101: the processing unit 11 outputs a first moving signal to the driving unit 12, and the driving unit 12 drives the first moving member 2 to move along the first track member 1.
S102: each collision detecting unit 4 detects a force receiving value in the detection area and sends the force receiving value to the processing unit 11.
S103: the processing unit 11 determines whether the received force value is greater than or equal to a preset force value.
S104: if so, the processing unit 11 extracts the collision detecting unit 4 of which the sent stress value is greater than or equal to the preset stress value, and controls the first moving member 2 to pause moving.
S105: the processing unit 11 records the first position of the first moving member 2 at this time, and extracts the second position corresponding to the first position on the second track member 6, the processing unit 11 outputs a second moving signal to the driving unit 12, and the driving unit 12 drives the second moving member 7 to move to the second position.
S106: the processing unit 11 edits working strokes of the first telescopic rod 8, the second telescopic rod 9 and the rotating device 10 according to a detection area where the collision detection unit 4 is located, and outputs a first extension signal to the driving unit 12, the driving unit 12 drives the first telescopic rod 8 to extend for a first preset length, the processing unit 11 outputs a second extension signal to the driving unit 12, the driving unit 12 drives the second telescopic rod 9 to extend for a second preset length, the processing unit 11 outputs a rotation signal to the driving unit 12, and the driving unit 12 drives the rotating device 10 to rotate for a preset angle.
S107: the processing unit 11 outputs a cutting signal to the driving unit 12, and the driving unit 12 drives the cutting device 5 to cut the obstacle.
S101 and S105 further include:
when the first moving member 2 is driven to move, the second moving member 7 is synchronously driven to move, and the position of the second moving member 7 on the second track member 6 and the position of the first moving member 2 on the first track member 1 are kept corresponding at any time.
Specifically, the first rail member 1 includes a start point and an end point, and in the initial state, the first moving member 2 is located at the start point position and is ready to move to the end point position.
In S101, two methods for detecting an obstacle are included, one is to manually control the detection mechanism to be activated, and the other is to automatically activate the detection mechanism. In the first method, a background unit is connected with the processing unit 11, a worker sends a detection signal to the processing unit 11 through the background unit, and the cleaning equipment is started immediately; in the second method, the operator sets several test times in the processing unit 11, and the cleaning device is activated immediately each time a test time is reached.
After the cleaning device is started, the processing unit 11 controls the first moving part 2 to start through the driving unit 12, and the first moving part 2 moves from the starting position to the end position of the first track part 1 at a preset speed.
In S102, the detection area on the column 3 can completely cover the space between the vehicle lane and the green isolation belt during the movement of the first moving member 2. When the first moving member 2 is activated, the collision detecting units 4 in the respective detection areas are synchronously activated, the respective collision detecting units 4 transmit the detected force-receiving values to the processing unit 11, the respective collision detecting units 4 have independent numbers, and the processing unit 11 determines the valid detection area, which is the detection area where the collision with the obstacle occurs, from the numbers of the collision detecting units 4.
In S103, if the stress value is zero, it indicates that no obstacle is detected, and if the stress value is slightly larger than zero, it can be regarded as that no obstacle is detected.
During the movement of the first mobile element 2, the processing unit 11 determines whether the received force value is greater than or equal to a preset force value.
In S104, when the force value received by the processing unit 11 is greater than or equal to the preset force value, the processing unit 11 controls the first moving member 2 to suspend the movement through the driving unit 12, and further extracts a detection region, the position of which is known, corresponding to the collision detecting unit 4 that transmitted the force value.
A plurality of detection areas may be extracted at the same time, and the same obstacle may exist in the plurality of detection areas, and the processing unit 11 preferentially processes the uppermost detection area.
In S105, after the first moving member 2 stops moving, the processing unit 11 records the current first position of the first moving member 2, and the first track member 1 and the second track member 6 are equal in length and shape, so that a second position corresponding to the first position exists on the second track member 6, and the position correspondence can be understood as two segments of the first track member 1 into which the first position is divided and two end second track members 6 into which the second position is divided are equal, and the processing unit 11 extracts the second position and controls the second moving member 7 to move to the second position by the driving unit 12.
In S106, after the second moving member 7 carries the cutting device 5 to move to the second position, the processing unit 11 sets the working strokes of the first telescopic rod 8, the second telescopic rod 9 and the rotating device 10 according to the position of the detection area where the obstacle exists and the position of the cutting device 5, where the working strokes include a first preset length of extension of the first telescopic rod 8, a preset angle of the rotating device 10 and a second preset length of extension of the second telescopic rod 9, and the processing unit 11 controls the three to sequentially complete the working strokes through the driving unit 12.
In S107, the position of the detection area is regarded as the position of the obstacle, and when the three devices complete the working strokes, the cutting device 5 is located at the position in front of the detection area, and the processing unit 11 controls the cutting device 5 to cut off the obstacle located in front of the detection area through the driving unit 12.
EXAMPLE III
As shown in fig. 9, before S107, the method further includes:
the processing unit 11 extracts a third position on the column 3 where the detection region is located in S106; the processing unit 11 outputs a third moving signal to the driving unit 12, and the driving unit 12 drives the third moving member 14 to move to above the third position; the processing unit 11 outputs a clamping signal to the driving unit 12, and the driving unit 12 drives the electric clamp 15 to clamp the obstacle.
As shown in fig. 10, after S107, the method further includes:
the processing unit 11 outputs a release signal to the driving unit 12, the driving unit 12 drives the electric clamp 15 to release the cut-off barrier, and the barrier falls into the storage box 16; the processing unit 11 outputs a pulverizing signal to the driving unit 12, and the driving unit 12 drives the pulverizing device 17 to start.
Specifically, when the force value received by the processing unit 11 is greater than or equal to the preset force value, the processing unit 11 extracts a third position of the detection area where the collision detection unit 4 sending the force value is located, where the third position can be regarded as a position of an obstacle, the processing unit 11 controls the third moving member 14 to move above the third position through the driving unit 12, in this embodiment, the third moving member 14 moves to a height of 0.1 meter above the third position, and then the driving unit 12 controls the electric clamp 15 to clamp the obstacle.
The length of the electric clamp 15 is greater than or equal to 0.1 meter, when the electric clamp 15 clamps the obstacles, the cutting device 5 cuts the obstacles again, and when a plurality of obstacles exist at the same time, the electric clamp 15 preferentially clamps the uppermost obstacle.
When an obstacle is cut off, the processing unit 11 controls the electric clamp 15 through the driving unit 12 to release the cut-off obstacle, the obstacle falls down into the containing box 16, if other obstacles exist below the obstacle, the processing unit 11 controls the third moving part 14 and the electric clamp 15 through the driving unit 12 to process the next obstacle, and when the obstacles at the first position are all cut off, the processing unit 11 controls the crushing device 17 through the driving unit 12 to crush the cut-off obstacle into chips, and then the chips are discharged into the greening isolation belt.
Example four
S107 further comprises:
the camera 18 takes an image of the surrounding environment of the column 3 and sends the image to the processing unit 11; the processing unit 11 determines whether there are vehicles and pedestrians in the preset range of the column 3; if yes, the processing unit 11 outputs a protection signal to the driving unit 12, the driving unit 12 drives the protection bracket 19 to extend, and the protection bracket 19 covers the cutting device 5 after extending; after the vehicle or the pedestrian leaves the preset range, the processing unit 11 outputs a retraction signal to the driving unit 12, and the driving unit 12 drives the protective bracket 19 to retract.
Specifically, the top of the column 3 is provided with a camera 18 for monitoring the environment in the motor vehicle lane, in the extending process of the cutting device 5, the processing unit 11 judges whether vehicles or pedestrians exist in a preset range of the column 3 according to images acquired by the camera 18, wherein the preset range refers to a section of the motor vehicle lane which is closest to a green isolation belt and extends 20 meters along the advancing direction of the lane by the midpoint of the column 3, when a vehicle appears in the preset range, it indicates that the vehicle is approaching the column 3, and if the cutting device 5 does not extend completely at this time, the second telescopic rod 9 or the second telescopic rod 9 and the rotating device 10 are controlled to pause to work, and the vehicle continues to work after leaving the preset range; if the cutting device 5 is completely extended at this time, the second telescopic rod body 9 is controlled to be shortened to the original length, then the protective support 19 is controlled to extend, the cutting device 5 can be completely wrapped by the protective support 19, after the vehicle leaves the preset range, the second telescopic rod body 9 is controlled to extend for a second preset length, and then the protective support 19 is controlled to retract.
The above embodiments are merely illustrative of the technical ideas and features of the present invention, and are intended to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the scope of the present invention. All equivalent changes or modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.
Claims (7)
1. The utility model provides a lane cleaning equipment for among wisdom traffic, is including setting up in detection mechanism and the clearance mechanism of the greenbelt department adjacent with the lane, its characterized in that:
the detection mechanism comprises a first track component arranged between the outermost boundary line of the lane and the green belt, the first track component extends along the green belt, the extending direction is consistent with the lane direction, the length of the first track component is equal to that of the green belt, a first moving component is arranged in the first track component, a column body connected with the first moving component is arranged above the first moving component, the column body is divided into a plurality of detection areas, and each detection area is internally provided with a collision detection unit;
the cleaning mechanism comprises a cutting device and a second rail component arranged in the green belt, the second rail component and the first rail component are kept in parallel and are equal in length, a second moving component is arranged in the second rail component, a telescopic component connected with the second moving component is arranged above the second moving component, and the telescopic component comprises a first telescopic rod body which is longitudinally telescopic, a second telescopic rod body which is transversely telescopic and a rotating device for connecting the first telescopic rod body and the second telescopic rod body; the cutting device is connected with the second telescopic rod body;
the detection mechanism and the cleaning mechanism are remotely controlled by a control mechanism, the control mechanism comprises a processing unit, the processing unit is respectively connected with each collision detection unit, the collision detection units are used for detecting the stress value of each detection area on an obstacle and sending the stress value to the processing unit, the control mechanism further comprises a driving unit, the driving unit is respectively connected with the first moving part, the second moving part, the first telescopic rod body, the second telescopic rod body, the rotating device and the cutting device, the first moving part is used for driving the detection area to move along the edge of a green belt, the second moving part is used for driving the cutting device to track the collision detection unit, and the first telescopic rod body, the second telescopic rod body and the rotating device are used for adjusting the cutting position of the cutting device; wherein the barrier is a branch of a green crop extending into the motor vehicle lane; a third rail part is arranged on the side face of the column body, a third moving part is arranged in the third rail part, an electric clamp connected with the third moving part is arranged on the third moving part, the third moving part and the electric clamp are respectively connected with the driving unit, the third moving part is used for driving the electric clamp to track the collision detection unit, and the electric clamp is used for fixing an obstacle;
the lane cleaning method comprises the following steps:
s101: the processing unit outputs a first moving signal to the driving unit, and the driving unit drives the first moving part to move along a first track part;
s102: each collision detection unit detects a stress value in the detection area and sends the stress value to the processing unit;
s103: the processing unit judges whether the received stress value is greater than or equal to a preset stress value;
s104: if yes, the processing unit extracts a collision detection unit of which the sent stress value is greater than or equal to a preset stress value, and controls the first moving part to pause moving;
s105: the processing unit records a first position of the first moving part at the moment, extracts a second position corresponding to the first position on the second track part, outputs a second moving signal to the driving unit, and drives the second moving part to move to the second position;
s106: the processing unit edits working strokes of the first telescopic rod body, the second telescopic rod body and the rotating device according to a detection area where the collision detection unit is located, and outputs a first extension signal to the driving unit, the driving unit drives the first telescopic rod body to extend for a first preset length, the processing unit outputs a second extension signal to the driving unit, the driving unit drives the second telescopic rod body to extend for a second preset length, the processing unit outputs a rotating signal to the driving unit, and the driving unit drives the rotating device to rotate for a preset angle;
s107: the processing unit outputs a cutting signal to the driving unit, and the driving unit drives the cutting device to cut off the obstacle;
before S107, the method further includes: the processing unit extracts a third position on the column where the detection region is located in S106; the processing unit outputs a third moving signal to the driving unit, and the driving unit drives a third moving part to move to the position above the third position; the processing unit outputs a clamping signal to the driving unit, and the driving unit drives the electric clamp to clamp the obstacle.
2. The apparatus for lane cleaning in intelligent traffic according to claim 1, wherein: the cylinder is also internally provided with a containing box, the containing box is positioned below the electric clamp, and the containing box is used for receiving the cut-off obstacles.
3. The apparatus for lane cleaning in intelligent traffic according to claim 2, wherein: the cylinder is also internally provided with a crushing device which is communicated with the containing box, and the crushing device is connected with the driving unit and is used for crushing the obstacles in the containing box and discharging the obstacles.
4. The apparatus for lane cleaning in intelligent traffic according to claim 1, wherein: the cylinder is provided with a camera device, the camera device is connected with the processing unit and used for shooting images of the surrounding environment of the cylinder and sending the images to the processing unit, a protective support is arranged on the second telescopic rod body and connected with the driving unit, and the cutting device is covered after the protective support is extended.
5. A lane cleaning apparatus for use in intelligent traffic according to claim 3, wherein: after S107, further comprising:
the processing unit outputs a loosening signal to the driving unit, the driving unit drives the electric clamp to loosen the cut-off obstacles, and the obstacles fall into the containing box;
the processing unit outputs a crushing signal to the driving unit, and the driving unit drives the crushing device to start.
6. The apparatus for lane cleaning in intelligent traffic according to claim 4, wherein: s107 further comprises:
the camera device shoots an image of the surrounding environment of the cylinder and sends the image to the processing unit;
the processing unit judges whether vehicles and pedestrians exist in a preset range of the cylinder body;
if so, the processing unit outputs a protection signal to the driving unit, the driving unit drives the protective support to extend out, and the protective support covers the cutting device after extending;
after the vehicle or the pedestrian leaves the preset range, the processing unit outputs a retraction signal to the driving unit, and the driving unit drives the protective bracket to retract.
7. The apparatus for lane cleaning in intelligent traffic as claimed in claim 1, wherein: s101 and S105 further include:
when the first moving component is driven to move, the second moving component is synchronously driven to move, and the position of the second moving component on the second track component keeps corresponding to the position of the first moving component on the first track component at any moment.
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| CN202110414725.5A CN113179782B (en) | 2021-04-17 | 2021-04-17 | Lane cleaning equipment for intelligent traffic and working method thereof |
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| CN202110414725.5A CN113179782B (en) | 2021-04-17 | 2021-04-17 | Lane cleaning equipment for intelligent traffic and working method thereof |
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| CN113179782B true CN113179782B (en) | 2022-11-22 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH09298905A (en) * | 1996-05-15 | 1997-11-25 | Kawasaki Giken Kk | Escaping from obstacle in tea field and self-propelled tea field-managing apparatus performing the same |
| CN106416770B (en) * | 2016-08-30 | 2019-11-19 | 江苏泰华消防电气设备有限公司 | A kind of protection tree trimming equipment with track detecting function |
| CN107114129B (en) * | 2017-05-27 | 2020-07-21 | 六安中达信息科技有限公司 | Automatic trimming means of greenbelt |
| CN107182575B (en) * | 2017-06-17 | 2020-08-25 | 南京溧水高新创业投资管理有限公司 | Equipment for pruning trees on green belts on two sides of railway |
| CN108990579A (en) * | 2018-07-04 | 2018-12-14 | 晁保锁 | Automatic high-speed greenbelt conditioning system based on shared data bank |
| CN110874927A (en) * | 2018-08-31 | 2020-03-10 | 百度在线网络技术（北京）有限公司 | Intelligent road side unit |
| CN110316223B (en) * | 2019-07-15 | 2020-09-01 | 南京溧水高新创业投资管理有限公司 | Train running safety protection device running along rail |
| CN110235635B (en) * | 2019-07-26 | 2021-08-06 | 浙江瑞家装饰工程有限公司 | Gardens maintenance trimming means with branch detects function |
| CN111557177B (en) * | 2020-05-15 | 2021-09-21 | 北京林业大学 | Obstacle detection method suitable for intelligent under-forest shrub cutting device |
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