EP0400025B1 - Multipurpose device for cleaning and remote treatment of surfaces, articles and objects situated along the edges of roads - Google Patents

Multipurpose device for cleaning and remote treatment of surfaces, articles and objects situated along the edges of roads Download PDF

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Publication number
EP0400025B1
EP0400025B1 EP19890901571 EP89901571A EP0400025B1 EP 0400025 B1 EP0400025 B1 EP 0400025B1 EP 19890901571 EP19890901571 EP 19890901571 EP 89901571 A EP89901571 A EP 89901571A EP 0400025 B1 EP0400025 B1 EP 0400025B1
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EP
European Patent Office
Prior art keywords
nozzle
suction
cleaning
hydraulic
snow
Prior art date
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Expired - Lifetime
Application number
EP19890901571
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German (de)
French (fr)
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EP0400025A1 (en
Inventor
Philippe Dupourque
Wactaw Grzeszczak
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polynov
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polynov
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
    • B65F3/00—Vehicles particularly adapted for collecting refuse
    • B65F3/02—Vehicles particularly adapted for collecting refuse with means for discharging refuse receptacles thereinto
    • B65F3/0206—Vehicles particularly adapted for collecting refuse with means for discharging refuse receptacles thereinto while the receptacles remain in place or are still attached to their supporting means
    • B65F3/0209—Vehicles particularly adapted for collecting refuse with means for discharging refuse receptacles thereinto while the receptacles remain in place or are still attached to their supporting means using suction
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
    • B65F7/00—Cleaning or disinfecting devices combined with refuse receptacles or refuse vehicles
    • B65F7/005—Devices, mounted on refuse collecting vehicles, for cleaning or disinfecting refuse receptacles
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
    • E01H1/00—Removing undesirable matter from roads or like surfaces, with or without moistening of the surface
    • E01H1/005—Mobile installations, particularly for upkeeping in situ road or railway furniture, for instance road barricades, traffic signs; Mobile installations particularly for upkeeping tunnel walls
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
    • E01H1/00—Removing undesirable matter from roads or like surfaces, with or without moistening of the surface
    • E01H1/08—Pneumatically dislodging or taking-up undesirable matter or small objects; Drying by heat only or by streams of gas; Cleaning by projecting abrasive particles
    • E01H1/0863—Apparatus loosening or removing the dirt by blowing and subsequently dislodging it at least partially by suction ; Combined suction and blowing nozzles
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
    • E01H1/00—Removing undesirable matter from roads or like surfaces, with or without moistening of the surface
    • E01H1/10—Hydraulically loosening or dislodging undesirable matter; Raking or scraping apparatus ; Removing liquids or semi-liquids e.g., absorbing water, sliding-off mud
    • E01H1/101—Hydraulic loosening or dislodging, combined or not with mechanical loosening or dislodging, e.g. road washing machines with brushes or wipers
    • E01H1/103—Hydraulic loosening or dislodging, combined or not with mechanical loosening or dislodging, e.g. road washing machines with brushes or wipers in which the soiled loosening or washing liquid is removed, e.g. by suction
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
    • E01H5/00—Removing snow or ice from roads or like surfaces; Grading or roughening snow or ice
    • E01H5/10—Removing snow or ice from roads or like surfaces; Grading or roughening snow or ice by application of heat for melting snow or ice, whether cleared or not, combined or not with clearing or removing mud or water, e.g. burners for melting in situ, heated clearing instruments; Cleaning snow by blowing or suction only
    • E01H5/106—Clearing snow or ice exclusively by means of rays or streams of gas or steam, or by suction with or without melting
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
    • E01H6/00—Apparatus equipped with, or having provisions for equipping with, both elements for especially removal of refuse or the like and elements for removal of snow or ice

Definitions

  • the present invention relates to a multifunctional device for cleaning and remote treatment of surfaces, articles and objects located at the edge of traffic lanes, this device being intended to be mounted on a mobile base, for example the platform of a mobile or motor vehicle, possibly equipped to clean and treat the traffic lane.
  • An object of the present invention is therefore to provide a multifunctional device for cleaning and treating surfaces allowing the simultaneous use, thanks to a highly robotic system, of all the washing, suction, brushing and other devices.
  • Another object of the present invention is to provide a multifunctional device of the aforementioned type, allowing the coordination of the aforementioned tooling means, while ensuring their adjustment and control by mechanical means associated with electroinformatic means.
  • Yet another object of the present invention is to provide a versatile machine in different fields, for example the cleaning of roadways, gutters, sidewalks, road structures, markets, aisles, roadways and the like, machine which allows at will the spreading of products, such as disinfectants, thinners, snow removal agents, and others as well as the emptying of containers, baskets, watering plants, safety interventions, for example the elimination of oils on the road, as well as the collection of bulky objects.
  • products such as disinfectants, thinners, snow removal agents, and others as well as the emptying of containers, baskets, watering plants, safety interventions, for example the elimination of oils on the road, as well as the collection of bulky objects.
  • Yet another object of the present invention is to provide a cleaning device of the aforementioned type, making it possible to reduce the number of participants in the cleaning operations.
  • the articulation means comprise at least two arms designed to be used simultaneously with interchangeable and complementary tools.
  • the device can include washing means constituted by at least one water pump drawing from a tank and supplying the first tooling means while the first motor means consist of a hydraulic, electric or thermal motor driving the water pump.
  • the suction or blowing means are constituted by at least one turbine associated with a receptacle tank while the second motor means are constituted by a hydraulic, electric or pneumatic motor.
  • the third motor means are constituted by linear and rotary actuators.
  • a hydraulic unit comprising a plurality of pumps actuated either by the vehicle engine or by an auxiliary motor.
  • the device comprises snow-clearing means comprising a suction nozzle mounted at the end of one of said articulation arms and cooperating, to spray the snow sucked, with a turbine or cutter, a rotating or fixed ramp spraying hot water with jet mounted in a tank and an on-board device for melting the snow, and for returning the melted snow with possibly the addition of anti-ice product, an adjustable spreading nozzle mounted at the end a second articulation arm, a ramp or spreading nozzle at the rear or at the front by gravity or under pressure, several drain valves, atmospheric temperature and humidity sensors to define the 'possible use of antifreeze product.
  • snow-clearing means comprising a suction nozzle mounted at the end of one of said articulation arms and cooperating, to spray the snow sucked, with a turbine or cutter, a rotating or fixed ramp spraying hot water with jet mounted in a tank and an on-board device for melting the snow, and for returning the melted snow with possibly the addition of anti-ice product, an adjustable spreading nozzle mounted at
  • a channel cleaning nozzle which is carried by one of the articulation arms and includes a casing connected to a suction sheath, one wall of which is movable with vertical sliding downwards and ends in a shoe intended to come close to or in contact with the surface of the road, said nozzle further comprising ejection ramps on the internal face of its wall and on its external lateral faces.
  • a suction nozzle which comprises a casing, a turbine, proximity sensors, a washing ramp and a hydraulic, electric or pneumatic motor, cooperating with a stem comprising a fixed part on which are pivotally mounted movable wings actuated by closing cylinders as well as blowing ramps, a cover casing, a flap or a basic rake and a locking system, the nozzle and the bow cooperating to allow aspiration of the leaves as they are raked.
  • it comprises at least two arms each consisting of at least two articulated elements movable relative to each other, the elements being pivotally mounted at the free end of the arm element on a parallel axis to the articulation axis of the element on the chassis of the multifunctional device, while the end of the arm element intended to support the tooling means is controlled by a hydraulic, electric or pneumatic jack, mounted perpendicularly to the axis of the multifunctional device arranged on the vehicle platform.
  • At least a first position sensor can be associated with the arm element on the chassis of the multifunctional device in order to generate a first signal defining the angular position of said element, that a second position sensor is associated with the other element arm in order to generate a second signal defining the position of the first element relative to the second element in the same plane, that a third position sensor is associated with the tooling means so as to generate a third signal defining the position of said means d with respect to the first articulation axis and the second pivot axis of the arm elements, and that a fourth position sensor associated with the telescopic actuator allows the detection of the position of the end zone of the tooling means relative to the surface to be cleaned and / or treated.
  • the device according to the invention further comprises a gutter cleaning nozzle, constituted by an envelope of variable shape, for example cylindrical or square, connected to a suction sheath and the internal flank of which moves vertically in a closed slide. or not and ends with a pad for contacting the surface to be cleaned or treated, the ground support system being constituted either by a spring or by a hydraulic, electric or pneumatic jack, while ramps or spouts bundles of water jets are fixed either on the internal flank or on the lateral flanks of the nozzle, sensors located on each side of the nozzle being intended to determine the obstacles to be avoided, for example pedestrians, cars, trees and other gear and objects.
  • a gutter cleaning nozzle constituted by an envelope of variable shape, for example cylindrical or square, connected to a suction sheath and the internal flank of which moves vertically in a closed slide. or not and ends with a pad for contacting the surface to be cleaned or treated
  • the ground support system being constituted either by a spring or by a hydraulic, electric or pneumatic
  • the multifunctional cleaning and / or treatment device consists of a tank 31 a into which a water pump 32 is pumped driven by a hydraulic motor 33 , which feeds a channel nozzle 34 mounted in the end zone of an articulated arm system 16 driven by linear or rotary actuators 17.
  • Each arm 16 consists of two articulated elements 16a and 16b movable relative to one another to the other .
  • the arm element 16 a is pivotally mounted on the device around a first axis 17 a which is vertical and perpendicular to the longitudinal axis of the device.
  • the arm member 16b is pivotally mounted at the end of the arm 16a on a second axis 17b parallel to the first axis 17a.
  • the end of the arm element 16b supports the tooling means which are controlled by a hydraulic or electric jack, vertical telescopic, which is not shown in the drawings and is mounted perpendicular to the longitudinal axis of the chassis of the vehicle, thus allowing the tool to rise as a function of the obstacles encountered as well as the difference in level between the surfaces to be cleaned. Furthermore, an actuator allows rotation of the tooling means around the axis of the telescopic jack in order to maintain said tooling means in angular position.
  • the arm elements 16a and 16b are respectively associated with a first position sensor which produces a first signal defining the angular position of the arm element 16 a and with a second position sensor which produces a second signal defining the position of the arm element 16 b with respect to element 16a and in the same plane as the latter,
  • a third position sensor has also been provided associated with the tooling means and producing a third signal which will define the angular position of said tooling means with respect to the first axis 17 a and to the second axis. 17 b for pivoting the arm 16.
  • a fourth position sensor associated with the telescopic actuator will make it possible to detect the position of the end of the tooling means relative to the surface to be cleaned.
  • the tank 31a can be shaped in different ways, associated or not with a soil recovery tank, on the longitudinal plane or on the vertical plane.
  • the water circuit can be constituted by rigid or flexible pipes associated or not with the suction sheath, supported by the articulated support arms 16 a , 16 b outside or inside.
  • the vehicle's self-washing circuit includes a rotating interior ramp of soil tank 59, a ramp for washing and spreading the product above the ton 60, 61, washing spouts internal to the sheath. suction 62, 63 and an external water intake 64 for a manual lance.
  • One or more water pumps 32 have also been provided according to the pressure and flow control requirements as well as the booms and washing spouts.
  • useful information such as pressures, flow rates and the like will be displayed on the 'screen of a control desk 65 which will allow the operator to intervene directly on an apparatus for adjusting pressures and flow rates; the operator intervenes on the settings through the information system which has the role of regulating the pumps so that the operator's instructions are respected.
  • These checks can also be carried out using previously recorded data. It is also wise to provide a circuit for recovering and filtering the recycled water to allow better autonomy and economy of operation.
  • the sweeping system includes a hydraulic circuit parallel or not to the other functions circuit, with brushes driven by hydraulic, pneumatic motor or electric, while a sensor 66 is provided on the one hand to control the reaction speed as a function of the data recorded and on the other hand a pressure or force sensor for controlling the support of the brush at floor depending on the data recorded and the flexibility of the broom bristles.
  • the suction system of the multifunctional device comprises a hydraulic circuit parallel or not to the circuit of the other functions, the suction turbine 35 being driven by a hydraulic, pneumatic or electric motor 36.
  • This suction turbine 35 creates inside the tank 31 b a vacuum by cyclonic vacuum 67.
  • a vacuum sensor 79 Inside the tank 31 b is mounted a vacuum sensor 79 for evaluating the flow sucked by a suction sheath 29, rigid or flexible, it - even connected to the tank 31 b by rotary joint 68 or any other device.
  • This sheath is mounted on at least one support arm 16, while a pressure or position sensor 44 is provided mounted in the nozzle 34 to evaluate the height of the nozzle relative to the ground.
  • the information transmitted by these sensors is also processed by computer.
  • the compressed air blowing system is identical to that of the suction but with a reverse direction of rotation of the turbine, this system making it possible to unclog the suction sheath 29 or to ensure the spreading of products.
  • the spreading system using the suction circuit with fittings borrowed from the conventional commercial system.
  • the scraping, raking or other mechanical operations system may use either the suction circuit or the sweeping circuit or the washing circuit.
  • the gripping system or portage uses a hydraulic control circuit independent or not.
  • the motor, articulation and tooling means, the actuators and the various sensors are advantageously controlled and coordinated by electroinformatic means comprising a central processing unit associated with specific real-time command and control software, as shown more specifically in figure 3.
  • the central processing unit is composed of a microprocessor 69 connected by a bus 70 to interfaces 71 for the sensors according to f1 and the actuators according to f2, input / output for managing various sensors 72, input / output allowing human-machine dialogue thanks to screen-keyboard type control systems, button box 73, an electronic assembly allowing the management of proximity sensors 74 and two digital controls 75-76 each comprising a robot I interface and II and a power circuit with respective amplification stages 77, 78 for controlling the actuators CI and CII and the arms 16..
  • This arrangement allows the coordinated use of two carrying arms 16, together with the combined use of suction, washing and spreading as well as the simultaneous use of various tools, for example those referenced TI and TII on Figure 3 which from the sensor data according to f3 and f4 receive interfaces of the respective control signals according to f5 and f6 for controlling the tooling means T I and T II .
  • This arrangement also makes it possible to ensure, from programmed or perceived information on the spot, the positioning of the devices relative to the surface to be treated, the speed of advance and fixed or mobile obstacles, the adjustment of the flow rate and the water pressure in relation to the forward speed and the requirements of the operations, the setting of the forward speed or that of the turbine according to the density of the detritus to be collected, the setting the pressure of the brushes on the ground and their speed of rotation, the dosage and mixtures of products and the safety of objects and people.
  • the device of the invention allows cleaning and treatment of surfaces which are difficult to access with the means currently available, for example gutters cluttered by parked cars, narrow sidewalks and / or cluttered sidewalks, the low sides expressways and other places with difficult access, with increased efficiency and safety, as well as in a particularly economical way.
  • the tools to be used will be defined before each mission and loaded onto the machine so that they can be changed quickly and easily on site depending on the tasks to be performed.
  • the drawings illustrate the operation of a mission comprising the simultaneous use of a channel nozzle 34 and a high pressure washing ramp 27.
  • the detail in Figure 4 shows the movements of the arms and tools depending on the obstacles.
  • the nozzle 34 can, depending on the location of the parked cars, be withdrawn on the sidewalk.
  • the washing ramp 27 can be oriented 90 ° to the right and to the left to avoid obstacles, or go up to, for example, 3 meters in height.
  • the position of the 2 tools will be constantly checked with respect to each other so as to adjust the distances or the dosages according to work and safety requirements.
  • the functions of the devices carried can also be coordinated with the front ramp 15.
  • the multifunctional device of the present invention can be adapted as a snow removal device for traffic surfaces and in particular sidewalks, difficult to access especially in bad weather.
  • This device allows snow removal from a surface distant from the mobile base, by suction and recycling of the snow removed, by immediate evacuation or spreading of products against ice.
  • This device intended to be mounted on the multifunctional device of the present invention, comprises a suction nozzle 88 equipped, for spraying snow, either with a turbine 81 or with a cutter 82, with a rotating ramp of spraying hot water with jets 87, mounted in the tank 31b , of an on-board device for heating the water 86, an adjustable water spreading nozzle 80, a rear gravity spreading nozzle 83, a front spreading ramp 15 and a drain valve 89, atmospheric temperature and humidity level 84, 85, being also provided.
  • An essential characteristic of this embodiment is to immediately recycle the snow to ensure complete autonomy of the device which is usually a cleaning machine and, in certain cases, to carry out operations to combat ice.
  • the arm equipped with the nozzle 88 will work either horizontally or vertically depending on the snow conditions.
  • the speed of advance of the vehicle will be adjusted by the computer system according to the flow of snow which will arrive, in the sprayed state in the sheath, and will be melted in the tank by means of the rotating ramp 59 associated with the spout 63 which will send jets of hot water on said snow.
  • the water thus recovered will either be used to wash the roadway with a mixture of anti-ice product, using the front ramp 15 and the rear ramp 83, or returned hot in the gutters via the nozzle 80 which can be oriented to choose the most appropriate place, in mixture with anti-ice products if the atmospheric data perceived by the special sensors 84, 85 connected to the on-board computer, determine the need for it.
  • the flow rate of this nozzle and the pressure will be adjusted so as to eventually expel the sand and snow accumulated in the gutters.
  • the water could be recycled with or without anti-ice product via the rear valve 83 cooperating with the valve 89.
  • the second articulated arm provided with the nozzle 80 could be used for spreading , in finishing, of a product having a powerful anti-ice activity.
  • two specialized tools according to the invention namely the snow removal nozzle 88 and the discharge nozzle 80, it is possible to carry out a snow removal operation in which the snow is immediately recycled, its immediate transformation into water making it possible to return it progressively in the gutters or else use it for washing the roadway and gutters with or without antifreeze product.
  • This recycling ensures, on the one hand, complete autonomy since the snow collected is immediately sent into the gutters, and on the other hand solves the problem of transport and storage of the snow collected.
  • These operations can be implemented in a regulated and coordinated manner using the sensor link 79, 84, 85 - on-board computer 1.
  • a nozzle 34 is used which is guided from the sidewalk and is used to clean the gutters.
  • This nozzle 34 is carried by an articulated arm 16 or any other means allowing it to reach the gutters from the sidewalk.
  • the nozzle proper is made up of an envelope of variable shape, for example cylindrical or square, as required, this envelope being connected to a suction sheath 29 by any suitable system.
  • the side 37 of this nozzle 34, machine side, is movable and moves vertically in a closed or not closed slide 42 while ending with a shoe 38 intended to come into contact with the surface on the street side.
  • the nozzle support system on the ground is done either by spring 43 or by hydraulic, pneumatic or electric actuator.
  • the nozzle 34 distributes bundles of water jets, on the one hand, by the ramps or spouts 45 fixed on its internal flank 37 and, on the other hand, by the ramps or spouts 45 fixed on its lateral flanks. It will be noted that the water jets are opposite to lift the dirt in swirls so as to entrain them towards the top of the nozzle. There are also plans sensors 23 located on each face of the nozzle so as to determine the obstacles to be avoided, for example cars, trees and other objects. In operation, the nozzle is located relative to the surface of the sidewalk, the economic height being adjusted by the on-board computer 1 as a function of the data sent by the pressure sensors 44.
  • the base of the nozzle moves horizontally to cover the channel according to the space left by parked cars, the data being supplied by ultrasonic or other sensors 23.
  • the jets of water under pressure in the opposite direction 49, 50 carry out a pickling with a vortex which drives the detritus up the nozzle to be sucked.
  • the movable inner flank 37 is more particularly shaped to avoid the loss of the speed of the sucked air and to take account of the variation in slope of the street.
  • the invention also relates, as shown in FIGS. 9, 10, 11A-11C, to a device for removing the leaves lying on a surface remote from the movable base, in particular on the sidewalks, during periods of heavy fall, by raking, grinding and vacuuming.
  • This device can be mounted on the multifunctional device of the present invention and cooperate with the various constituent elements of the latter. It advantageously consists of a suction nozzle 51 which can also be used to empty and wash containers and containers 14.
  • This nozzle is provided with a casing 104, a turbine 98, proximity sensors 103, a washing ramp 100 and a hydraulic motor. , electric or pneumatic 99.
  • a stem 92 comprising a fixed part 93 on which are pivotally mounted around the axis 105 of the movable wings 94 actuated by closing cylinders 97.
  • This stem also comprises fan ramps 95, a cover casing 96, a bib or base rake 101 and a locking system 106.
  • these two independent tools namely the nozzle 51 and the bow 92
  • these two independent tools can be used either coupled to allow the leaves to be sucked in as the raking, in the event of a large quantity, for example, or separately the nozzle carrying out suction operations while the bow gathers a sufficient quantity of leaves which are then compacted thanks to the two movable wings 94, the nozzle then coming to suck over the bow, without fixing.
  • the blowing system 95 makes it possible to direct only light detritus towards the nozzle 51, the dense and heavy products remaining on the ground.
  • the multifunctional device makes it possible to carry out, in a combined or non-combined manner, all of the cleaning, clearing, treatment and spreading tasks which currently require the intervention of several machines or the work of successive operations, thanks to the cooperation of a highly robotic system, controlled by electronic data processing means, this arrangement also allowing the use of various specialized tools, interchangeable, usable in battery and simultaneously constituted by the constituent elements following, namely the washing or sprinkling nozzles, isolated or grouped on ramps, fixed or mobile, the suction nozzles, for example those referenced 34, 39, 51, the lapidary brushes or rollers, the rotating discs for spreading, grippers, control systems, for example of the video type, excavation tools, for example rakes, bows, snow plows, mowers, trimmers and others.

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Cleaning In General (AREA)
  • Cleaning By Liquid Or Steam (AREA)
  • Vehicle Cleaning, Maintenance, Repair, Refitting, And Outriggers (AREA)

Abstract

A multipurpose device for cleaning and treating surfaces is designed to be mounted on a mobile base. Said device comprises means for delivering the cleaning or treating agent, for example water (29, 31a, 32), actuated by first driving means (33) and co-operating with a device for filtering or recycling the cleaning or treating agent (30), suction means (31b, 32) driven by second driving means (36), and articulating means (16, 16a, 16b) actuated by third driving means (17) and on which are mounted items of equipment (34) suited to the work to be performed. The various driving means are controlled consecutively or simultaneously by electronic data-processing means.

Description

La présente invention a pour objet un dispositif multifonctionnel de nettoiement et de traitement à distance de surfaces, articles et objets situés en bordure des voies de circulation, ce dispositif étant destiné à être monté sur une base mobile par exemple la plate-forme d'un véhicule mobile ou automobile, éventuellement équipé pour nettoyer et traiter la voie de circulation.The present invention relates to a multifunctional device for cleaning and remote treatment of surfaces, articles and objects located at the edge of traffic lanes, this device being intended to be mounted on a mobile base, for example the platform of a mobile or motor vehicle, possibly equipped to clean and treat the traffic lane.

Les dispositifs de nettoyage de voirie sont déjà connus depuis longtemps. On peut se référer notamment à cet égard à la demande de brevet FR 2584747 dans laquelle est décrit un véhicule pour le nettoyage de la voirie muni d'une rampe d'arrosage montée sur un bras pivotant.Road cleaning devices have been known for a long time. We can refer in particular in this regard to patent application FR 2584747 in which is described a vehicle for cleaning the roads provided with a spray bar mounted on a pivoting arm.

Jusqu'à présent, les différents engins utilisés pour le nettoiement ne donnent pas entièrement satisfaction du fait, d'une part, de leur faible autonomie et, d'autre part, de leur incapacité à nettoyer les endroits encombrés par des articles et engins de type divers. Par exemple, les divers véhicules automobiles et autres qui stationnent sur les chaussées et éventuellement sur les trottoirs empêchent que de tels engins réalisent un nettoiement acceptable des caniveaux. Par ailleurs, il n'existe actuellement pas sur le marché d'engins multifonctionnels pouvant par exemple à la fois réaliser le nettoiement habituel de la voirie, le ramassage des feuilles et l'enlèvement de la neige. En effet, on n'avait pas encore jusqu'à présent maîtrisé les techniques de robotique et de contrôle électroinformatique permettant de mettre au point un dispositif multifonctionnel apte à réaliser toutes les opérations de nettoiement, et ce quelles que soient les données et variations climatiques.Until now, the various machines used for cleaning have not been entirely satisfactory due, on the one hand, to their low autonomy and, on the other hand, to their inability to clean the places cluttered with articles and various type. For example, the various motor vehicles and others which park on the roadways and possibly on the sidewalks prevent such machines from achieving acceptable cleaning of the gutters. Furthermore, there is currently no multifunctional machine on the market which can, for example, carry out the usual cleaning of the roads, the collection of leaves and the removal of snow. Indeed, we had not yet mastered the robotics and electroinformatic control techniques to develop a multifunctional device capable of performing all cleaning operations, whatever the data and climatic variations.

Un objet de la présente invention est donc de réaliser un dispositif multifonctionnel de nettoiement et de traitement des surfaces permettant d'utiliser simultanément grâce à un système hautement robotisé tous les dispositifs de lavage, d'aspiration, de brossage et autres.An object of the present invention is therefore to provide a multifunctional device for cleaning and treating surfaces allowing the simultaneous use, thanks to a highly robotic system, of all the washing, suction, brushing and other devices.

Un autre objet de la présente invention est de réaliser un dispositif multifonctionnel du type précité, permettant la coordination des moyens d'outillage précités, tout en assurant leur réglage et leur contrôle par des moyens mécaniques associés à des moyens électroinformatiques.Another object of the present invention is to provide a multifunctional device of the aforementioned type, allowing the coordination of the aforementioned tooling means, while ensuring their adjustment and control by mechanical means associated with electroinformatic means.

Encore un autre objet de la présente invention est de réaliser un engin polyvalent dans différents domaines, par exemple le nettoiement des chaussées, des caniveaux, des trottoirs, des structures de voiries, des marchés, des bas-côtés, des chaussées et autres, engin qui permette à volonté l'épandage de produits, tels que les désinfectants, les diluants, les agents de déneigement, et autres ainsi que le vidage de containers, de corbeilles, l'arrosage de plantes, les interventions de sécurité, par exemple l'élimination des huiles sur chaussée, ainsi que le ramassage des objets encombrants.Yet another object of the present invention is to provide a versatile machine in different fields, for example the cleaning of roadways, gutters, sidewalks, road structures, markets, aisles, roadways and the like, machine which allows at will the spreading of products, such as disinfectants, thinners, snow removal agents, and others as well as the emptying of containers, baskets, watering plants, safety interventions, for example the elimination of oils on the road, as well as the collection of bulky objects.

Encore un autre objet de la présente invention est de réaliser un dispositif de nettoiement du type précité, permettant de diminuer le nombre d'intervenants dans les opérations de nettoiement.Yet another object of the present invention is to provide a cleaning device of the aforementioned type, making it possible to reduce the number of participants in the cleaning operations.

La présente invention a donc pour objet un dispositif multifonctionnel de nettoiement et de traitement à distance de surfaces, articles et objets situés en bordure des voies de circulation, simultanément ou non avec celles-ci, ce dispositif étant destiné à être monté sur une base mobile, par exemple la plate-forme d'un véhiculé mobile ou automobile, et comportant

  • des moyens d'apport d'un agent de nettoiement ou de traitement et alimentant des premiers moyens d'outillage actionnés par des premiers moyens moteurs;
  • des moyens d'aspiration ou de soufflage entraînés par des seconds moyens moteurs;
  • plusieurs moyens d'articulation actionnés par des troisièmes moyens moteurs et sur lesquels sont montés des seconds moyens d'outillage adaptés au travail désiré;
  • les différents moyens moteurs étant commandés en séquence ou simultanément par des moyens électroniques où sont traitées des données fournies par des moyens capteurs explorant l'environnement des surfaces, articles et objets à nettoyer et/ou à traiter.
The present invention therefore relates to a multifunctional device for cleaning and remote treatment of surfaces, articles and objects located at the edge of traffic lanes, simultaneously or not with these, this device being intended to be mounted on a mobile base , for example the platform of a mobile or automobile vehicle, and comprising
  • means for supplying a cleaning or treatment agent and supplying first tool means actuated by first motor means;
  • suction or blowing means driven by second motor means;
  • several articulation means actuated by third motor means and on which are mounted second tool means adapted to the desired work;
  • the different motor means being controlled in sequence or simultaneously by electronic means which process data supplied by sensor means exploring the environment of surfaces, articles and objects to be cleaned and / or treated.

Avantageusement les moyens d'articulation comprennent au moins deux bras conçus pour être utilisés de manière simultanée avec des outils interchangeables et complémentaires.Advantageously, the articulation means comprise at least two arms designed to be used simultaneously with interchangeable and complementary tools.

Le dispositif peut comprendre des moyens de lavage constitués par au moins une pompe à eau puisant dans une citerne et alimentant les premiers moyens d'outillage tandis que les premiers moyens moteurs sont constitués par un moteur hydraulique, électrique ou thermique entraînant la pompe à eau.The device can include washing means constituted by at least one water pump drawing from a tank and supplying the first tooling means while the first motor means consist of a hydraulic, electric or thermal motor driving the water pump.

De préférence, les moyens d'aspiration ou de soufflage sont constitués par au moins une turbine associée à une cuve réceptacle tandis que les seconds moyens moteurs sont constitués par un moteur hydraulique, électrique ou pneumatique.Preferably, the suction or blowing means are constituted by at least one turbine associated with a receptacle tank while the second motor means are constituted by a hydraulic, electric or pneumatic motor.

De façon avantageuse, les troisièmes moyens moteurs sont constitués par des actionneurs linéaires et rotatifs.Advantageously, the third motor means are constituted by linear and rotary actuators.

De façon préférentielle également est prévue pour l'entraînement des différents moteurs hydrauliques une centrale hydraulique comportant une pluralité de pompes actionnées soit par le moteur du véhicule soit par un moteur auxiliaire.Preferably also is provided for driving the various hydraulic motors a hydraulic unit comprising a plurality of pumps actuated either by the vehicle engine or by an auxiliary motor.

De préférence, le dispositif comprend des moyens de déneigement comprenant une buse d'aspiration montée à l'extrémité de l'un desdits bras d'articulation et coopérant, pour pulvériser la neige aspirée, avec une turbine ou fraise, une rampe tournante ou fixe de pulvérisation d'eau chaude avec jet montée dans une cuve et un appareil embarqué pour la fonte de la neige, et pour renvoyer la neige fondue avec éventuellement une adjonction de produit anti-verglas, une buse d'épandage orientable montée à l'extrémité d'un second bras d'articulation, une rampe ou buse d'épandage à l'arrière ou à l'avant par gravité ou sous pression, plusieurs vannes de vidage, des capteurs atmosphériques de températures et de degré d'humidité pour définir l'éventuelle utilisation de produit antigel.Preferably, the device comprises snow-clearing means comprising a suction nozzle mounted at the end of one of said articulation arms and cooperating, to spray the snow sucked, with a turbine or cutter, a rotating or fixed ramp spraying hot water with jet mounted in a tank and an on-board device for melting the snow, and for returning the melted snow with possibly the addition of anti-ice product, an adjustable spreading nozzle mounted at the end a second articulation arm, a ramp or spreading nozzle at the rear or at the front by gravity or under pressure, several drain valves, atmospheric temperature and humidity sensors to define the 'possible use of antifreeze product.

Il peut comprendre une buse de nettoyage de caniveaux qui est portée par l'un des bras d'articulation et comprend une enveloppe reliée à une gaine d'aspiration dont une paroi est mobile à coulissement vertical vers le bas et se termine par un patin destiné à venir à proximité ou en contact avec la surface de la chaussée, ladite buse comprenant en outre des rampes d'éjection d'eau sur la face interne de sa paroi et sur ses faces latérales externes.It can include a channel cleaning nozzle which is carried by one of the articulation arms and includes a casing connected to a suction sheath, one wall of which is movable with vertical sliding downwards and ends in a shoe intended to come close to or in contact with the surface of the road, said nozzle further comprising ejection ramps on the internal face of its wall and on its external lateral faces.

Egalement encore, il peut comprendre des moyens de ramassage de feuilles mortes comprenant une buse d'aspiration qui comporte un carter, une turbine, des capteurs de proximité, une rampe de lavage et un moteur hydraulique, électrique ou pneumatique, coopérant avec une étrave comportant une partie fixe sur laquelle sont montées pivotantes des ailes mobiles actionnées par des vérins de fermeture ainsi que des rampes soufflantes, un carter de couverture, une bavette ou un râteau de base et un système de verrouillage, la buse et l'étrave coopérant pour permettre l'aspiration des feuilles au fur et à mesure de leur ratissage.Also still, it may comprise means for collecting dead leaves comprising a suction nozzle which comprises a casing, a turbine, proximity sensors, a washing ramp and a hydraulic, electric or pneumatic motor, cooperating with a stem comprising a fixed part on which are pivotally mounted movable wings actuated by closing cylinders as well as blowing ramps, a cover casing, a flap or a basic rake and a locking system, the nozzle and the bow cooperating to allow aspiration of the leaves as they are raked.

De façon avantageuse, il comporte au moins deux bras constitués chacun d'au moins deux éléments articulés mobiles l'un par rapport à l'autre, les éléments étant montés pivotants à l'extrémité libre de l'élément de bras sur un axe parallèle à l'axe d'articulation de l'élément sur le châssis du dispositif multifonctionnel, tandis que l'extrémité de l'élément de bras destiné à supporter les moyens d'outillage est commandée par un vérin hydraulique, électrique ou pneumatique, monté perpendiculairement à l'axe du dispositif multifonctionnel disposé sur la plate-forme de véhicule.Advantageously, it comprises at least two arms each consisting of at least two articulated elements movable relative to each other, the elements being pivotally mounted at the free end of the arm element on a parallel axis to the articulation axis of the element on the chassis of the multifunctional device, while the end of the arm element intended to support the tooling means is controlled by a hydraulic, electric or pneumatic jack, mounted perpendicularly to the axis of the multifunctional device arranged on the vehicle platform.

Au moins un premier capteur de position peut être associé à l'élément de bras sur le châssis du dispositif multifonctionnel afin de générer un premier signal définissant la position angulaire dudit élément, qu'un second capteur de position est associé à l'autre élément de bras afin de générer un second signal définissant la position du premier élément par rapport au second élément dans le même plan, qu'un troisième capteur de position est associé aux moyens d'outillage de façon à générer un troisième signal définissant la position desdits moyens d'outillage par rapport au premier axe d'articulation et au second axe de pivotement des éléments de bras, et qu'un quatrième capteur de position associé à l'actionneur télescopique permet la détection de la position de la zone d'extrémité des moyens d'outillage par rapport à la surface à nettoyer et/ou à traiter.At least a first position sensor can be associated with the arm element on the chassis of the multifunctional device in order to generate a first signal defining the angular position of said element, that a second position sensor is associated with the other element arm in order to generate a second signal defining the position of the first element relative to the second element in the same plane, that a third position sensor is associated with the tooling means so as to generate a third signal defining the position of said means d with respect to the first articulation axis and the second pivot axis of the arm elements, and that a fourth position sensor associated with the telescopic actuator allows the detection of the position of the end zone of the tooling means relative to the surface to be cleaned and / or treated.

Les moyens électroniques peuvent être constitués par une unité centrale de traitement programmée par un logiciel temps réel de commande et de contrôle et comportent:

  • au moins un microprocesseur relié par un bus à des interfaces spécifiques des capteurs et des actionneurs;
  • des entrées/sorties de gestion de capteurs divers;
  • des entrées/sorties permettant le dialogue opérateur/machine par l'intermédiaire de moyens de pupitrage;
  • un ensemble électronique permettant la gestion des capteurs de proximité; et
  • deux commandes numériques comprenant chacune une interface robot et un étage d'amplification de puissance pour la commande des actionneurs (C₁; C₁₁) des deux bras.
The electronic means can be constituted by a central processing unit programmed by real-time command and control software and include:
  • at least one microprocessor connected by a bus to specific interfaces of the sensors and actuators;
  • various sensor management inputs / outputs;
  • inputs / outputs allowing operator / machine dialogue by means of monitoring means;
  • an electronic assembly allowing the management of proximity sensors; and
  • two digital controls each comprising a robot interface and a power amplification stage for controlling the actuators (C₁; C₁₁) of the two arms.

Avantageusement le dispositif selon l'invention comporte en outre une buse de nettoyage de caniveaux, constituée par une enveloppe de forme variable, par exemple cylindrique ou carrée, reliée à une gaine d'aspiration et dont le flanc interne se déplace verticalement dans une glissière fermée ou non et se termine par un patin de mise en contact avec la surface à nettoyer ou à traiter, le système d'appui au sol étant constitué soit par un ressort soit par un vérin hydraulique, électrique ou pneumatique, tandis que des rampes ou becs de faisceaux de jets d'eau sont fixés soit sur le flanc interne soit sur les flancs latéraux de la buse, des capteurs situés de chaque côté de la buse étant destinés à déterminer les obstacles à éviter, par exemple les piétons, les voitures, les arbres et autres engins et objets.Advantageously, the device according to the invention further comprises a gutter cleaning nozzle, constituted by an envelope of variable shape, for example cylindrical or square, connected to a suction sheath and the internal flank of which moves vertically in a closed slide. or not and ends with a pad for contacting the surface to be cleaned or treated, the ground support system being constituted either by a spring or by a hydraulic, electric or pneumatic jack, while ramps or spouts bundles of water jets are fixed either on the internal flank or on the lateral flanks of the nozzle, sensors located on each side of the nozzle being intended to determine the obstacles to be avoided, for example pedestrians, cars, trees and other gear and objects.

D'autres caractéristiques et avantages de la présente invention apparaîtront à la lecture de la description suivante de formes et de modes de réalisation non limitatifs , en référence aux dessins annexés dans lesquels :

  • Fig.1 est une vue latérale du dispositif multifonctionnel de l'invention monté sur la plateforme d'un camion;
  • Fig.2 est une vue de dessus du dispositif de la figure 1;
  • Fig.3 est une vue schématique des moyens électroinformatiques de commande et de contrôle ;
  • Fig.4 est une vue de dessus du dispositif multifonctionnel de l'invention en fonctionnement ;
  • Fig.5 est une vue de face du dispositif multifonctionnel de l'invention pourvu d'une buse d'aspiration ;
  • Fig.6 est une vue de face du dispositif multifonctionnel selon la présente invention, pourvu d'un outil de nettoiement de conteneur;
  • Fig.7 est une vue de dessus du dispositif nettoyeur selon la présente invention pourvu d'un dispositif d'aspiration de la neige ;
  • Figs.8A, 8B et 8C représentent respectivement en coupe, latéralement et de dessus , une buse d'aspiration utilisable avec le dispositif multifonctionnel selon la présente invention;
  • Fig.9 représente un outil de nettoyage de deux conteneurs , du type poubelle mobile , monté sur le dispositif multifonctionnel selon la présente invention;
  • Fig.10 représente un dispositif de prélèvement d'objets à l'intérieur de conteneurs , monté sur le dispositif multifonctionnel de la présente invention;
  • Figs.11A et 11B représentent respectivement en coupe latérale et en vue transversale un dispositif d'enlèvement des feuilles , monté sur le dispositif multifonctionnel selon la présente invention;
  • Fig.11C est une vue en fonctionnement de la forme de réalisation des figures 11A et 11B.
Other characteristics and advantages of the present invention will appear on reading the following description of nonlimiting forms and embodiments, with reference to the appended drawings in which:
  • Fig.1 is a side view of the multifunctional device of the invention mounted on the platform of a truck;
  • Fig.2 is a top view of the device of Figure 1;
  • Fig.3 is a schematic view of the electronic control and monitoring means;
  • Fig.4 is a top view of the multifunctional device of the invention in operation;
  • Fig.5 is a front view of the multifunctional device of the invention provided with a suction nozzle;
  • Fig.6 is a front view of the multifunctional device according to the present invention, provided with a container cleaning tool;
  • Fig.7 is a top view of the cleaning device according to the present invention provided with a snow suction device;
  • Figs.8A, 8B and 8C show respectively in section, laterally and from above, a suction nozzle usable with the multifunctional device according to the present invention;
  • Fig.9 shows a tool for cleaning two containers, of the mobile bin type, mounted on the multifunctional device according to the present invention;
  • Fig.10 shows a device for removing objects from inside containers, mounted on the multifunctional device of the present invention;
  • Figs.11A and 11B show respectively in lateral section and in transverse view a device for removing the sheets, mounted on the multifunctional device according to the present invention;
  • Fig.11C is a view in operation of the embodiment of Figures 11A and 11B.

Dans la forme de réalisation représentée sur les figures 1 et 2, le dispositif multifonctionnel de nettoiement et / ou de traitement selon la présente invention est constitué d'une citerne 31a dans laquelle vient pomper une pompe à eau 32 entraînée par un moteur hydraulique 33 , qui alimente une buse de caniveaux 34 montée dans la zone d'extrémité d'un système de bras articulé 16 entraîné par des actionneurs linéaires ou rotatifs 17. Chaque bras 16 est constitué de deux éléments articulés 16a et 16b mobiles l'un par rapport à l'autre . L'élément de bras 16a est monté pivotant sur le dispositif autour d'un premier axe 17a qui est vertical et perpendiculaire à l'axe longitudinal du dispositif . L'élément de bras 16b est monté pivotant à l'extrémité du bras 16a sur un second axe 17b parallèle au premier axe 17a. L'extrémité de l'élément de bras 16b supporte les moyens d'outillage qui sont commandés par un vérin hydraulique ou électrique , télescopique vertical ,qui n'est pas représenté aux dessins et est monté perpendiculaire à l'axe longitudinal du châssis du véhicule , permettant ainsi une remontée de l'outil en fonction des obstacles rencontrés ainsi que de la différence de niveau entre les surfaces à nettoyer. Par ailleurs, un actionneur permet une rotation des moyens d'outillage autour de l'axe du vérin télescopique afin de maintenir lesdits moyens d'outillage en position angulaire . Les éléments de bras 16a et 16b sont respectivement associés à un premier capteur de position qui produit un premier signal définissant la position angulaire de l'élément de bras 16a et à un deuxième capteur de position qui produit un second signal définissant la position de l'élément de bras 16b par rapport à l'élément 16a et dans le même plan que ce dernier,In the embodiment shown in FIGS. 1 and 2, the multifunctional cleaning and / or treatment device according to the present invention consists of a tank 31 a into which a water pump 32 is pumped driven by a hydraulic motor 33 , which feeds a channel nozzle 34 mounted in the end zone of an articulated arm system 16 driven by linear or rotary actuators 17. Each arm 16 consists of two articulated elements 16a and 16b movable relative to one another to the other . The arm element 16 a is pivotally mounted on the device around a first axis 17 a which is vertical and perpendicular to the longitudinal axis of the device. The arm member 16b is pivotally mounted at the end of the arm 16a on a second axis 17b parallel to the first axis 17a. The end of the arm element 16b supports the tooling means which are controlled by a hydraulic or electric jack, vertical telescopic, which is not shown in the drawings and is mounted perpendicular to the longitudinal axis of the chassis of the vehicle, thus allowing the tool to rise as a function of the obstacles encountered as well as the difference in level between the surfaces to be cleaned. Furthermore, an actuator allows rotation of the tooling means around the axis of the telescopic jack in order to maintain said tooling means in angular position. The arm elements 16a and 16b are respectively associated with a first position sensor which produces a first signal defining the angular position of the arm element 16 a and with a second position sensor which produces a second signal defining the position of the arm element 16 b with respect to element 16a and in the same plane as the latter,

On a également prévu un troisième capteur de position associé aux moyens d'outillage et produisant un troisième signal qui définira la position angulaire desdits moyens d'outillage par rapport au premier axe 17a et au second axe 17b de pivotement du bras 16. En outre, un quatrième capteur de position associé à l'actionneur télescopique permettra la détection de la position de l'extrémité des moyens d'outillage par rapport à la surface à nettoyer.A third position sensor has also been provided associated with the tooling means and producing a third signal which will define the angular position of said tooling means with respect to the first axis 17 a and to the second axis. 17 b for pivoting the arm 16. In addition, a fourth position sensor associated with the telescopic actuator will make it possible to detect the position of the end of the tooling means relative to the surface to be cleaned.

On conçoit que la citerne 31a peut être conformée de différentes manières, associée ou non à une cuve de récupération des souillures , sur le plan longitudinal ou sur le plan vertical . Par ailleurs, le circuit d'eau peut être constitué par des tuyauteries rigides ou souples associées ou non à la gaine d'aspiration, supporté par les bras porteurs articulés 16a, 16b à l'extérieur ou à l'intérieur.It is understood that the tank 31a can be shaped in different ways, associated or not with a soil recovery tank, on the longitudinal plane or on the vertical plane. Furthermore, the water circuit can be constituted by rigid or flexible pipes associated or not with the suction sheath, supported by the articulated support arms 16 a , 16 b outside or inside.

Le circuit d'auto-lavage du véhicule comprend une rampe intérieure tournante de cuve de souillure 59, une rampe de lavage et d'épandage de produit au-dessus de la tonne 60, 61 , des becs de lavage internes à la gaine d'aspiration 62, 63 et une prise d'eau extérieure 64 pour une lance manuelle . On a également prévu une ou plusieurs pompes à eau 32 selon les exigences de réglage de pression et de débit ainsi que les rampes et les becs de lavage .Par ailleurs , les informations utiles telles que les pressions , les débits et autres seront affichées sur l'écran d'un pupitre de contrôle 65 qui permettra à l'opérateur d'intervenir directement sur un appareil de réglage des pressions et des débits ; l'opérateur intervient sur les réglages au travers du système information qui a pour rôle de réguler les pompes afin que les consignes de l'opérateur soient respectées. Ces contrôles pouvant être également réalisés par des données enregistrées au préalable . Il est également judicieux de prévoir un circuit de récupération et de filtrage de l'eau 30 recyclée pour permettre une meilleure autonomie et une économie de fonctionnement .The vehicle's self-washing circuit includes a rotating interior ramp of soil tank 59, a ramp for washing and spreading the product above the ton 60, 61, washing spouts internal to the sheath. suction 62, 63 and an external water intake 64 for a manual lance. One or more water pumps 32 have also been provided according to the pressure and flow control requirements as well as the booms and washing spouts. In addition, useful information such as pressures, flow rates and the like will be displayed on the 'screen of a control desk 65 which will allow the operator to intervene directly on an apparatus for adjusting pressures and flow rates; the operator intervenes on the settings through the information system which has the role of regulating the pumps so that the operator's instructions are respected. These checks can also be carried out using previously recorded data. It is also wise to provide a circuit for recovering and filtering the recycled water to allow better autonomy and economy of operation.

Le système de balayage comprend un circuit hydraulique parallèle ou non au circuit des autres fonctions, avec entraînement des balais par moteur hydraulique , pneumatique ou électrique , tandis qu'est prévu , d'une part, un capteur 66 pour contrôler la vitesse de réaction en fonction des données enregistrées et d'autre part un capteur de pression ou de force pour le contrôle de l'appui du balai au sol en fonction des données enregistrées et de la flexibilité des poils du balai .The sweeping system includes a hydraulic circuit parallel or not to the other functions circuit, with brushes driven by hydraulic, pneumatic motor or electric, while a sensor 66 is provided on the one hand to control the reaction speed as a function of the data recorded and on the other hand a pressure or force sensor for controlling the support of the brush at floor depending on the data recorded and the flexibility of the broom bristles.

Le système d'aspiration du dispositif multifonctionnel selon l'invention comprend un circuit hydraulique parallèle ou non au circuit des autres fonctions ,la turbine d'aspiration 35 étant entraînée par un moteur hydraulique, pneumatique ou électrique 36. Cette turbine d'aspiration 35 crée à l'intérieur de la cuve 31b un vide par dépression cyclonique 67. A l'intérieur de la cuve 31b est monté un capteur de dépression 79 pour évaluer le débit aspiré par une gaine d'aspiration 29, rigide ou souple , elle-même reliée à la cuve 31b par joint tournant 68 ou tout autre dispositif . Cette gaine est montée sur au moins un bras porteur 16, tandis qu'est prévu un capteur de pression ou de position 44 monté dans la buse 34 pour évaluer la hauteur de la buse par rapport au sol.Les informations transmises par ces capteurs sont également traitées par informatique.The suction system of the multifunctional device according to the invention comprises a hydraulic circuit parallel or not to the circuit of the other functions, the suction turbine 35 being driven by a hydraulic, pneumatic or electric motor 36. This suction turbine 35 creates inside the tank 31 b a vacuum by cyclonic vacuum 67. Inside the tank 31 b is mounted a vacuum sensor 79 for evaluating the flow sucked by a suction sheath 29, rigid or flexible, it - even connected to the tank 31 b by rotary joint 68 or any other device. This sheath is mounted on at least one support arm 16, while a pressure or position sensor 44 is provided mounted in the nozzle 34 to evaluate the height of the nozzle relative to the ground. The information transmitted by these sensors is also processed by computer.

Avantageusement, le système de soufflage d'air comprimé est identique à celui de l'aspiration mais avec un sens de rotation inversé de la turbine , ce système permettant de déboucher éventuellement la gaine d'aspiration 29 ou d'assurer l'épandage de produits solides, le système d'épandage utilisant le circuit d'aspiration avec des aménagements empruntés au système classique du commerce . On peut également mettre en oeuvre des moyens de dosage des mélanges et de contrôle des débits en fonction des données préenregistrées dans l'ordinateur et des critères extérieurs constatés par des capteurs , tels que des thermomètres et autres . Par ailleurs, le système de grattage, ratissage ou d'autres opérations mécaniques pourra utiliser soit le circuit d'aspiration soit le circuit de balayage soit le circuit de lavage . Le système de préhension ou de portage utilise un circuit de commande hydraulique indépendant ou non.Advantageously, the compressed air blowing system is identical to that of the suction but with a reverse direction of rotation of the turbine, this system making it possible to unclog the suction sheath 29 or to ensure the spreading of products. solid, the spreading system using the suction circuit with fittings borrowed from the conventional commercial system. It is also possible to use means for dosing the mixtures and for controlling the flow rates as a function of the data prerecorded in the computer and of external criteria observed by sensors, such as thermometers and the like. Furthermore, the scraping, raking or other mechanical operations system may use either the suction circuit or the sweeping circuit or the washing circuit. The gripping system or portage uses a hydraulic control circuit independent or not.

Les moyens moteurs, d'articulation et d'outillage, les actionneurs et les divers capteurs sont avantageusement pilotés et coordonnés par des moyens électroinformatiques comportant une unité centrale de traitement associée à un logiciel spécifique temps réel de commande et de contrôle, comme représenté plus spécifiquement sur la figure 3 . L'unité centrale de traitement est composée d'un microprocesseur 69 relié par un bus 70 à des interfaces 71 pour les capteurs selon f₁ et les actionneurs selon f₂,d'entrée/sortie de gestion de capteurs divers 72 , d'entrée/sortie permettant le dialogue homme-machine grâce à des systèmes de pupitrage de type écran-clavier, boîte à boutons 73, d'un ensemble électronique permettant la gestion des capteurs de proximité 74 et de deux commandes numériques 75-76 comprenant chacune une interface robot I et II et un circuit de puissance avec étages d'amplification respectifs 77, 78 pour la commande des actionneurs CI et CII et des bras 16. . Cet agencement permet l'utilisation coordonnée de deux bras porteurs 16, conjointement avec l'utilisation combinée de l'aspiration, du lavage et de l'épandage ainsi que l'utilisation simultanée d'outils variés, par exemple ceux référencés TI et TII sur la figure 3 qui à partir des données de capteurs selon f3 et f4 reçoivent des interfaces des signaux de commande respectifs selon f5 et f6 pour la commande des moyens d'outillage TI et TII . Cet agencement permet en outre d'assurer à partir d'informations programmées ou perçues sur place le positionnement des appareils par rapport à la surface à traiter , à la vitesse d'avancement et aux obstacles fixes ou mobiles, le réglage du débit et de la pression de l'eau par rapport à la vitesse d'avancement et aux exigences des opérations , le réglage de la vitesse d'avancement ou de celle de la turbine en fonction de la densité des détritus à ramasser , le réglage de la pression des balais au sol et de leur vitesse de rotation, le dosage et les mélanges de produits et la sécurité des objets et des personnes .The motor, articulation and tooling means, the actuators and the various sensors are advantageously controlled and coordinated by electroinformatic means comprising a central processing unit associated with specific real-time command and control software, as shown more specifically in figure 3. The central processing unit is composed of a microprocessor 69 connected by a bus 70 to interfaces 71 for the sensors according to f₁ and the actuators according to f₂, input / output for managing various sensors 72, input / output allowing human-machine dialogue thanks to screen-keyboard type control systems, button box 73, an electronic assembly allowing the management of proximity sensors 74 and two digital controls 75-76 each comprising a robot I interface and II and a power circuit with respective amplification stages 77, 78 for controlling the actuators CI and CII and the arms 16.. This arrangement allows the coordinated use of two carrying arms 16, together with the combined use of suction, washing and spreading as well as the simultaneous use of various tools, for example those referenced TI and TII on Figure 3 which from the sensor data according to f3 and f4 receive interfaces of the respective control signals according to f5 and f6 for controlling the tooling means T I and T II . This arrangement also makes it possible to ensure, from programmed or perceived information on the spot, the positioning of the devices relative to the surface to be treated, the speed of advance and fixed or mobile obstacles, the adjustment of the flow rate and the water pressure in relation to the forward speed and the requirements of the operations, the setting of the forward speed or that of the turbine according to the density of the detritus to be collected, the setting the pressure of the brushes on the ground and their speed of rotation, the dosage and mixtures of products and the safety of objects and people.

On voit donc que le dispositif de l'invention permet le nettoiement et le traitement des surfaces difficilement accessibles avec les moyens actuellement disponibles, par exemple les caniveaux encombrés par les voitures en stationnement , les trottoirs étroits et/ou trottoirs encombrés , les bas côtés des voies express et autres endroits peu aisés d'accès , avec une efficacité et une sécurité accrues , ainsi que d'une manière particulièrement économique .It can therefore be seen that the device of the invention allows cleaning and treatment of surfaces which are difficult to access with the means currently available, for example gutters cluttered by parked cars, narrow sidewalks and / or cluttered sidewalks, the low sides expressways and other places with difficult access, with increased efficiency and safety, as well as in a particularly economical way.

Etant donné que les opérations à traiter seront variées et multiples , les outils à utiliser seront définis avant chaque mission et embarqués sur l'engin de manière à pouvoir être changés facilement et rapidement sur place en fonction des tâches à effectuer .Since the operations to be processed will be varied and multiple, the tools to be used will be defined before each mission and loaded onto the machine so that they can be changed quickly and easily on site depending on the tasks to be performed.

Les dessins illustrent le fonctionnement d'une mission comportant l'utilisation simultanée d'une buse de caniveaux 34 et d'une rampe de lavage haute pression 27.The drawings illustrate the operation of a mission comprising the simultaneous use of a channel nozzle 34 and a high pressure washing ramp 27.

Toutes les autres combinaisons comporteront les mêmes processus de calculs et de réglages .

  • exemples de séquences d'utilisation :
    Figure imgb0001
       A noter que la fonction vidage peut se trouver entre les étapes D et E.
  • départ de l'engin: vérification, de la position des bras (calculateur), de l'ensemble des sécurités.
  • positionnement de l'engin en début d'opération:
  • mise en position manuelle de l'ensemble (bras, outils), initialisation des paramètres de travail.
  • opération en mode automatique avec interventions manuelles ponctuelles.
   rampe de lavage 27 positionnée pour envoi des salissures dans le caniveau,
   buse de caniveau 34 positionnée pour aspiration de détritus logés dans le caniveau et en bordure de trottoir .All other combinations will have the same calculation and adjustment processes.
  • examples of usage sequences:
    Figure imgb0001
    Note that the emptying function can be between steps D and E.
  • departure of the machine: verification, of the position of the arms (computer), of all the safety devices.
  • positioning of the machine at the start of operation:
  • manual positioning of the assembly (arms, tools), initialization of the working parameters.
  • operation in automatic mode with occasional manual interventions.
washing ramp 27 positioned for sending dirt into the gutter,
channel nozzle 34 positioned for suction of litter housed in the channel and at the edge of the sidewalk.

Le détail de la figure 4 indique les mouvements des bras et des outils en fonction des obstacles. La buse 34 peut en fonction de l'emplacement des voitures en stationnement se retirer sur le trottoir.La rampe de lavage 27 peut s'orienter sur 90° à droite et à gauche pour éviter les obstacles , ou remonter jusqu'à par exemple 3 mètres de hauteur. La position des 2 outils sera contrôlée en permanence l'un par rapport à l'autre de manière à régler les distances ou les dosages en fonction des impératifs de travail et de sécurité . Les fonctions des appareils portés pourront également être coordonnées avec la rampe avant 15.The detail in Figure 4 shows the movements of the arms and tools depending on the obstacles. The nozzle 34 can, depending on the location of the parked cars, be withdrawn on the sidewalk. The washing ramp 27 can be oriented 90 ° to the right and to the left to avoid obstacles, or go up to, for example, 3 meters in height. The position of the 2 tools will be constantly checked with respect to each other so as to adjust the distances or the dosages according to work and safety requirements. The functions of the devices carried can also be coordinated with the front ramp 15.

Comme représenté dans la forme de réalisation de la figure 7 , le dispositif multifonctionnel de la présente invention peut être adapté comme dispositif de déneigement des surfaces de circulation et en particulier des trottoirs, difficilement accessibles surtout en cas d'intempéries . Ce dispositif permet le déneigement d'une surface éloignée de la base mobile , par aspiration et recyclage de la neige enlevée , par évacuation immédiate ou épandage de produits contre le verglas . Ce dispositif , destiné à être monté sur le dispositif multifonctionnel de la présente invention, comporte une buse d'aspiration 88 équipée , pour pulvériser la neige , soit d'une turbine 81, soit d'une fraise 82 , d'une rampe tournante de pulvérisation d'eau chaude avec jets 87 , montée dans la cuve 31b , d'un appareil embarqué pour le chauffage de l'eau 86, d'une buse d'épandage d'eau orientable 80, d'une buse d'épandage arrière par gravité 83,d'une rampe d'épandage avant 15 et d'une vanne de vidage 89, des capteurs atmosphériques de température et de degré d'humidité 84, 85, étant également prévus .As shown in the embodiment of Figure 7, the multifunctional device of the present invention can be adapted as a snow removal device for traffic surfaces and in particular sidewalks, difficult to access especially in bad weather. This device allows snow removal from a surface distant from the mobile base, by suction and recycling of the snow removed, by immediate evacuation or spreading of products against ice. This device, intended to be mounted on the multifunctional device of the present invention, comprises a suction nozzle 88 equipped, for spraying snow, either with a turbine 81 or with a cutter 82, with a rotating ramp of spraying hot water with jets 87, mounted in the tank 31b , of an on-board device for heating the water 86, an adjustable water spreading nozzle 80, a rear gravity spreading nozzle 83, a front spreading ramp 15 and a drain valve 89, atmospheric temperature and humidity level 84, 85, being also provided.

Une caractéristique essentielle de ce mode de réalisation est de recycler immédiatement la neige pour assurer une autonomie complète du dispositif qui est habituellement un engin de nettoiement et pour, dans certains cas , procéder à des opérations de lutte contre le verglas . En mode de fonctionnement , après une chute de neige , le bras équipé de la buse 88 travaillera soit horizontalement soit verticalement selon les conditions d'enneigement . La vitesse d'avancement du véhicule sera réglée par le système informatique en fonction du débit de neige qui parviendra, à l'état pulvérisé dans la gaine , et sera fondue dans la cuve au moyen de la rampe tournante 59 associée au bec 63 qui enverra des jets d'eau chaude sur ladite neige . Après filtration, l'eau ainsi récupérée sera soit utilisée pour laver la chaussée avec un mélange de produit anti-verglas, en mettant en oeuvre la rampe avant 15 et la rampe arrière 83 , soit renvoyée chaude dans les caniveaux par l'intermédiaire de la buse 80 qui pourra s'orienter pour choisir l'endroit le plus approprié , en mélange avec des produits anti-verglas si les données atmosphériques perçues par les capteurs spéciaux 84, 85 reliés à l'ordinateur de bord, en déterminent la nécessité . Le débit de cette buse et la pression seront réglés de manière à chasser éventuellement le sable et la neige accumulés dans les caniveaux . En variante , l'eau pourra être recyclée avec ou sans produit anti-verglas par l'intermédiaire de la vanne arrière 83 coopérant avec la vanne 89. Dans ce cas, le second bras articulé muni de la buse 80 pourra servir à l'épandage, en finition, d'un produit présentant une activité puissante anti-verglas . Ainsi , grâce à l'utilisation des deux outils spécialisés selon l'invention, à savoir la buse de déneigement 88 et la buse d'évacuation 80, on peut réaliser une opération de déneigement dans laquelle la neige est immédiatement recyclée, sa transformation immédiate en eau permettant de la renvoyer au fur et à mesure dans les caniveaux ou bien de l'utiliser pour le lavage de la chaussée et des caniveaux avec ou sans produit antigel . Ce recyclage assure, d'une part, une autonomie complète puisque la neige ramassée est aussitôt envoyée dans les caniveaux , et d'autre part résoud le problème de transport et le stockage de la neige ramassée . Ces opérations peuvent être mises en oeuvre de façon réglée et coordonnée grâce à la liaison capteurs 79, 84, 85- calculateur embarqué 1.An essential characteristic of this embodiment is to immediately recycle the snow to ensure complete autonomy of the device which is usually a cleaning machine and, in certain cases, to carry out operations to combat ice. In operating mode, after a snowfall, the arm equipped with the nozzle 88 will work either horizontally or vertically depending on the snow conditions. The speed of advance of the vehicle will be adjusted by the computer system according to the flow of snow which will arrive, in the sprayed state in the sheath, and will be melted in the tank by means of the rotating ramp 59 associated with the spout 63 which will send jets of hot water on said snow. After filtration, the water thus recovered will either be used to wash the roadway with a mixture of anti-ice product, using the front ramp 15 and the rear ramp 83, or returned hot in the gutters via the nozzle 80 which can be oriented to choose the most appropriate place, in mixture with anti-ice products if the atmospheric data perceived by the special sensors 84, 85 connected to the on-board computer, determine the need for it. The flow rate of this nozzle and the pressure will be adjusted so as to eventually expel the sand and snow accumulated in the gutters. Alternatively, the water could be recycled with or without anti-ice product via the rear valve 83 cooperating with the valve 89. In this case, the second articulated arm provided with the nozzle 80 could be used for spreading , in finishing, of a product having a powerful anti-ice activity. So, thanks to the use of two specialized tools according to the invention, namely the snow removal nozzle 88 and the discharge nozzle 80, it is possible to carry out a snow removal operation in which the snow is immediately recycled, its immediate transformation into water making it possible to return it progressively in the gutters or else use it for washing the roadway and gutters with or without antifreeze product. This recycling ensures, on the one hand, complete autonomy since the snow collected is immediately sent into the gutters, and on the other hand solves the problem of transport and storage of the snow collected. These operations can be implemented in a regulated and coordinated manner using the sensor link 79, 84, 85 - on-board computer 1.

Dans un mode particulier d'utilisation du dispositif multifonctionnel selon l'invention comme représenté aux figures 8A-C , on met en oeuvre une buse 34 qui est guidée du trottoir et sert à nettoyer les caniveaux. Cette buse 34 est portée par un bras articulé 16 ou tout autre moyen lui permettant d'atteindre les caniveaux à partir du trottoir . La buse proprement dite est constituée d'une enveloppe de forme variable , par exemple cylindrique ou carrée , selon les besoins, cette enveloppe étant reliée à une gaine d'aspiration 29 par tout système approprié. Le flanc 37 de cette buse 34 , côté engin, est mobile et se déplace verticalement dans une glissière fermée ou non 42 tout en se terminant par un patin 38 destiné à venir au contact de la surface côté rue. Le système d'appui au sol de la buse se fait soit par ressort 43 soit par vérin hydraulique, pneumatique ou électrique . La buse 34 distribue des faisceaux de jets d'eau , d'une part , par les rampes ou becs 45 fixés sur son flanc interne 37 et , d'autre part , par les rampes ou becs 45 fixés sur ses flancs latéraux. On notera que les jets d'eau sont opposés pour soulever en tourbillons les salissures de manière à les entraîner vers le haut de la buse . On prévoit également des capteurs 23 situés sur chaque face de la buse de manière à déterminer les obstacles à éviter , par exemple les voitures , les arbres et autres objets . En fonctionnement la buse se situe par rapport à la surface du trottoir , la hauteur économique étant réglée par le calculateur embarqué 1 en fonction des données envoyées par les capteurs de pression 44. Il est à noter que la base de la buse se déplace horizontalement pour couvrir le caniveau en fonction de la place laissée par les voitures en stationnement, les données étant fournies par des capteurs ultrasons ou autres 23 .Afin de permettre, malgré le décrochement du caniveau et l'éloignement de la base de la buse, un nettoyage efficace , les jets d'eau sous pression en sens opposé 49, 50 effectuent un décapage avec un tourbillon qui entraîne les détritus vers le haut de la buse pour être aspirés . Le flanc intérieur mobile 37 est plus particulièrement conformé pour éviter la perte de la vitesse de l'air aspiré et pour tenir compte de la variation de pente de la rue. Ce système original de décapage par jet d'eau haute pression fonctionnant en sens opposé permet de décaper et soulever les détritus de manière à compenser les dénivellements provoqués par la hauteur du trottoir.In a particular mode of use of the multifunctional device according to the invention as shown in FIGS. 8A-C, a nozzle 34 is used which is guided from the sidewalk and is used to clean the gutters. This nozzle 34 is carried by an articulated arm 16 or any other means allowing it to reach the gutters from the sidewalk. The nozzle proper is made up of an envelope of variable shape, for example cylindrical or square, as required, this envelope being connected to a suction sheath 29 by any suitable system. The side 37 of this nozzle 34, machine side, is movable and moves vertically in a closed or not closed slide 42 while ending with a shoe 38 intended to come into contact with the surface on the street side. The nozzle support system on the ground is done either by spring 43 or by hydraulic, pneumatic or electric actuator. The nozzle 34 distributes bundles of water jets, on the one hand, by the ramps or spouts 45 fixed on its internal flank 37 and, on the other hand, by the ramps or spouts 45 fixed on its lateral flanks. It will be noted that the water jets are opposite to lift the dirt in swirls so as to entrain them towards the top of the nozzle. There are also plans sensors 23 located on each face of the nozzle so as to determine the obstacles to be avoided, for example cars, trees and other objects. In operation, the nozzle is located relative to the surface of the sidewalk, the economic height being adjusted by the on-board computer 1 as a function of the data sent by the pressure sensors 44. It should be noted that the base of the nozzle moves horizontally to cover the channel according to the space left by parked cars, the data being supplied by ultrasonic or other sensors 23. In order to allow, despite the separation of the channel and the distance from the base of the nozzle, effective cleaning , the jets of water under pressure in the opposite direction 49, 50 carry out a pickling with a vortex which drives the detritus up the nozzle to be sucked. The movable inner flank 37 is more particularly shaped to avoid the loss of the speed of the sucked air and to take account of the variation in slope of the street. This original high pressure water jet stripping system working in the opposite direction makes it possible to pickle and lift the detritus so as to compensate for the unevenness caused by the height of the sidewalk.

L'invention concerne également comme représenté sur les figures 9, 10, 11A-11C un dispositif permettant l'enlèvement des feuilles se trouvant sur une surface éloignée de la base mobile , en particulier sur les trottoirs , pendant les périodes de grosse chute , par ratissage , broyage et aspiration. Ce dispositif peut être monté sur le dispositif multifonctionnel de la présente invention et coopérer avec les divers éléments constitutifs de ce dernier . Il est avantageusement constitué d'une buse d'aspiration 51 que l'on peut également utiliser pour vider et laver des récipients et containers 14 . Cette buse est pourvue d'un carter 104, d'une turbine 98 , de capteurs de proximité 103, d'une rampe de lavage 100 et d'un moteur hydraulique , électrique ou pneumatique 99. Elle comporte également une étrave 92 comportant une partie fixe 93 sur laquelle sont montées pivotantes autour de l'axe 105 des ailes mobiles 94 actionnées par des vérins de fermeture 97. Cette étrave comporte également des rampes soufflantes 95 , un carter de couverture 96, une bavette ou un rateau de base 101 et un système de verrouillage 106.The invention also relates, as shown in FIGS. 9, 10, 11A-11C, to a device for removing the leaves lying on a surface remote from the movable base, in particular on the sidewalks, during periods of heavy fall, by raking, grinding and vacuuming. This device can be mounted on the multifunctional device of the present invention and cooperate with the various constituent elements of the latter. It advantageously consists of a suction nozzle 51 which can also be used to empty and wash containers and containers 14. This nozzle is provided with a casing 104, a turbine 98, proximity sensors 103, a washing ramp 100 and a hydraulic motor. , electric or pneumatic 99. It also comprises a stem 92 comprising a fixed part 93 on which are pivotally mounted around the axis 105 of the movable wings 94 actuated by closing cylinders 97. This stem also comprises fan ramps 95, a cover casing 96, a bib or base rake 101 and a locking system 106.

En fonctionnement, ces deux outils indépendants, à savoir la buse 51 et l'étrave 92 peuvent être mis en oeuvre soit accouplées pour permettre l'aspiration des feuilles au fur et à mesure du ratissage, en cas de grosse quantité , par exemple , soit séparément la buse procédant à des opérations d'aspiration tandis que l'étrave regroupe une quantité suffisante de feuilles qui sont alors compactées grâce aux deux ailes mobiles 94, la buse venant alors aspirer par dessus l'étrave, sans fixation. Pour éviter l'aspiration d'objets lourds et encombrants, le système de soufflage 95 permet de diriger vers la buse 51 les seuls détritus légers , les produits denses et lourds restant au sol . Le réglage combiné de l'aspiration, de la pression d'air des rampes et de l'orientation de celle-ci permet de procéder à une certaine sélection des produits à enlever selon leur densité , par exemple les feuilles, la terre et autres , en modulant l'orientation des becs et la puissance d'aspiration par l'intermédiaire de l'ordinateur de bord. Les détritus non aspirés ne sont pas poussés par l'étrave 92 car celle-ci est soit maintenue à une certaine distance du sol soit laissée au contact du sol et dans ce cas , la bavette ou rateau arrière mobile 101 laisse passer les corps denses et lourds 107. Les feuilles ainsi aspirées et déchiquetées peuvent être recyclées par traitement direct avec des produits spéciaux, en mettant en oeuvre des rampes intérieures 59 , ou bien compactées et reconditionnées pour faciliter leur évacuation et leur transport. On notera également que l'apport en aspiration de la turbine 51 et la pulvérisation des déchets permettent d'utiliser , à vitesse de rotation réduite , la turbine principale 35 du dispositif multifonctionnel .In operation, these two independent tools, namely the nozzle 51 and the bow 92, can be used either coupled to allow the leaves to be sucked in as the raking, in the event of a large quantity, for example, or separately the nozzle carrying out suction operations while the bow gathers a sufficient quantity of leaves which are then compacted thanks to the two movable wings 94, the nozzle then coming to suck over the bow, without fixing. To avoid the suction of heavy and bulky objects, the blowing system 95 makes it possible to direct only light detritus towards the nozzle 51, the dense and heavy products remaining on the ground. The combined adjustment of the suction, the air pressure of the ramps and the orientation of this allows a certain selection of the products to be removed according to their density, for example leaves, soil and others, by modulating the orientation of the nozzles and the suction power via the on-board computer. Unwanted detritus is not pushed by the stem 92 because it is either kept at a certain distance from the ground or left in contact with the ground and in this case, the flap or movable rear rake 101 allows dense bodies to pass and heavy 107. The sheets thus sucked and shredded can be recycled by direct treatment with special products, using internal ramps 59, or else compacted and reconditioned to facilitate their evacuation and transport. It will also be noted that the intake of suction from the turbine 51 and the spraying of waste makes it possible to use, at reduced speed, the main turbine 35 of the multifunctional device.

Ainsi, le dispositif multifonctionnel selon la présente invention , permet d'effectuer d'une manière combinée ou non, toutes les tâches de nettoiement , de déblaiement , de traitement et d'épandage qui nécessitent actuellement l'intervention de plusieurs engins ou la mise en oeuvre d'opérations successives , et ce grâce à la coopération d'un système hautement robotisé ,piloté par des moyens électroinformatiques , cet agencement permettant également l'utilisation d'outils spécialisés variés, interchangeables , utilisables en batterie et simultanément constitués par les éléments constitutifs suivants , à savoir les becs de lavage ou d'arrosage , isolés ou groupés sur des rampes , fixes ou mobiles , les buses d'aspiration, par exemple celles référencées 34, 39, 51, les balais lapidaires ou rouleaux , les disques tournants pour épandage, les pinces de préhension, les systèmes de contrôle par exemple du type vidéo , les outils de déblaiement , par exemple les rateaux, les étraves , les chasses-neiges , les tondeuses , les tailleuses et autres .Ces différents moyens de guidage peuvent grâce à la présente invention être associés au cours d'une opération, alors que jusqu'à présent il fallait mettre en oeuvre des porteurs autonomes et spécialisés . Une caractéristique essentielle de la présente invention permet, grâce à la multiplicité des fonctions et à l'utilisation en batterie d'au moins deux bras articulés coordonnés par un système informatique embarqué , d'associer tous les outils nécessaires à des opérations complexes .Thus, the multifunctional device according to the present invention makes it possible to carry out, in a combined or non-combined manner, all of the cleaning, clearing, treatment and spreading tasks which currently require the intervention of several machines or the work of successive operations, thanks to the cooperation of a highly robotic system, controlled by electronic data processing means, this arrangement also allowing the use of various specialized tools, interchangeable, usable in battery and simultaneously constituted by the constituent elements following, namely the washing or sprinkling nozzles, isolated or grouped on ramps, fixed or mobile, the suction nozzles, for example those referenced 34, 39, 51, the lapidary brushes or rollers, the rotating discs for spreading, grippers, control systems, for example of the video type, excavation tools, for example rakes, bows, snow plows, mowers, trimmers and others. These different guiding means can thanks to the present invention be associated during an operation, whereas until now it was necessary to implement autonomous and specialized carriers. An essential characteristic of the present invention allows, thanks to the multiplicity of functions and the use in battery of at least two articulated arms coordinated by an on-board computer system, to associate all the tools necessary for complex operations.

Il est clair que la présente invention n'est nullement limitée aux formes et modes de réalisation décrits ci-dessus , mais qu'elle englobe toutes les modifications et variantes issues du même principe d'établissement défini par les revendications annexées. C'est ainsi que les dispositifs peuvent être placés sur toute base mobile , que des bras peuvent être en nombre supérieurs à deux et être orientables dans tout l'espace pour traiter des surfaces verticales et des plafonds selon les mêmes principes . En outre , d'autres outils peuvent être adaptés à toute situation, en fonction des problèmes spécifiques à résoudre, tandis que le degré d'automatisation peut évoluer en fonction des progrès de la robotique , de la technologie des capteurs et de la définition des normes de sécurité .Il est clair que les outils fixés aux bras articulés sont également complémentaires, grâce au système informatique, des autres outils fixés par ailleurs sur le transporteur.It is clear that the present invention is in no way limited to the forms and embodiments described above, but that it encompasses all the modifications and variants resulting from the same principle of establishment defined by the appended claims. This is as well as the devices can be placed on any mobile base, that arms can be more than two in number and be orientable throughout the space for treating vertical surfaces and ceilings according to the same principles. In addition, other tools can be adapted to any situation, depending on the specific problems to be solved, while the degree of automation can evolve according to advances in robotics, sensor technology and the definition of standards. It is clear that the tools attached to the articulated arms are also complementary, thanks to the computer system, to the other tools also attached to the conveyor.

Claims (13)

  1. Multipurpose device for the remote cleaning and treatment of surfaces, articles and objects located at the edge of roads, simultaneously or not with the roads; this device being intended to be mounted on a movable base, for example the platform of a mobile vehicle or motor vehicle, and comprising:
    - means for supplying a cleaning or treatment agent and feeding first implement means (29, 31a, 32) actuated by first drive moans (33);
    - articulation means actuated by second drive means (17) on which are mounted second implement means (27, 34, 39, 51, 80, 98) designed for the particular work;
    - the second drive means being controlled in sequence or simultaneously by electronic means (69, 70, 71, 72, 73) where data supplied by sensor means (23, 44) exploring the environment of the surfaces, articles and objects to be cleaned and/or treated are processed, characterized in that it further comprises :
    - means for suction or blowing (31b, 35) driven by third drive means (36);
    - a plurality of articulation means (16, 16a, 16b) which are actuated by said second drive means (17) and in that
    - all the drive means (33, 17, 36) are controlled by electronic moans (69, 70, 71, 72, 73).
  2. Device according to claim 1, characterized in that the articulation means comprise at least two arms (16) designed to be used simultaneously with interchangeable and complementary implements.
  3. Device according to claim 1 or 2, characterized in that it comprises washing means consisting of at least one water pump (32) drawing from a tank (31a) and feeding the first implement means, whilst the first drive means consist of a hydraulic, electric, or thermal motor (33), driving the water pump (32).
  4. Device according to claim 1, characterized in that the suction or blowing means consist of at least one turbine (35) associated with a receiver vessel (31b), whilst the third drive means consist of a hydraulic (36), electric or pneumatic motor.
  5. Device according to claim 1, characterized in that the second drive means consist of linear and rotary actuators (17).
  6. Device according to any one of claims 1 to 5, characterized in that for driving the various hydraulic motors there is a central hydraulic unit comprising a plurality of pumps actuated either by the engine of the vehicle or by an auxiliary motor.
  7. Device according to one of claims 2 to 6, characterised in that it comprises snow-removing means comprising a suction nozzle (88) mounted at the end of one of said articulated arms and, for pulverizing the sucked-up snow, interacting with a turbine (81) or cutter (82), a rotary or fixed hot-water spray boom with jet (87) mounted in a vessel (31b), and an on-board device (86) for melting the snow and for returning the melted snow, if appropriate with the addition of a de-icing product, a directional spreading nozzle (80) mounted at the end of a second articulated arm, a boom or nozzle for spreading at the rear (83) or at the front (15) by gravity or under pressure, a plurality of emptying valves (89), and atmospheric temperature and moisture sensors for defining the possible use of an anti-freeze product (84 and 85).
  8. A device according to one of claims 2 to 7, characterised in that it comprises a gutter-cleaning nozzle (34) which is carried by one of the articulated arms (16) and which comprises a casing which is connected to a suction sleeve (29) and one wall of which slides vertically downward and terminates in a block (38) intended to come near to or in contact with the road surface, said nozzle (34) comprising, furthermore, water ejection racks (45, 48) on the inner face of its wall (37) and on its outer lateral faces.
  9. Device according to one of claims 2 to 8, characterized in that it comprises means for collecting dead leaves, comprising a suction nozzle (51) which has a housing (104), a turbine (98), proximity sensors (103), a washing boom (100) and a hydraulic, electric or pneumatic motor (99), interacting with a bow piece (92) comprising a fixed part (93), on which are mounted pivotably movable wings (94) actuated by closing jacks (97), and blowing racks (95), a covering housing (96), a base flap or rake (101) and a locking system (106), the nozzle (51) and the bow piece (92) interacting to allow the suction of the leaves as they are scraped up.
  10. Device according to any one of claims 1 to 9, characterized in that it comprises at least two arms (16), each consisting of at least two articulated elements (16a, 16b) movable relative to one another, the elements (16b) being mounted pivotably at the free end of the arm element (16a) on an axle (17b) parallel to the pivot axle (17a) of the element (16a) on the chassis of the multipurpose device, whilst the end of the arm element (16b) intended for supporting the implement means is controlled by the hydraulic, electrical or pneumatic jack mounted perpendicularly relative to the axis of the multipurpose device arranged on the vehicle platform.
  11. Device according to claim 10, characterized in that at least one first position sensor is associated with the arm element (16a) on the chassis of the multipurpose device in order to generate a first signal defining the angular position of said element, in that a second position sensor is associated with the other arm element (16b) in order to generate a second signal defining the position of the first element (16a) in relation to the second element (16b) in the same plane, in that a third position sensor is associated with the implement means so as to generate a third signal defining the position of said implement means in relation to the first pivot axis (17a) and the second pivot axis (17b) of the arm elements (16a, 16b), and in that a fourth position sensor associated with the telescopic actuator makes it possible to detect the position of the end zone of the implement means in relation to the surface to be cleaned and/or to be treated.
  12. Multipurpose device according to one of the preceding claims, characterized in that the electronic means consist of a central processing unit programmed by real-time command and control software and comprise:
    - at least one microprocessor (69) connected by a bus (70) to specific interfaces (71) of the sensors and actuators;
    - inputs/outputs for the management of various sensors (72);
    - inputs/outputs allowing an operator/machine dialogue by control-panel means (73);
    - an electronic assembly allowing the management of the proximity sensors (74); and
    - two numerical controls (75, 76), each comprising a robot interface and a power amplification stage for controlling the actuators (CI ;CII ) of the two arms.
  13. Device according to one of claims 1 to 7 and 9 to 12, characterized in that it comprises a gutter cleaning nozzle (34) consisting of a casing of variable form, for example cylindrical or square, which is connected to a suction sleeve (29) and the inner flank (37) of which moves vertically in a slideway (42) closed or not and terminates in a skate (38) in contact with the surface to be cleaned or treated, the ground contact system consisting either of a spring (43) or of a hydraulic, electrical or pneumatic jack, whilst booms or spouts (45) for clusters of water jets are fastened either to the inner flank (37) or to the lateral flanks of the nozzle (34), sensors (23) located on each side of the nozzle being intended for determining the obstacles to be avoided, for example pedestrians, cars, trees and other appliances and objects.
EP19890901571 1988-01-20 1989-01-20 Multipurpose device for cleaning and remote treatment of surfaces, articles and objects situated along the edges of roads Expired - Lifetime EP0400025B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR8800621A FR2626023B1 (en) 1988-01-20 1988-01-20 MULTIFUNCTIONAL DEVICE FOR REMOTE CLEANING AND TREATMENT OF SURFACES, ARTICLES AND OBJECTS LOCATED AT THE EDGE OF TRAFFIC LANES
FR8800621 1988-01-20

Publications (2)

Publication Number Publication Date
EP0400025A1 EP0400025A1 (en) 1990-12-05
EP0400025B1 true EP0400025B1 (en) 1993-09-01

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Application Number Title Priority Date Filing Date
EP19890901571 Expired - Lifetime EP0400025B1 (en) 1988-01-20 1989-01-20 Multipurpose device for cleaning and remote treatment of surfaces, articles and objects situated along the edges of roads

Country Status (4)

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EP (1) EP0400025B1 (en)
DE (1) DE68908878T2 (en)
FR (1) FR2626023B1 (en)
WO (1) WO1989006722A1 (en)

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FR2873600A1 (en) * 2004-07-29 2006-02-03 Pronet Soc Par Actions Simplif INSTALLATION FOR WASHING CONTAINERS.
WO2009100556A1 (en) * 2008-02-11 2009-08-20 Ludwig Elkuch Aktiengesellschaft Suction station and method for emptying waste containers
DE102010056072B4 (en) 2010-05-14 2017-03-30 Alfons Braun Suction vehicle with a mounted on a chassis of a vehicle vacuum tank
CN110485338A (en) * 2019-07-12 2019-11-22 徐州博导信息科技有限公司 A kind of urban road guard rail water-saving cleaner device people
CN111705730A (en) * 2020-06-03 2020-09-25 长沙中联重科环境产业有限公司 Back-blowing type washing and sweeping vehicle
US11065655B2 (en) 2016-10-17 2021-07-20 Ecoserv Technologies, Llc Apparatuses, systems, and methods for cleaning

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ITMI20120079A1 (en) * 2012-01-25 2013-07-26 Amsa S P A Societa Per Azioni Con Socio Unico BRUSHING AGEVOLATORE DEVICE WITH FOLLI ARMS, PARTICULARLY FOR MOTOR-SANDWIDERS USED IN THE URBAN NETTEZZA SERVICES.
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Cited By (8)

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Publication number Priority date Publication date Assignee Title
FR2873600A1 (en) * 2004-07-29 2006-02-03 Pronet Soc Par Actions Simplif INSTALLATION FOR WASHING CONTAINERS.
WO2006024720A1 (en) * 2004-07-29 2006-03-09 Pronet Container washing installation
WO2009100556A1 (en) * 2008-02-11 2009-08-20 Ludwig Elkuch Aktiengesellschaft Suction station and method for emptying waste containers
DE102010056072B4 (en) 2010-05-14 2017-03-30 Alfons Braun Suction vehicle with a mounted on a chassis of a vehicle vacuum tank
US11065655B2 (en) 2016-10-17 2021-07-20 Ecoserv Technologies, Llc Apparatuses, systems, and methods for cleaning
CN110485338A (en) * 2019-07-12 2019-11-22 徐州博导信息科技有限公司 A kind of urban road guard rail water-saving cleaner device people
CN111705730A (en) * 2020-06-03 2020-09-25 长沙中联重科环境产业有限公司 Back-blowing type washing and sweeping vehicle
CN111705730B (en) * 2020-06-03 2022-04-05 长沙中联重科环境产业有限公司 Back-blowing type washing and sweeping vehicle

Also Published As

Publication number Publication date
FR2626023A1 (en) 1989-07-21
DE68908878T2 (en) 1994-04-14
DE68908878D1 (en) 1993-10-07
WO1989006722A1 (en) 1989-07-27
FR2626023B1 (en) 1994-05-06
EP0400025A1 (en) 1990-12-05

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