Automatic side broom strike pattern positioning system for a street sweeping machine
A sweeper vehicle may have an automatic side broom strike pattern positioning system including a plurality of actuators (e.g., pneumatic, hydraulic, and/or powered leadscrew) and a plurality of sensors (e.g., inclinometers and position sensors). The strike pattern may be maintained at a desired position as the side broom moves to different positions in a range of movement between a fully extended position and a fully retracted position. The system may have an override feature by which a vehicle operator may interrupt the automatic side broom positioning to allow the vehicle operator to take direct control of one or more side brooms, including the broom deployment angle and broom pitch and roll to create desired strike patterns for the side brooms. Related methods are also described.
1. A system for automatic positioning of a strike pattern of one or more side brooms mounted to a sweeper vehicle on a roadway, the sweeper vehicle having a chassis and a longitudinal axis, each side broom movable between a fully extended position and a stowed position, comprising:
a first baseline inclinometer attached, directly or indirectly, to the vehicle chassis and having a sensitive axis aligned along a front-to-back axis of the sweeper vehicle for measuring vehicle tilt about the front-to-back axis;
a second baseline inclinometer attached, directly or indirectly, to the vehicle chassis and having a sensitive axis aligned along a side-to-side axis of the sweeper vehicle for measuring vehicle pitch about the side-to-side axis;
at least one side broom mounted to the sweeper vehicle and comprising bristles;
at least one actuator configured for moving the at least one side broom between an extended position and a stowed position;
an angular deployment sensor configured for sensing an angular deployment position of the at least one side broom relative to the longitudinal axis of the sweeper vehicle;
a broom tilt inclinometer attached to the at least one side broom for measuring a broom tilt angle about a broom tilt axis for the at least one side broom;
a broom pitch inclinometer attached to the at least one side broom for measuring a broom pitch angle about a broom pitch axis for the at least one side broom;
a broom tilt actuator configured for adjusting the broom tilt angle;
a broom pitch actuator configured for adjusting the broom pitch angle; and
a controller in communication with the inclinometers and the actuators, the controller configured for positioning the at least one side broom in a sweeping position wherein the bristles are engaged with the roadway and form a selected strike pattern based on the vehicle tilt, the vehicle pitch, the angular deployment position, the broom tilt angle, and the broom pitch angle.
2. The system of claim 1 wherein the controller is configured to maintain the selected strike pattern regardless of the angular deployment position.
3. The system of claim 1 wherein the controller comprises an override mode to enable a vehicle operator to control the strike pattern.
4. The system of claim 1 wherein the first and second baseline inclinometers comprise a multi-axis inclinometer.
5. The system of claim 1 wherein the broom tilt inclinometer and the broom pitch inclinometer comprise a multi-axis inclinometer.
6. The system of claim 1 wherein an orientation of the strike pattern is selectable with respect to the longitudinal axis of the sweeper vehicle.
7. The system of claim 6 further comprising a control knob configured for enabling a vehicle operator to select the orientation of the strike pattern in reference to a clock position, wherein a 12 o'clock position corresponds to a generally forward-facing direction consistent with a direction of travel of the sweeper vehicle.
8. The system of claim 1 wherein the at least one side broom comprises a left side broom and a right side broom, and wherein the strike patterns of the left side broom and the right side broom are independently selectable.
9. The system of claim 8 wherein the strike patterns of the left side broom and the right side broom are selectable in reference to a left curb and a right curb, respectively.
10. A method of controlling a strike pattern of at least one side broom mounted to a sweeper vehicle on a roadway, the sweeper vehicle having a chassis and a longitudinal axis, each side broom comprising bristles and movable between a fully extended position and a stowed position, the method comprising:
measuring a vehicle tilt about a front-to-back axis of the sweeper vehicle;
measuring a vehicle pitch about a side-to-side axis of the sweeper vehicle;
sensing an angular deployment position of the at least one side broom relative to the longitudinal axis of the sweeper vehicle;
measuring a broom tilt angle about a broom tilt axis for the at least one side broom;
measuring a broom pitch angle about a broom pitch axis for the at least one side broom; and
positioning the at least one side broom in a sweeping position wherein the bristles are engaged with the roadway and form a selected strike pattern based on the vehicle tilt, the vehicle pitch, the angular deployment position, the broom tilt angle, and the broom pitch angle.
11. The method of claim 10 wherein the vehicle tilt, the vehicle pitch, the broom tilt angle, and the broom pitch angle are measured using a plurality of inclinometers.
12. The method of claim 10 further comprising using a lookup table to determine settings for a pitch axis actuator and a tilt axis actuator for the at least one side broom.
13. The method of claim 12 wherein the settings for the pitch axis actuator and the tilt axis actuator are determined based on the angular deployment position.
14. The method of claim 10 further comprising maintaining the selected strike pattern as the angular deployment position changes.
15. The method of claim 10 wherein the positioning is carried out by a controller comprising an override mode that enables a vehicle operator to control the strike pattern.
16. A sweeper vehicle having a chassis and a longitudinal axis, the sweeper vehicle comprising:
a first baseline inclinometer attached, directly or indirectly, to the vehicle chassis and having a sensitive axis aligned along a front-to-back axis of the sweeper vehicle for measuring vehicle tilt about the front-to-back axis;
a second baseline inclinometer attached, directly or indirectly, to the vehicle chassis and having a sensitive axis aligned along a side-to-side axis of the sweeper vehicle for measuring vehicle pitch about the side-to-side axis;
at least one side broom mounted to the sweeper vehicle and comprising bristles;
at least one actuator configured for moving the at least one side broom between an extended position and a stowed position;
an angular deployment sensor configured for sensing an angular deployment position of the at least one side broom relative to the longitudinal axis of the sweeper vehicle;
a broom tilt inclinometer attached to the at least one side broom for measuring a broom tilt angle about a broom tilt axis for the at least one side broom;
a broom pitch inclinometer attached to the at least one side broom for measuring a broom pitch angle about a broom pitch axis for the at least one side broom;
a broom tilt actuator configured for adjusting the broom tilt angle;
a broom pitch actuator configured for adjusting the broom pitch angle; and
a controller in communication with the inclinometers and the actuators, the controller configured for positioning the at least one side broom in a sweeping position wherein the bristles are engaged with the roadway and form a selected strike pattern based on the vehicle tilt, the vehicle pitch, the angular deployment position, the broom tilt angle, and the broom pitch angle.
17. The sweeper vehicle of claim 16 wherein the controller is configured to maintain the selected strike pattern as the angular deployment position changes.
18. The sweeper vehicle of claim 16 wherein the controller comprises an override mode to enable a vehicle operator to control the strike pattern.
19. The sweeper vehicle of claim 18 further comprising a control knob configured for enabling a vehicle operator to select an orientation of the strike pattern in reference to a clock position, wherein a 12 o'clock position corresponds to a generally forward-facing direction consistent with a direction of travel of the sweeper vehicle.
20. The sweeper vehicle of claim 16 wherein the at least one side broom comprises a left side broom and a right side broom, and wherein the strike patterns of the left side broom and the right side broom are independently selectable.