CN102518062A - Wall washing device, control method for wall washing device, controller, and wall washing vehicle - Google Patents
Wall washing device, control method for wall washing device, controller, and wall washing vehicle Download PDFInfo
- Publication number
- CN102518062A CN102518062A CN2011104346081A CN201110434608A CN102518062A CN 102518062 A CN102518062 A CN 102518062A CN 2011104346081 A CN2011104346081 A CN 2011104346081A CN 201110434608 A CN201110434608 A CN 201110434608A CN 102518062 A CN102518062 A CN 102518062A
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- measured value
- metope
- travelling carriage
- scrubbing
- lower limit
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- 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
- E01H1/02—Brushing apparatus, e.g. with auxiliary instruments for mechanically loosening dirt
- E01H1/05—Brushing apparatus, e.g. with auxiliary instruments for mechanically loosening dirt with driven brushes
Abstract
The invention discloses a control method for a wall washing device, which includes: firstly, using a washing ranging sensor to detect a first measuring value of the distance between a brush (3) and a wall surface; and secondly, comparing the first measuring value with a first upper limit value and a first lower limit value according to the first upper limit value and the first lower limit value of a range of the distance between the brush (3) in normal operation and the wall surface, and controlling a moving table (4) according to the comparing result. The invention further provides a controller and the wall washing device for implementation of the method and a wall washing vehicle comprising the wall washing device. Measuring and controlling of wall washing can be more accurate and reliable by means of the technical scheme, the ranging sensor is higher in measuring precision and high in interference resistance, and the measuring results are slightly interfered by external environmental factors so that data are accurate. Moreover, automatic operation can be realized, and misoperation due to human factors can be avoided.
Description
Technical field
The present invention relates to the special-purpose vehicle field, particularly, relate to a kind of control method that is used to wash wall device, realize this control method controller, comprise washing wall device and washing the wall car of this controller.
Background technology
Washing the wall car is a kind of special-purpose vehicle that metope cleans that is used for, and is specially adapted to the washing and cleaning operation of metopes such as freeway tunnel, river-crossing tunnel and road acoustic screen.
Wash the wall car and comprise and wash wall device, this is washed wall device and is arranged on the subframe, and subframe is arranged on the automobile chassis.Wash wall device generally include scrub, scrub frame, scrub arm, revolving bed and control scrubs the control device and the water supply installation of arm motion.Wherein, scrub arm and be installed on the revolving bed, control device with scrub arm and be connected the actions such as flexible and pitching of scrubbing arm with control, this control device is generally oil cylinder etc.; Scrub frame and be connected the end of scrubbing arm, and scrub to be equipped with on the frame and scrub; Water supply installation is used for scrubbing the cleaning to metope to wall jet cleaning water with cooperation.
In above-mentioned process of washing wall device work; Usually estimate metope by operating personnel and scrub between distance; Scrub that arm stretches or action such as pitching with manipulation, the normal that keeps scrubbing overlaps with the normal of metope, and scrub eat mao degree of depth in suitable scope.That is to say that operating personnel are through artificially control, should keep scrubbing with metope and fully contact, avoid again scrubbing and damage and scrub and/or metope with the metope hypotelorism to guarantee cleaning performance.
In addition, also sensor installation detects the distance of washing between wall car and the metope at the top of driver's cabin usually.The driver can judge the distance of washing between wall car and the metope through the detection architecture of this sensor; To avoid washing the hypotelorism between wall car and the metope or to cross far away and exceed the adjusting range of scrubbing the flexible or pitching of arm, can't keep correct attitude and cause scrubbing.
But; Above-mentioned wash wall device since through the artificial visually examine judge metope and scrub between distance; It is bigger that this work pattern is influenced by human factor, and very big uncertainty is arranged, and operating personnel's sense of responsibility and skilled operation degree etc. all might impact cleaning.
Be used to detect the sensor of washing distance between wall car and the metope, its testing result often receives the metope state, cleans Effect of Environmental such as water smoke and wind speed, thereby causes the detection data distortion.And sensor is far away with respect to the distance of scrubbing on the longitudinal direction of washing the wall car, when wash wall garage sail to bend often regular meeting cause measurement result and actual range that very large deviation is arranged, can not be used for instructing washing and cleaning operation.
Summary of the invention
The purpose of this invention is to provide a kind of control method that is used to wash wall device, this control method can realize washing the automatic control of wall device better.
To achieve these goals; The present invention provides a kind of control method that is used to wash wall device, and the said wall device of washing comprises successively scrubbing arm, scrubbing frame and scrub of connecting, and this is scrubbed to be provided with and scrubs distance measuring sensor; Wherein, Said wash wall device also comprise can towards with travelling carriage away from the motion of said metope, the said arm of scrubbing is installed on this travelling carriage and with said travelling carriage and moves, said control method comprises:
Through said scrub distance measuring sensor detect said scrub and metope between first measured value of distance;
Scrub when the operate as normal and first higher limit and first lower limit of the scope of said metope distance according to said,
When said first measured value between said first higher limit and first lower limit, need not move said travelling carriage,
When said first measured value greater than said first higher limit, said travelling carriage is moved towards said metope,
When said first measured value less than said first lower limit, said travelling carriage is moved away from said metope.
Preferably, said scrub distance measuring sensor comprise be installed in respectively said upside of scrubbing and downside on scrub distance measuring sensor with under scrub distance measuring sensor, detect respectively said scrub and metope between distance first on measured value and first time measured value,
When measured value on said first and first time measured value all between said first higher limit and first lower limit, then need not move said travelling carriage;
Measured value and first time measured value move said travelling carriage all greater than said first higher limit towards said metope on said first;
Measured value and first time measured value move said travelling carriage all less than said first lower limit away from said metope on said first.
Preferably, said control method also comprises:
Calculate the difference of measured value and first time measured value on said first;
According to said second higher limit and second lower limit of the scope of said difference when scrubbing operate as normal,
When said difference between said second higher limit and second lower limit, need not rotate said scrubbing,
When said difference greater than said second higher limit, scrub along the said upside of scrubbing towards the direction rotation of said metope and downside said away from said metope,
When said difference less than said second lower limit, scrub along the said downside of scrubbing towards the direction rotation of said metope and upside said away from said metope.
Preferably, said travelling carriage is installed in to be washed on the wall car, and the said inside edge of washing the wall car is provided with the travelling carriage distance measuring sensor, and the inside edge of said travelling carriage is provided with tablet, and said control method also comprises:
Measure second measured value of distance between said travelling carriage distance measuring sensor and the said tablet through said travelling carriage distance measuring sensor;
According to said the 3rd higher limit and the 3rd lower limit of the scope of distance between said travelling carriage distance measuring sensor and the said tablet when scrubbing operate as normal,
When said second measured value between said the 3rd higher limit and the 3rd lower limit, then need not move and wash the wall car,
When said second measured value greater than said the 3rd higher limit, the said wall car of washing is moved away from said metope,
When said second measured value less than said the 3rd lower limit, the said wall car of washing is moved towards said metope.
The present invention also provides a kind of controller that is used to wash wall device, and this controller can be realized above-mentioned control method of the present invention.
To achieve these goals, the present invention provides a kind of controller that is used to wash wall device, and this is washed wall device and comprises successively scrubbing arm, scrubbing frame and scrub of connecting; This is scrubbed to be provided with and scrubs distance measuring sensor; Wherein, said wash wall device also comprise can towards with travelling carriage away from the motion of said metope, the said arm of scrubbing is installed on this travelling carriage and with said travelling carriage and moves; This controller comprises input equipment, treatment facility and the output equipment that connects successively
Said input equipment be used to gather said scrub that distance measuring sensor measures about said scrub and metope between first measured value signal of distance, and this first measured value signal is sent to said treatment facility;
Said treatment facility is used to store said when scrubbing operate as normal and the size of first higher limit of the scope of said metope distance and first lower limit, more said first measured value signal and said first higher limit and first lower limit and comparative result is sent to said output equipment;
Said output equipment is used for controlling moving of said travelling carriage according to said comparative result,
When said first measured value between said first higher limit and first lower limit, said output equipment is not exported the signal that moves of the said travelling carriage of control,
When said first measured value greater than said first higher limit, the signal that the said travelling carriage of said output equipment output control moves towards said metope,
When said first measured value less than said first lower limit, the signal that the said travelling carriage of said output equipment output control moves away from said metope.
Preferably, said scrub distance measuring sensor comprise be installed in respectively said upside of scrubbing and downside on scrub distance measuring sensor with under scrub distance measuring sensor, detect respectively said scrub and metope between distance first on measured value and first time measured value,
Said input equipment also is used to gather on said first measured value signal and first time measured value signal and is sent to said treatment facility;
Said treatment facility also is used for the size of measured value signal on more said first and first time measured value signal and said first higher limit and first lower limit and comparative result is sent to said output equipment;
Said output equipment is used for controlling moving of said travelling carriage according to said comparative result,
When measured value on said first and first time measured value all between said first higher limit and first lower limit, said output equipment is not exported the signal that the said travelling carriage of control moves,
Measured value and first time measured value are all greater than said first higher limit on said first, and the signal that said travelling carriage moves towards said metope is controlled in said output equipment output,
Measured value and first time measured value are all less than said first lower limit on said first, and the signal that said travelling carriage moves away from said metope is controlled in said output equipment output.
Preferably, said treatment facility also be used to calculate measured value and first time measured value on said first difference, store according to the said size of the difference of measured value and first time measured value and this second higher limit and second lower limit and comparative result is sent to said output equipment on second higher limit and second lower limit, more said first of the scope of said difference when scrubbing operate as normal;
Said output equipment is used for according to the said rotation of scrubbing of said comparative result control,
When said difference between said second higher limit and second lower limit, said output equipment do not export control the said signal of scrubbing rotation,
When said difference greater than said second higher limit, the control of said output equipment is said scrubs along the said upside of scrubbing towards the direction rotation away from said metope of said metope and downside,
When said difference less than said second lower limit, the control of said output equipment is said scrubs along the said downside of scrubbing towards the direction rotation away from said metope of said metope and upside.
Preferably, said travelling carriage is installed in to be washed on the wall car, and the said inside edge of washing the wall car is provided with the travelling carriage distance measuring sensor, and the inside edge of said travelling carriage is provided with tablet,
Said input equipment also is used to gather second measured value signal about distance between said travelling carriage distance measuring sensor and the said tablet that said travelling carriage distance measuring sensor is measured, and this second measured value signal is sent to said treatment facility;
Said treatment facility also is used to store the said size of the 3rd higher limit of the scope of distance and the 3rd lower limit, more said second measured value signal and said the 3rd higher limit and the 3rd lower limit and comparative result is sent to said output equipment between said travelling carriage distance measuring sensor and the said tablet when scrubbing operate as normal;
Said output equipment is used for controlling said the moving of wall car of washing according to comparative result,
When said second measured value between said the 3rd higher limit and the 3rd lower limit, said output equipment is not controlled the said wall car of washing and is moved,
When said second measured value greater than said the 3rd higher limit, said output equipment output control is said washes the signal that the wall car moves towards said metope,
When said second measured value less than said the 3rd lower limit, said output equipment output control is said washes the signal that the wall car moves away from said metope.
The present invention also provides a kind of wall device of washing, and this is washed wall device and comprises above-mentioned controller of the present invention.
To achieve these goals, the present invention provides a kind of wall device of washing, and wherein, the said wall device of washing comprises the controller that is used to wash wall device of the present invention.
Preferably, this is washed wall device and is installed on the subframe of washing the wall car, and this subframe is provided with the guide rail perpendicular to said metope, and said travelling carriage moves along this guide rail.
Preferably, said travelling carriage moves through the said guide rail in edges such as roller or chute.
Preferably, the said wall device of washing comprises that also connecting the said frame of scrubbing saves with the turning arm of scrubbing arm, and this rotation jib can be scrubbed the frame rotation with drive around rotating with the said arm pin joint of scrubbing.
Preferably, the said arm of scrubbing is telescopic arm or folding arm.
The present invention also provides a kind of wall car of washing, and this is washed the wall car and comprises the wall device of washing provided by the present invention.
Pass through technique scheme; More accurately and reliably, the distance measuring sensor among the present invention not only certainty of measurement is higher, and antijamming capability is strong to the measurement of washing the wall operation and control for technical scheme of the present invention; It is less that measurement result receives the interference of external environment factor, and data are accurate.And the present invention can realize automation mechanized operation, the maloperation of avoiding human factor to cause.
Other features and advantages of the present invention will partly specify in the specific embodiment subsequently.
Description of drawings
Accompanying drawing is to be used to provide further understanding of the present invention, and constitutes the part of manual, is used to explain the present invention with the following specific embodiment, but is not construed as limiting the invention.In the accompanying drawings:
Fig. 1 is a sketch map of washing the wall car according to the preferred embodiment of the present invention.
Description of reference numerals
1 scrubs arm 2 scrubs frame
3 scrub 4 travelling carriages
Scrub distance measuring sensor on 51 and scrub distance measuring sensor 52 times
61 travelling carriage distance measuring sensors, 62 tablets
7 guide rails, 8 turning arms joint
The specific embodiment
Be elaborated below in conjunction with the accompanying drawing specific embodiments of the invention.Should be understood that the specific embodiment described herein only is used for explanation and explains the present invention, is not limited to the present invention.
In the present invention; Do not doing under the situation of opposite explanation; The noun of locality " interior " that uses typically refers to washes the wall car with the side of the various devices on it towards the metope that is cleaned, " outward " be meant wash the wall car and on various devices away from a side of the metope that is cleaned.
The present invention provides a kind of control method that is used to wash wall device; The said wall device of washing comprises scrubbing arm 1, scrub frame 2 and scrubbing 3 of connecting successively; This is scrubbed 3 and is provided with and scrubs distance measuring sensor, wherein, said wash wall device also comprise can towards with travelling carriage 4 away from said metope motion; The said arm 1 of scrubbing is installed on this travelling carriage 4 and with said travelling carriage 4 and moves, and said control method comprises:
Through said scrub distance measuring sensor detect said scrub 3 and metope between first measured value of distance;
Scrub 3 when the operate as normal and first higher limit and first lower limit of the scope of said metope distance according to said,
When said first measured value between said first higher limit and first lower limit, need not move said travelling carriage 4,
When said first measured value greater than said first higher limit, said travelling carriage 4 is moved towards said metope,
When said first measured value less than said first lower limit, said travelling carriage 4 is moved away from said metope.
The distance that control method of the present invention is to utilize travelling carriage 4 to adjust scrubs arm 1 and metope.Particularly, this travelling carriage 4 can towards with away from metope motion, this is scrubbed arm 1 and is installed on the travelling carriage 4 and moves thereupon.Scrub on 3 be provided with scrub distance measuring sensor be used for detecting scrub 3 and metope between distance; In order to distinguish mutually with other distances hereinafter described; With scrub 3 and metope between distance be called first distance, so this to scrub the detected value of distance measuring sensor be first measured value.And, knownly scrub 3 when operate as normal and the scope of metope distance, two limiting values up and down of this scope are called first higher limit and first lower limit.
Therefore; Can compare respectively at first higher limit and first lower limit according to the first above-mentioned measured value; When first measured value is between first higher limit and first lower limit; That is to say this scrub 3 and metope between distance in the scope of operate as normal the time, need not adjust washing and brushing device; When first measured value during greater than first higher limit; That is to say and scrub 3 with the distance of metope during greater than the scope of operate as normal; Need to scrub 3 and move, just travelling carriage 4 is moved towards metope, to drive and scrub 3 and move towards metope through scrubbing arm 1 towards metope; In like manner, when first measured value during less than first lower limit, promptly scrub 3 and metope between distance during less than the scope of operate as normal, need to scrub 3 and move away from metope, just travelling carriage 4 is moved away from metope.
Such scheme of the present invention through scrub distance measuring sensor detect scrub 3 and metope between distance; Improved the accuracy that detects; And scrub 3 adjustment with respect to the distance of metope and come automatically to control through travelling carriage 4, simple in structure, easy to operate.
Pass through technique scheme; More accurately and reliably, the distance measuring sensor among the present invention not only certainty of measurement is higher, and antijamming capability is strong to the measurement of washing the wall operation and control for technical scheme of the present invention; It is less that measurement result receives the interference of external environment factor, and data are accurate.And the present invention can realize automation mechanized operation, the maloperation of avoiding human factor to cause.
Preferably; Said scrub distance measuring sensor comprise be installed in respectively said scrub 3 upside and downside on scrub distance measuring sensor 51 with under scrub distance measuring sensor 52; Detect respectively said scrub 3 and metope between distance first on measured value and first time measured value
When measured value on said first and first time measured value all between said first higher limit and first lower limit, then need not move said travelling carriage 4;
Measured value and first time measured value move said travelling carriage 4 all greater than said first higher limit towards said metope on said first;
Measured value and first time measured value move said travelling carriage 4 all less than said first lower limit away from said metope on said first.
In this preferred implementation, this is scrubbed distance measuring sensor and comprises respectively two distance measuring sensors, be respectively be installed in scrub 3 upside on scrub distance measuring sensor 51, be used for detecting and scrub 3 upside and the distance between the metope, be measured value on first; Be installed in the following distance measuring sensor 52 of scrubbing of scrubbing 3 downside, be used for detecting and scrub 3 downside and the distance between the metope, be first time measured value.
Owing to the attitude of scrubbing 3 tilts; Mao degree of depth difference of eating that can cause both sides up and down; Even that is to say to scrub is equipped with the position of scrubbing distance measuring sensor and the distance between the metope in normal range (NR) on 3, can not guarantee whole scrub 3 and metope between distance all in normal range (NR).Through this preferred implementation like this, detect respectively and scrub the distance between the both sides and metope 3 about, can prevent owing to scrubbing the judgement that the inclination of 3 attitudes causes inaccurate.Therefore, in this preferred implementation, through on scrub distance measuring sensor 51 and scrub distance measuring sensor 52 down and detects the distance of scrubbing 3 upsides and following lateral extent metope respectively, thereby the reliability of raising measurement result.
Here; With mentioned above in like manner; According to first higher limit and first lower limit, on scrub distance measuring sensor 51 first on measured value compare with first time measured value scrubbing down distance measuring sensor 52, thereby control travelling carriage 4 correspondingly towards or move away from metope; When measured value on said first and first time measured value all between said first higher limit and first lower limit, then need not move said travelling carriage 4; Measured value and first time measured value move said travelling carriage 4 all greater than said first higher limit towards said metope on said first; Measured value and first time measured value move said travelling carriage 4 all less than said first lower limit away from said metope on said first.
Preferably, said control method also comprises:
Calculate the difference of measured value and first time measured value on said first;
According to said second higher limit and second lower limit of the scope of said difference when scrubbing 3 operate as normal,
When said difference between said second higher limit and second lower limit, need not rotate and saidly scrub 3,
When said difference greater than said second higher limit, with said scrub 3 along said 3 the upside scrubbed towards the direction rotation of said metope and downside away from said metope,
When said difference less than said second lower limit, with said scrub 3 along said 3 the downside scrubbed towards the direction rotation of said metope and upside away from said metope.
In this preferred implementation; At first calculate the difference between measured value on first and the first time measured value; This difference embodies scrubs 3 inclined degree, and this difference possibly that is to say for positive number, negative or zero; When the last lateral extent metope of scrubbing 3 was nearer than following lateral extent metope, this difference was less than zero; When the upside of scrubbing 3 equated with the distance of following lateral extent metope, this difference equalled zero; When the last lateral extent metope of scrubbing 3 was far away than following lateral extent metope, this difference was greater than zero.
Owing to can impact operate as normal when scrubbing 3 angle of inclination greater than certain value, therefore when scrubbing 3 operate as normal, two limiting values up and down of the scope of this difference are respectively second higher limit and second lower limit.
When difference is between second higher limit and second lower limit, scrub 3 operate as normal, therefore need not rotate and scrub 3; When difference during greater than second higher limit, just scrub 3 upside and the distance between the metope greater than the distance between downside and the metope, need make this moment and scrub 3 upside towards metope and downside scrubs 3 away from the rotation of metope ground; When difference during less than second lower limit, just scrub 3 upside and the distance between the metope less than the distance between downside and the metope, need make this moment scrub 3 upside away from metope downside towards metope ground rotation scrub 3.
Preferably, said travelling carriage 4 is installed in to be washed on the wall car, and the said inside edge of washing the wall car is provided with travelling carriage distance measuring sensor 61, and the inside edge of said travelling carriage 4 is provided with tablet 62, and said control method also comprises:
Measure second measured value of distance between said travelling carriage distance measuring sensor 61 and the said tablet 62 through said travelling carriage distance measuring sensor 61;
According to said the 3rd higher limit and the 3rd lower limit of the scope of distance between said travelling carriage distance measuring sensor 61 and the said tablet 62 when scrubbing 3 operate as normal,
When said second measured value between said the 3rd higher limit and the 3rd lower limit, then need not move and wash the wall car,
When said second measured value greater than said the 3rd higher limit, the said wall car of washing is moved away from said metope,
When said second measured value less than said the 3rd lower limit, the said wall car of washing is moved towards said metope.
Except detection scrub 3 and metope between distance; In this preferred implementation; Also being provided with travelling carriage distance measuring sensor 61 and tablet 62 measures the inside edge and said of said travelling carriage 4 and washes the distance between the inside edge of wall car; For the ease of distinguishing, the measured value of this distance is called second measured value.And, satisfying under the condition of operate as normal scrubbing 3, the inside edge of this travelling carriage 4 and the distance of washing between the inside edge of wall car also should remain in certain scope, and the high-low limit value of this scope is respectively the 3rd higher limit and the 3rd lower limit.Like this, wash the wall car through moving, make travelling carriage 4 with respect to wash the wall car towards with away from the direction of metope on all have sufficient surplus, with satisfy drive scrub arm 1 towards with away from the direction of metope on the adjustment needs that move.
When second measured value is between the 3rd higher limit and the 3rd lower limit; The inside edge of travelling carriage 4 and wash between the inside edge of wall car distance in the reasonable scope; If scrub this moment 3 and metope between first measured value (measured value and first time measured value on first) of distance during greater than first higher limit or less than first lower limit; Can through travelling carriage 4 with respect to wash the wall car towards or adjust away from the motion of metope, therefore need not move and wash the wall car; When second measured value during greater than the 3rd higher limit; The inside edge of travelling carriage 4 and the distance of washing between the inside edge of wall car are excessive; Therefore travelling carriage 4 is not enough at the direction up stroke away from metope with respect to washing the wall car; If because scrub 3 and metope between distance need travelling carriage 4 be moved away from metope less than first lower limit time, then travelling carriage 4 does not have enough strokes to adjust, therefore needs will be washed the wall car and move away from metope this moment; When second measured value during less than the 3rd lower limit; The inside edge of travelling carriage 4 and the distance of washing between the inside edge of wall car are too small; Therefore travelling carriage 4 is with respect to washing the wall car not enough towards the direction up stroke of metope; If because scrub 3 and metope between distance need be when metope moves greater than first higher limit with travelling carriage 4, then travelling carriage 4 does not have enough formation to adjust, therefore needs will be washed the wall car and move towards metope this moment.
The present invention also provides a kind of controller that is used to wash wall device; This is washed wall device and comprises successively scrubbing arm 1, scrub frame 2 and scrubbing 3 of connecting, and this is scrubbed 3 and is provided with and scrubs distance measuring sensor, wherein; Said wash wall device also comprise can towards with travelling carriage 4 away from the motion of said metope; The said arm 1 of scrubbing is installed on this travelling carriage 4 and with said travelling carriage 4 and moves, and this controller comprises input equipment, treatment facility and the output equipment that connects successively
Said input equipment be used to gather said scrub that distance measuring sensor measures about said scrub 3 and metope between first measured value signal of distance, and this first measured value signal is sent to said treatment facility;
Said treatment facility is used to store said when scrubbing 3 operate as normal and the size of first higher limit of the scope of said metope distance and first lower limit, more said first measured value signal and said first higher limit and first lower limit and comparative result is sent to said output equipment;
Said output equipment is used for controlling moving of said travelling carriage 4 according to said comparative result,
When said first measured value between said first higher limit and first lower limit, said output equipment is not exported the signal that moves of the said travelling carriage 4 of control,
When said first measured value greater than said first higher limit, the signal that the said travelling carriage 4 of said output equipment output control moves towards said metope,
When said first measured value less than said first lower limit, the signal that the said travelling carriage 4 of said output equipment output control moves away from said metope.
The controller that is used to wash wall device of the present invention can be realized above-mentioned control method of washing wall device.This controller is adjusted the distance of scrubbing arm 1 and metope through moving of control travelling carriage 4.Particularly, this travelling carriage 4 can towards with away from metope motion, this is scrubbed arm 1 and is installed on the travelling carriage 4 and moves thereupon.Scrub on 3 be provided with scrub distance measuring sensor be used for detecting scrub 3 and metope between distance; In order to distinguish mutually with other distances hereinafter described; With scrub 3 and metope between distance be called first distance, so this to scrub the detected value of distance measuring sensor be first measured value.And, knownly scrub 3 when operate as normal and the scope of metope distance, two limiting values up and down of this scope are called first higher limit and first lower limit.
The input equipment of controller is gathered said first measured value signal, and this first measured value signal is sent to treatment facility.This treatment facility is used to store when scrubbing 3 operate as normal and first higher limit and first lower limit of the scope of metope distance; The size of more said first measured value signal and said first higher limit and first lower limit, and comparative result is sent to said output equipment.This output equipment can be controlled moving of travelling carriage 4 according to the result that the first above-mentioned measured value compares respectively at first higher limit and first lower limit; When first measured value is between first higher limit and first lower limit; That is to say this scrub 3 and metope between distance in the scope of operate as normal the time, said output equipment is not exported the signal that the said travelling carriage 4 of control moves; When first measured value during greater than first higher limit; That is to say and scrub 3 with the distance of metope during greater than the scope of operate as normal; Needing to scrub 3 moves towards metope; The signal that the said travelling carriage 4 of said output equipment output control moves towards said metope is to drive and scrub 3 and move towards metope through scrubbing arm 1; In like manner, when first measured value during less than first lower limit, promptly scrub 3 and metope between distance during less than the scope of operate as normal, need to scrub 3 and move the signal that the said travelling carriage 4 of said output equipment output control moves away from said metope away from metope.
Such scheme of the present invention through scrub distance measuring sensor detect scrub 3 and metope between distance; Improved the accuracy that detects; And scrub 3 adjustment with respect to the distance of metope and come automatically to control through travelling carriage 4, simple in structure, easy to operate.
Pass through technique scheme; More accurately and reliably, the distance measuring sensor among the present invention not only certainty of measurement is higher, and antijamming capability is strong to the measurement of washing the wall operation and control for technical scheme of the present invention; It is less that measurement result receives the interference of external environment factor, and data are accurate.And the present invention can realize automation mechanized operation, the maloperation of avoiding human factor to cause.
Preferably; Said scrub distance measuring sensor comprise be installed in respectively said scrub 3 upside and downside on scrub distance measuring sensor 51 with under scrub distance measuring sensor 52; Detect respectively said scrub 3 and metope between distance first on measured value and first time measured value
Said input equipment also is used to gather on said first measured value signal and first time measured value signal and is sent to said treatment facility;
Said treatment facility also is used for the size of measured value signal on more said first and first time measured value signal and said first higher limit and first lower limit and comparative result is sent to said output equipment;
Said output equipment is used for controlling moving of said travelling carriage 4 according to said comparative result,
When measured value on said first and first time measured value all between said first higher limit and first lower limit, said output equipment is not exported the signal that the said travelling carriage 4 of control moves,
Measured value and first time measured value are all greater than said first higher limit on said first, and the signal that said travelling carriage 4 moves towards said metope is controlled in said output equipment output,
Measured value and first time measured value are all less than said first lower limit on said first, and the signal that said travelling carriage 4 moves away from said metope is controlled in said output equipment output.
In this preferred implementation, this is scrubbed distance measuring sensor and comprises respectively two distance measuring sensors, be respectively be installed in scrub 3 upside on scrub distance measuring sensor 51, be used for detecting and scrub 3 upside and the distance between the metope, be measured value on first; Be installed in the following distance measuring sensor 52 of scrubbing of scrubbing 3 downside, be used for detecting and scrub 3 downside and the distance between the metope, be first time measured value.
Owing to the attitude of scrubbing 3 tilts; Mao degree of depth difference of eating that can cause both sides up and down; Even that is to say to scrub is equipped with the position of scrubbing distance measuring sensor and the distance between the metope in normal range (NR) on 3, can not guarantee whole scrub 3 and metope between distance all in normal range (NR).The controller of this preferred implementation is gathered the signal of scrubbing the distance between the both sides and metope about in the of 3 respectively, can prevent owing to scrubbing the judgement that 3 attitudes tilt to cause inaccurate.Therefore; In this preferred implementation; Scrub in the input equipment collection of controller distance measuring sensor 51 with scrub down distance measuring sensor 52 detects respectively scrub 3 upsides and following lateral extent metope first on measured value signal and first time measured value signal, thereby the reliability of raising measurement result.
Here; With mentioned above in like manner; Treatment facility is according to first higher limit and first lower limit; To on scrub distance measuring sensor 51 first on measured value signal compare with first time measured value signal of scrubbing down distance measuring sensor 52, and comparative result is sent to output equipment, thus make output equipment according to this comparative result control travelling carriage 4 correspondingly towards or move away from metope.
When measured value on said first and first time measured value all between said first higher limit and first lower limit, then said output equipment is not exported the signal that the said travelling carriage 4 of control moves; Measured value and first time measured value are all greater than said first higher limit on said first, and the signal that said travelling carriage 4 moves towards said metope is controlled in said output equipment output; Measured value and first time measured value are all less than said first lower limit on said first, and the signal that said travelling carriage 4 moves away from said metope is controlled in said output equipment output.
Preferably, said treatment facility also be used to calculate measured value and first time measured value on said first difference, store according to the said size of the difference of measured value and first time measured value and this second higher limit and second lower limit and comparative result is sent to said output equipment on second higher limit and second lower limit, more said first of the scope of said difference when scrubbing 3 operate as normal;
Said output equipment is used for according to the said rotation of scrubbing arm 1 of said comparative result control,
When said difference between said second higher limit and second lower limit, said output equipment does not export that control is said scrubs the signal that arm 1 rotates,
When said difference greater than said second higher limit, the control of said output equipment is said scrub 3 along said 3 the upside scrubbed towards the direction rotation of said metope and downside away from said metope,
When said difference less than said second lower limit, the control of said output equipment is said scrub 3 along said 3 the downside scrubbed towards the direction rotation of said metope and upside away from said metope.
In this preferred implementation; Treatment facility calculates the difference between measured value on first and the first time measured value; This difference embodies scrubs 3 inclined degree, and this difference possibly that is to say for positive number, negative or zero; When the last lateral extent metope of scrubbing 3 was nearer than following lateral extent metope, this difference was less than zero; When the upside of scrubbing 3 equated with the distance of following lateral extent metope, this difference equalled zero; When the last lateral extent metope of scrubbing 3 was far away than following lateral extent metope, this difference was greater than zero.
Owing to can impact operate as normal when scrubbing 3 angle of inclination greater than certain value; Therefore when scrubbing 3 operate as normal; Two limiting values up and down of the scope of this difference are respectively second higher limit and second lower limit, and this second higher limit and second lower limit are stored in the treatment facility.
Output equipment is controlled moving of travelling carriage 4 according to the result of the comparison of this difference and second higher limit and second lower limit.
When difference is between second higher limit and second lower limit, scrub 3 operate as normal, therefore said output equipment is not exported the said signal of scrubbing 3 rotations of control; When difference during greater than second higher limit; Just scrub 3 upside and the distance between the metope greater than the distance between downside and the metope, said output equipment control this moment is said scrub 3 along said 3 the upside scrubbed towards the direction rotation of said metope and downside away from said metope; When difference during less than second lower limit; Just scrub 3 upside and the distance between the metope less than the distance between downside and the metope, said output equipment control this moment is said scrub 3 along said 3 the downside scrubbed towards the direction rotation of said metope and upside away from said metope.
Preferably, said travelling carriage 4 is installed in to be washed on the wall car, and the said inside edge of washing the wall car is provided with travelling carriage distance measuring sensor 61, and the inside edge of said travelling carriage 4 is provided with tablet 62,
Said input equipment also is used to gather second measured value signal about distance between said travelling carriage distance measuring sensor 61 and the said tablet 62 that said travelling carriage distance measuring sensor 6 is measured, and this second measured value signal is sent to said treatment facility;
Said treatment facility also is used to store the said size of the 3rd higher limit of the scope of distance and the 3rd lower limit, more said second measured value signal and said the 3rd higher limit and the 3rd lower limit and comparative result is sent to said output equipment between said travelling carriage distance measuring sensor 61 and the said tablet 62 when scrubbing 3 operate as normal;
Said output equipment is used for controlling said the moving of wall car of washing according to comparative result,
When said second measured value between said the 3rd higher limit and the 3rd lower limit, said output equipment is not controlled the said wall car of washing and is moved,
When said second measured value greater than said the 3rd higher limit, said output equipment output control is said washes the signal that the wall car moves towards said metope,
When said second measured value less than said the 3rd lower limit, said output equipment output control is said washes the signal that the wall car moves away from said metope.
Except detection scrub 3 and metope between distance; In this preferred implementation; The input equipment of this controller is also gathered distance between travelling carriage distance measuring sensor 61 that travelling carriage distance measuring sensor 6 measures and the said tablet 62; Be the distance between the inside edge of travelling carriage 4 and the inside edge of washing the wall car, for the ease of distinguishing, the measured value of this distance is called second measured value.And; Satisfy under the condition of operate as normal scrubbing 3; The inside edge of this travelling carriage 4 and the distance of washing between the inside edge of wall car also should remain in certain scope; The high-low limit value of this scope is respectively the 3rd higher limit and the 3rd lower limit, and the 3rd higher limit and the 3rd lower limit are stored in the treatment facility.Like this, wash the wall car through moving, make travelling carriage 4 with respect to wash the wall car towards with away from the direction of metope on all have sufficient surplus, with satisfy drive scrub arm 1 towards with away from the direction of metope on the adjustment needs that move.
The size of more said second measured value signal of treatment facility and said the 3rd higher limit and the 3rd lower limit, and comparative result is sent to said output equipment.Said output equipment is used for controlling said the moving of wall car of washing according to comparative result.
When second measured value is between the 3rd higher limit and the 3rd lower limit; The inside edge of travelling carriage 4 and wash between the inside edge of wall car distance in the reasonable scope; If scrub this moment 3 and metope between first measured value (measured value and first time measured value on first) of distance during greater than first higher limit or less than first lower limit; Can through travelling carriage 4 with respect to wash the wall car towards or adjust away from the motion of metope, therefore said output equipment is not controlled the said wall car of washing and is moved; When second measured value during greater than the 3rd higher limit; The inside edge of travelling carriage 4 and the distance of washing between the inside edge of wall car are excessive; Therefore travelling carriage 4 is not enough at the direction up stroke away from metope with respect to washing the wall car; If because scrub 3 and metope between distance need travelling carriage 4 be moved away from metope less than first lower limit time, then travelling carriage 4 does not have enough strokes to adjust, therefore said output equipment output control this moment is said washes the signal that the wall car moves towards said metope; When second measured value during less than the 3rd lower limit; The inside edge of travelling carriage 4 and the distance of washing between the inside edge of wall car are too small; Therefore travelling carriage 4 is with respect to washing the wall car not enough towards the direction up stroke of metope; If because scrub 3 and metope between distance need be when metope moves greater than first higher limit with travelling carriage 4, then travelling carriage 4 does not have enough formation to adjust, therefore said output equipment output control this moment is said washes the signal that the wall car moves away from said metope.
The present invention also provides a kind of wall device of washing, and wherein, the said wall device of washing comprises the controller that is used to wash wall device of the present invention.
The wall device of washing of the present invention comprises above-mentioned controller and various other devices that are used with this controller; The travelling carriage 4 of scrubbing arm 1 for example is installed; Be used to detect scrub 3 and metope between distance scrub distance measuring sensor (on scrub distance measuring sensor 51 with under scrub distance measuring sensor 52); And the travelling carriage distance measuring sensor 6 etc. that detects distance between travelling carriage 4 and the metope, its concrete structure repeats no more here.This washes the various functions that wall device can realize that above-mentioned controller is realized.
Pass through technique scheme; More accurately and reliably, the distance measuring sensor among the present invention not only certainty of measurement is higher, and antijamming capability is strong to the measurement of washing the wall operation and control for technical scheme of the present invention; It is less that measurement result receives the interference of external environment factor, and data are accurate.And the present invention can realize automation mechanized operation, the maloperation of avoiding human factor to cause.
Preferably, this is washed wall device and is installed on the subframe of washing the wall car, and this subframe is provided with the guide rail 7 perpendicular to said metope, and said travelling carriage 4 moves along this guide rail 7.
This is washed wall device and is installed on the subframe of washing the wall car, and for realize travelling carriage 4 can towards or away from the moving of metope, this subframe is provided with the guide rail 7 perpendicular to metope, this travelling carriage 4 is arranged on the guide rail 7 and along guide rail 7 and slides.
Preferably, said travelling carriage 4 moves through the said guide rail 7 in edges such as roller or chute.
The present invention does not limit the mode of travelling carriage and guide rail 7 cooperations.In preferred implementation of the present invention as shown in Figure 1, adopt the mode that roller is installed on the travelling carriage 4 that it is slided in guide rail 7.Certainly, can also utilize this area such as chute mode commonly used to realize above-mentioned relative slip.
Preferably, the said wall device of washing comprises that also connecting the said frame 2 of scrubbing saves 8 with the turning arm of scrubbing arm 1, and this rotation jib 8 can be scrubbed frame 2 rotations with drive around rotating with the said pin joint of scrubbing arm 1.
As indicated above, scrub in the calculating that distance measuring sensor records first on measured value and the difference of scrubbing first time measured value that distance measuring sensor records down, and just need control scrub 3 rotations during greater than second higher limit or less than second lower limit when this difference.
The present invention does not limit realizing the mode of scrubbing 3 rotations, and any suitable whirligig can be used in the present invention in the prior art, repeats no more here.In this preferred implementation, be connected with turning arm joint 8 between the frame 2 scrubbing arm 1 and scrub, this turning arm joint 8 can around with the pin joint rotation of scrubbing arm 1, scrub frame 2 rotations thereby drive, also just make and scrub 3 rotations.
Preferably, the said arm 1 of scrubbing is telescopic arm or folding arm.For washing wall device, to scrub arm 1 and can be telescopic arm or folding arm etc., any structure of scrubbing arm 1 can be applied among the present invention.
In addition, the present invention provides a kind of wall car of washing, and wherein, this is washed the wall car and comprises the wall device of washing of the present invention.
More than combine accompanying drawing to describe preferred implementation of the present invention in detail; But; The present invention is not limited to the detail in the above-mentioned embodiment; In technical conceive scope of the present invention, can carry out multiple simple variant to technical scheme of the present invention, these simple variant all belong to protection scope of the present invention.
Need to prove in addition; Each concrete technical characterictic described in the above-mentioned specific embodiment under reconcilable situation, can make up through any suitable manner; For fear of unnecessary repetition, the present invention is to the explanation no longer separately of various possible compound modes.
In addition, also can carry out combination in any between the various embodiment of the present invention, as long as it is without prejudice to thought of the present invention, it should be regarded as the disclosed content of the present invention equally.
Claims (14)
1. control method that is used to wash wall device; The said wall device of washing comprises scrubbing arm (1), scrub frame (2) and scrubbing (3) of connecting successively; This is scrubbed (3) and is provided with and scrubs distance measuring sensor, it is characterized in that, said wash wall device also comprise can towards with travelling carriage (4) away from said metope motion; The said arm (1) of scrubbing is installed in that this travelling carriage (4) is gone up and moves with said travelling carriage (4), and said control method comprises:
Through said first measured value of scrubbing distance between distance measuring sensor detection said scrubbing (3) and the metope;
According to said scrubbing (3) when the operate as normal and first higher limit and first lower limit of the scope of said metope distance,
When said first measured value between said first higher limit and first lower limit, need not move said travelling carriage (4),
When said first measured value greater than said first higher limit, said travelling carriage (4) is moved towards said metope,
When said first measured value less than said first lower limit, said travelling carriage (4) is moved away from said metope.
2. control method according to claim 1; It is characterized in that; Said scrub distance measuring sensor comprise the upside that is installed in said scrubbing (3) respectively and downside on scrub distance measuring sensor (51) and under scrub distance measuring sensor (52); Detect respectively distance between said scrubbing (3) and the metope first on measured value and first time measured value
When measured value on said first and first time measured value all between said first higher limit and first lower limit, then need not move said travelling carriage (4);
Measured value and first time measured value move said travelling carriage (4) all greater than said first higher limit towards said metope on said first;
Measured value and first time measured value move said travelling carriage (4) all less than said first lower limit away from said metope on said first.
3. control method according to claim 2 is characterized in that, said control method also comprises:
Calculate the difference of measured value and first time measured value on said first;
Second higher limit and second lower limit of the scope of said difference during according to said scrubbing (3) operate as normal,
When said difference between said second higher limit and second lower limit, need not rotate said scrubbing (3),
When said difference greater than said second higher limit, with said scrubbing (3) along the upside of said scrubbing (3) towards the direction rotation of said metope and downside away from said metope,
When said difference less than said second lower limit, with said scrubbing (3) along the downside of said scrubbing (3) towards the direction rotation of said metope and upside away from said metope.
4. control method according to claim 1; It is characterized in that; Said travelling carriage (4) is installed in to be washed on the wall car; The said inside edge of washing the wall car is provided with travelling carriage distance measuring sensor (61), and the inside edge of said travelling carriage (4) is provided with tablet (62), and said control method also comprises:
Measure second measured value of distance between said travelling carriage distance measuring sensor (61) and the said tablet (62) through said travelling carriage distance measuring sensor (61);
The 3rd higher limit and the 3rd lower limit of the scope of distance between said travelling carriage distance measuring sensor (61) and the said tablet (62) during according to said scrubbing (3) operate as normal,
When said second measured value between said the 3rd higher limit and the 3rd lower limit, then need not move and wash the wall car,
When said second measured value greater than said the 3rd higher limit, the said wall car of washing is moved away from said metope,
When said second measured value less than said the 3rd lower limit, the said wall car of washing is moved towards said metope.
5. controller that is used to wash wall device; This is washed wall device and comprises successively scrubbing arm (1), scrub frame (2) and scrubbing (3) of connecting, and this is scrubbed (3) and is provided with and scrubs distance measuring sensor, it is characterized in that; Said wash wall device also comprise can towards with travelling carriage (4) away from the motion of said metope; The said arm (1) of scrubbing is installed in that this travelling carriage (4) is gone up and moves with said travelling carriage (4), and this controller comprises input equipment, treatment facility and the output equipment that connects successively
Said input equipment is used to gather said first measured value signal about distance between said scrubbing (3) and the metope of scrubbing the distance measuring sensor measurement, and this first measured value signal is sent to said treatment facility;
When said treatment facility is used to store said scrubbing (3) operate as normal and the size of first higher limit of the scope of said metope distance and first lower limit, more said first measured value signal and said first higher limit and first lower limit and comparative result is sent to said output equipment;
Said output equipment is used for controlling moving of said travelling carriage (4) according to said comparative result,
When said first measured value between said first higher limit and first lower limit, said output equipment is not exported the signal that the said travelling carriage of control (4) moves,
When said first measured value greater than said first higher limit, the signal that the said output equipment output said travelling carriage of control (4) moves towards said metope,
When said first measured value less than said first lower limit, the signal that the said output equipment output said travelling carriage of control (4) moves away from said metope.
6. controller according to claim 5; It is characterized in that; Said scrub distance measuring sensor comprise the upside that is installed in said scrubbing (3) respectively and downside on scrub distance measuring sensor (51) and under scrub distance measuring sensor (52); Detect respectively distance between said scrubbing (3) and the metope first on measured value and first time measured value
Said input equipment also is used to gather on said first measured value signal and first time measured value signal and is sent to said treatment facility;
Said treatment facility also is used for the size of measured value signal on more said first and first time measured value signal and said first higher limit and first lower limit and comparative result is sent to said output equipment;
Said output equipment is used for controlling moving of said travelling carriage (4) according to said comparative result,
When measured value on said first and first time measured value all between said first higher limit and first lower limit, said output equipment is not exported the signal that the said travelling carriage of control (4) moves,
Measured value and first time measured value are all greater than said first higher limit on said first, and the signal that said travelling carriage (4) moves towards said metope is controlled in said output equipment output,
Measured value and first time measured value are all less than said first lower limit on said first, and the signal that said travelling carriage (4) moves away from said metope is controlled in said output equipment output.
7. controller according to claim 6 is characterized in that,
Said treatment facility also is used to calculate the difference of measured value and first time measured value on said first, the size of the difference of measured value and first time measured value and this second higher limit and second lower limit and comparative result is sent to said output equipment on second higher limit and second lower limit, more said first of the scope of said difference when storing according to said scrubbing (3) operate as normal;
Said output equipment is used for the rotation according to said comparative result said the scrubbing of control (3),
When said difference between said second higher limit and second lower limit, said output equipment is not exported the signal that said the scrubbing of control (3) rotated,
When said difference greater than said second higher limit, said output equipment said the scrubbing of control (3) along the upside of said scrubbing (3) towards the direction rotation of said metope and downside away from said metope,
When said difference less than said second lower limit, said output equipment said the scrubbing of control (3) along the downside of said scrubbing (3) towards the direction rotation of said metope and upside away from said metope.
8. controller according to claim 5 is characterized in that, said travelling carriage (4) is installed in to be washed on the wall car, and the said inside edge of washing the wall car is provided with travelling carriage distance measuring sensor (61), and the inside edge of said travelling carriage (4) is provided with tablet (62),
Said input equipment also is used to gather second measured value signal about distance between said travelling carriage distance measuring sensor (61) and the said tablet (62) that said travelling carriage distance measuring sensor (6) is measured, and this second measured value signal is sent to said treatment facility;
The size of the 3rd higher limit of the scope of distance and the 3rd lower limit, more said second measured value signal and said the 3rd higher limit and the 3rd lower limit and comparative result is sent to said output equipment between said travelling carriage distance measuring sensor (61) and the said tablet (62) when said treatment facility also is used to store said scrubbing (3) operate as normal;
Said output equipment is used for controlling said the moving of wall car of washing according to comparative result,
When said second measured value between said the 3rd higher limit and the 3rd lower limit, said output equipment is not controlled the said wall car of washing and is moved,
When said second measured value greater than said the 3rd higher limit, said output equipment output control is said washes the signal that the wall car moves towards said metope,
When said second measured value less than said the 3rd lower limit, said output equipment output control is said washes the signal that the wall car moves away from said metope.
9. wash wall device for one kind, it is characterized in that, the said wall device of washing comprises according to any described controller that is used to wash wall device among the claim 5-8.
10. the wall device of washing according to claim 9 is characterized in that this is washed wall device and is installed on the subframe of washing the wall car, and this subframe is provided with the guide rail (7) perpendicular to said metope, and said travelling carriage (4) moves along this guide rail (7).
11. the wall device of washing according to claim 10 is characterized in that, said travelling carriage (4) moves along said guide rail (7) through roller or chute etc.
12. according to claim 9 or the 10 described wall devices of washing; It is characterized in that; The said wall device of washing comprises that also connecting the said frame (2) of scrubbing saves (8) with the turning arm of scrubbing arm (1), and this rotation jib (8) can be scrubbed frame (2) rotation with drive around rotating with the said pin joint of scrubbing arm (1).
13. the wall device of washing according to claim 12 is characterized in that, the said arm (1) of scrubbing is telescopic arm or folding arm.
14. wash the wall car for one kind, it is characterized in that this is washed the wall car and comprises the described wall device of washing of aforesaid right requirement 9-13.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011104346081A CN102518062B (en) | 2011-12-22 | 2011-12-22 | Wall washing device, control method for wall washing device, controller, and wall washing vehicle |
| PCT/CN2012/082104 WO2013091422A1 (en) | 2011-12-22 | 2012-09-27 | Wall washing device, control method and controller therefor, and wall washing vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011104346081A CN102518062B (en) | 2011-12-22 | 2011-12-22 | Wall washing device, control method for wall washing device, controller, and wall washing vehicle |
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| Publication Number | Publication Date |
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| CN102518062A true CN102518062A (en) | 2012-06-27 |
| CN102518062B CN102518062B (en) | 2013-12-04 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2011104346081A Active CN102518062B (en) | 2011-12-22 | 2011-12-22 | Wall washing device, control method for wall washing device, controller, and wall washing vehicle |
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| Country | Link |
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| CN (1) | CN102518062B (en) |
| WO (1) | WO2013091422A1 (en) |
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| CN111002321A (en) * | 2019-12-17 | 2020-04-14 | 福建龙马环卫装备股份有限公司 | Control method and system for cleaning arm assembly capable of cleaning inner and outer wall surfaces |
| CN114457734A (en) * | 2022-04-13 | 2022-05-10 | 徐州徐工环境技术有限公司 | Multi-degree-of-freedom foldable arm support device for wall surface cleaning |
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| CN102518062B (en) | 2013-12-04 |
| WO2013091422A1 (en) | 2013-06-27 |
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