CN102518062B - 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
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- CN102518062B CN102518062B CN2011104346081A CN201110434608A CN102518062B CN 102518062 B CN102518062 B CN 102518062B CN 2011104346081 A CN2011104346081 A CN 2011104346081A CN 201110434608 A CN201110434608 A CN 201110434608A CN 102518062 B CN102518062 B CN 102518062B
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- 238000005406 washing Methods 0.000 title claims abstract description 115
- 238000000034 method Methods 0.000 title claims abstract description 31
- 238000005201 scrubbing Methods 0.000 claims description 131
- 230000000052 comparative effect Effects 0.000 claims description 29
- 238000005259 measurement Methods 0.000 claims description 16
- 238000001514 detection method Methods 0.000 claims description 7
- 230000007613 environmental effect Effects 0.000 abstract description 2
- 238000004140 cleaning Methods 0.000 description 6
- 230000007812 deficiency Effects 0.000 description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
- 238000009434 installation Methods 0.000 description 3
- 206010057855 Hypotelorism of orbit Diseases 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 2
- 230000001680 brushing effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000779 smoke Substances 0.000 description 1
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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
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Cleaning In General (AREA)
- Electric Vacuum Cleaner (AREA)
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 for control method, the controller of realizing this control method of washing wall device, 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 cleaned for metope, is specially adapted to the washing and cleaning operation of the 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 subframe, and subframe is arranged on automobile chassis.Wash wall device generally include scrub, scrub frame, scrub arm, revolving bed and control scrubs control device and the water supply installation of arm motion.Wherein, scrub arm and be arranged on revolving bed, control device with scrub arm and be connected to control the actions such as flexible and pitching of scrubbing arm, this control device is generally oil cylinder etc.; Scrub frame and be connected to the end of scrubbing arm, and scrub on frame and be equipped with and scrub; Water supply installation is 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 the action such as pitching with manipulation, keep the normal of scrubbing to overlap with the normal of metope, and scrub eat mao degree of depth in suitable scope.That is to say, operating personnel control by artificially, should keep scrubbing with metope fully contacting to guarantee cleaning performance, avoid again scrubbing with the metope hypotelorism and damage and scrub and/or metope.
In addition, usually also at the top of driver's cabin sensor installation, detect the distance of washing between wall car and metope.The driver can judge by the detection architecture of this sensor the distance of washing between wall car and metope, to avoid washing hypotelorism between wall car and metope or to cross far away and exceed the adjusting range of scrubbing the flexible or pitching of arm, and cause scrubbing, can't keep correct attitude.
But, above-mentioned wash wall device due to judge metope by the artificial visually examine and scrub between distance, this work pattern is affected by human factors larger, and very large uncertainty is arranged, and operating personnel's sense of responsibility and skilled operation degree etc. all likely impact cleaning.
For detection of the sensor of washing distance between wall car and metope, its testing result often is subject to the metope state, cleans the impact of the environmental factors such as water smoke and wind speed, thereby causes the detection data distortion.And sensor is distant with respect to what scrub on the longitudinal direction of washing the wall car, when washing when wall garage sails to bend, usually can 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 ofly for washing the control method of wall device, this control method can realize better to washing the automatic control of wall device.
To achieve these goals, the invention provides a kind of for washing the control method of wall device, the described wall device of washing comprises successively scrubbing arm, scrubbing frame and scrub of connecting, this is scrubbed to be provided with and scrubs distance measuring sensor, wherein, described wash that wall device also comprises can be towards the travelling carriage with away from the motion of described metope, the described arm of scrubbing is arranged on this travelling carriage and with described travelling carriage and moves, described control method comprises:
By described scrub distance measuring sensor detect described scrub and metope between the first measured value of distance;
According to described, scrub when working and the first higher limit and first lower limit of the scope of described metope distance,
Between described the first higher limit and the first lower limit, do not need mobile described travelling carriage when described the first measured value,
When described the first measured value is greater than described the first higher limit, described travelling carriage is moved towards described metope,
When described the first measured value is less than described the first lower limit, described travelling carriage is moved away from described metope.
Preferably, described scrub distance measuring sensor comprise be arranged on respectively the described upside of scrubbing and downside on scrub distance measuring sensor and under scrub distance measuring sensor, detect respectively described scrub and metope between distance first on measured value and first time measured value,
On described first, measured value and first time measured value all, between described the first higher limit and the first lower limit, do not need mobile described travelling carriage;
On described first, measured value and first time measured value all are greater than described the first higher limit, and described travelling carriage is moved towards described metope;
On described first, measured value and first time measured value all are less than described the first lower limit, and described travelling carriage is moved away from described metope.
Preferably, described control method also comprises:
Calculate the difference of measured value and first time measured value on described first;
According to described the second higher limit and the second lower limit of scrubbing the scope of described difference of when normal operation,
Between described the second higher limit and the second lower limit, do not need to rotate described scrubbing when described difference,
When described difference is greater than described the second higher limit, scrub along the described upside of scrubbing the direction rotation away from described metope towards described metope and downside by described,
When described difference is less than described the second lower limit, by described, scrub along the described downside of scrubbing the direction rotation away from described metope towards described metope and upside.
Preferably, described travelling carriage is arranged on to be washed on the wall car, on the described inside edge of washing the wall car, is provided with the travelling carriage distance measuring sensor, on the inside edge of described travelling carriage, is provided with tablet, and described control method also comprises:
Measure the second measured value of distance between described travelling carriage distance measuring sensor and described tablet by described travelling carriage distance measuring sensor;
According to described scrub when normal operation described travelling carriage distance measuring sensor and described tablet between the 3rd higher limit and the 3rd lower limit of scope of distance,
Between described the 3rd higher limit and the 3rd lower limit, do not need the mobile wall car of washing when described the second measured value,
When described the second measured value is greater than described the 3rd higher limit, the described wall car of washing is moved away from described metope,
When described the second measured value is less than described the 3rd lower limit, the described wall car of washing is moved towards described metope.
It is a kind of for washing the controller of wall device that the present invention also provides, and this controller can be realized above-mentioned control method of the present invention.
To achieve these goals, the invention provides a kind of for washing the controller of wall device, 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, described wash that wall device also comprises can be towards the travelling carriage with away from the motion of described metope, the described arm of scrubbing is arranged on this travelling carriage and with described travelling carriage and moves, this controller comprises input equipment, treatment facility and the output equipment connected successively
Described input equipment for gather described scrub that distance measuring sensor measures about described scrub and metope between the first measured value signal of distance, and this first measured value signal is sent to described treatment facility;
Described treatment facility is for the size of the first higher limit of storing described scope of scrubbing when normal operation and described metope distance and the first lower limit, more described the first measured value signal and described the first higher limit and the first lower limit and comparative result is sent to described output equipment;
Described output equipment is used for controlling according to described comparative result the movement of described travelling carriage,
When described the first measured value, between described the first higher limit and the first lower limit, described output equipment is not exported and is controlled the signal that described travelling carriage moves,
When described the first measured value is greater than described the first higher limit, the signal that described travelling carriage moves towards described metope is controlled in described output equipment output,
When described the first measured value is less than described the first lower limit, the signal that described travelling carriage moves away from described metope is controlled in described output equipment output.
Preferably, described scrub distance measuring sensor comprise be arranged on respectively the described upside of scrubbing and downside on scrub distance measuring sensor and under scrub distance measuring sensor, detect respectively described scrub and metope between distance first on measured value and first time measured value,
Described input equipment is also for gathering on described first measured value signal and first time measured value signal and being sent to described treatment facility;
Described treatment facility is also for the size of measured value signal on more described first and first time measured value signal and described the first higher limit and the first lower limit and comparative result is sent to described output equipment;
Described output equipment is used for controlling according to described comparative result the movement of described travelling carriage,
On described first, all, between described the first higher limit and the first lower limit, described output equipment is not exported and is controlled the signal that described travelling carriage moves for measured value and first time measured value,
On described first, measured value and first time measured value all are greater than described the first higher limit, and the signal that described travelling carriage moves towards described metope is controlled in described output equipment output,
On described first, measured value and first time measured value all are less than described the first lower limit, and the signal that described travelling carriage moves away from described metope is controlled in described output equipment output.
Preferably, described treatment facility also for the difference of calculating measured value and first time measured value on described first, store according to the described size of the difference of measured value and first time measured value and this second higher limit and the second lower limit comparative result is sent to described output equipment on the second higher limit of the scope of described difference and the second lower limit, more described first while scrubbing normal operation;
Described output equipment is used for controlling described rotation of scrubbing according to described comparative result,
When described difference, between described the second higher limit and the second lower limit, described output equipment is not exported and is controlled the described signal of scrubbing rotation,
When described difference is greater than described the second higher limit, described output equipment is controlled the described direction rotation away from described metope towards described metope and downside of scrubbing along the described upside of scrubbing,
When described difference is less than described the second lower limit, described output equipment is controlled the described direction rotation away from described metope towards described metope and upside of scrubbing along the described downside of scrubbing.
Preferably, described travelling carriage is arranged on to be washed on the wall car, on the described inside edge of washing the wall car, is provided with the travelling carriage distance measuring sensor, on the inside edge of described travelling carriage, is provided with tablet,
The second measured value signal about distance between described travelling carriage distance measuring sensor and described tablet that described input equipment is also measured for gathering described travelling carriage distance measuring sensor, and this second measured value signal is sent to described treatment facility;
Described treatment facility also for store described scrub when normal operation described travelling carriage distance measuring sensor and described tablet between the 3rd higher limit of scope of distance and the 3rd lower limit, more described the second measured value signal and described the 3rd higher limit and the 3rd lower limit size and comparative result is sent to described output equipment;
Described output equipment is used for controlling described movement of washing the wall car according to comparative result,
When described the second measured value, between described the 3rd higher limit and the 3rd lower limit, described output equipment is not controlled the described wall car of washing and is moved,
When described the second measured value is greater than described the 3rd higher limit, the described signal that the wall car moves towards described metope of washing is controlled in described output equipment output,
When described the second measured value is less than described the 3rd lower limit, the described signal that the wall car moves away from described metope of washing is controlled in described output equipment output.
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 invention provides a kind of wall device of washing, wherein, the described wall device of washing comprises of the present invention for washing the controller of wall device.
Preferably, this is washed wall device and is arranged on the subframe of washing the wall car, is provided with the guide rail perpendicular to described metope on this subframe, and described travelling carriage moves along this guide rail.
Preferably, described travelling carriage moves along described guide rail by roller or chute etc.
Preferably, the described wall device of washing also comprises that connecting the described frame of scrubbing saves with the turning arm of scrubbing arm, and this rotation jib can, around rotating with the described arm pin joint of scrubbing, be scrubbed the frame rotation with drive.
Preferably, the described 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, technical solution of the present invention is to the measurement of washing the wall operation and control more accurately and reliably, and the distance measuring sensor in the present invention not only certainty of measurement is higher, and antijamming capability is strong, it is less that measurement result is subject to 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 be described in detail in the specific embodiment subsequently.
The accompanying drawing explanation
Accompanying drawing is to be used to provide a further understanding of the present invention, and forms the part of manual, is used from explanation the present invention with the following specific embodiment one, but is not construed as limiting the invention.In the accompanying drawings:
Fig. 1 is the schematic diagram of washing according to the preferred embodiment of the present invention the wall car.
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 sensor 62 tablets
7 guide rail 8 turning arm joints
The specific embodiment
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is elaborated.Should be understood that, the specific embodiment described herein only, for description and interpretation the present invention, is not limited to the present invention.
In the present invention, in the situation that do not do contrary explanation, the noun of locality " interior " used typically refer to wash the wall car with the various devices on it side towards the metope be cleaned, " outward " refer to wash the wall car and on various devices away from a side of the metope be cleaned.
The invention provides a kind of for washing the control method of wall device, the described wall device of washing comprises successively scrubbing arm 1, scrubbing frame 2 and scrub 3 of connecting, this is scrubbed on 3 to be provided with and scrubs distance measuring sensor, wherein, described wash that wall device also comprises can be towards the travelling carriage 4 with away from the motion of described metope, the described arm 1 of scrubbing is arranged on this travelling carriage 4 and with described travelling carriage 4 and moves, and described control method comprises:
By described scrub distance measuring sensor detect described scrub 3 and metope between the first measured value of distance;
According to described the first higher limit and the first lower limit of scrubbing 3 scopes in when normal operation and described metope distance,
Between described the first higher limit and the first lower limit, do not need mobile described travelling carriage 4 when described the first measured value,
When described the first measured value is greater than described the first higher limit, described travelling carriage 4 is moved towards described metope,
When described the first measured value is less than described the first lower limit, described travelling carriage 4 is moved away from described 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 arranged on travelling carriage 4 and moves thereupon.Scrub on 3 arrange scrub distance measuring sensor be used for detecting scrub 3 and metope between distance, for other distances with are hereinafter described distinguished mutually, by scrub 3 and metope between distance be called the first distance, so this to scrub the value that distance measuring sensor detects be the first measured value.And, known 3 scopes in when normal operation and metope distance of scrubbing, two limiting values up and down of this scope are called the first higher limit and the first lower limit.
Therefore, can respectively at the first higher limit and the first lower limit, compare according to the first above-mentioned measured value, when the first measured value is between the first higher limit and the first lower limit, that is to say this scrub 3 and metope between the distance the normal operation scope in the time, do not need washing and brushing device is adjusted; When the first measured value is greater than the first higher limit, that is to say and scrub 3 with the distance of metope while being greater than the scope of normal operation, need to scrub 3 and move towards metope, namely travelling carriage 4 is moved towards metope, by scrubbing arm 1, to drive and scrub 3 and move towards metope; In like manner, when the first measured value is less than the first lower limit, scrub 3 and metope between distance while being less than the scope of normal operation, need to scrub 3 and move away from metope, namely travelling carriage 4 is moved away from metope.
Such scheme of the present invention by scrub distance measuring sensor detect scrub 3 and metope between distance, improved the accuracy detected, and the adjustment of scrubbing 3 distances with respect to metope automatically controls by travelling carriage 4, simple in structure, easy to operate.
Pass through technique scheme, technical solution of the present invention is to the measurement of washing the wall operation and control more accurately and reliably, and the distance measuring sensor in the present invention not only certainty of measurement is higher, and antijamming capability is strong, it is less that measurement result is subject to 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, described scrub distance measuring sensor comprise be arranged on respectively described scrub 3 upside and downside on scrub distance measuring sensor 51 and under scrub distance measuring sensor 52, detect respectively described scrub 3 and metope between distance first on measured value and first time measured value
On described first, measured value and first time measured value all, between described the first higher limit and the first lower limit, do not need mobile described travelling carriage 4;
On described first, measured value and first time measured value all are greater than described the first higher limit, and described travelling carriage 4 is moved towards described metope;
On described first, measured value and first time measured value all are less than described the first lower limit, and described travelling carriage 4 is moved away from described metope.
In this preferred embodiment, this is scrubbed distance measuring sensor and comprises respectively two distance measuring sensors, be respectively be arranged on the upside of scrubbing 3 on scrub distance measuring sensor 51, be used for detecting the upside of scrubbing 3 and the distance between metope, be measured value on first; Be arranged on the downside of scrubbing 3 under scrub distance measuring sensor 52, be used for detecting the downside of scrubbing 3 and the distance between metope, be first time measured value.
Due to the oblique attitude of scrubbing 3, mao degree of depth difference of eating that can cause upper and lower both sides, even that is to say and scrub on 3 the distance that is equipped with between the position of scrubbing distance measuring sensor and metope in normal range (NR), can not guarantee whole scrub 3 and metope between distance all in normal range (NR).By this preferred embodiment like this, detect respectively and scrub the distance between both sides and metope Shang Xia 3, can prevent owing to scrubbing the judgement that 3 oblique attitudes cause inaccurate.Therefore, in this preferred embodiment, by above scrub distance measuring sensor 51 and under scrub distance measuring sensor 52 and detect respectively the distance of scrubbing 3 upsides and lower lateral extent metope, thereby improve the reliability of measurement result.
Herein, with mentioned above in like manner, according to the first higher limit and the first lower limit, to above scrub distance measuring sensor 51 first on measured value and under scrub distance measuring sensor 52 first time measured value compare, thereby control travelling carriage 4 correspondingly towards or away from metope, move, on described first, measured value and first time measured value all, between described the first higher limit and the first lower limit, do not need mobile described travelling carriage 4; On described first, measured value and first time measured value all are greater than described the first higher limit, and described travelling carriage 4 is moved towards described metope; On described first, measured value and first time measured value all are less than described the first lower limit, and described travelling carriage 4 is moved away from described metope.
Preferably, described control method also comprises:
Calculate the difference of measured value and first time measured value on described first;
According to described the second higher limit and second lower limit of the scope of described difference while scrubbing 3 normal operation,
, do not need to rotate and describedly scrub 3 between described the second higher limit and the second lower limit when described difference,
When described difference is greater than described the second higher limit, by described scrub 3 along described scrub 3 upside towards described metope and downside the direction rotation away from described metope,
When described difference is less than described the second lower limit, by described scrub 3 along described scrub 3 downside towards described metope and upside the direction rotation away from described metope.
In this preferred embodiment, at first calculate the difference between measured value on first and first time measured value, this difference embodies the inclined degree of scrubbing 3, and this difference may be positive number, negative or zero, that is to say, when the upper lateral extent metope of scrubbing 3 is nearer than lower lateral extent metope, this difference is less than zero; When the upside of scrubbing 3 equates with the distance of lower lateral extent metope, this difference equals zero; When the upper lateral extent metope of scrubbing 3 is far away than lower lateral extent metope, this difference is greater than zero.
While due to the angle of inclination of scrubbing 3, being greater than certain value, can impact normal operation, therefore, when scrubbing 3 normal operation, two limiting values up and down of the scope of this difference are respectively the second higher limit and the second lower limit.
When difference is between the second higher limit and the second lower limit, scrub 3 normal operations, therefore do not need rotation to scrub 3; When difference is greater than the second higher limit, the distance of namely scrubbing between 3 upside and metope is greater than the distance between downside and metope, now needs to make to scrub 3 upside towards metope and downside rotates away from metope ground and scrubs 3; When difference is less than the second lower limit, the distance of namely scrubbing between 3 upside and metope is less than the distance between downside and metope, and downside rotates and scrubs 3 towards metope ground away from metope now to need to make to scrub 3 upside.
Preferably, described travelling carriage 4 is arranged on to be washed on the wall car, on the described inside edge of washing the wall car, is provided with travelling carriage distance measuring sensor 61, is provided with tablet 62 on the inside edge of described travelling carriage 4, and described control method also comprises:
Measure the second measured value of distance between described travelling carriage distance measuring sensor 61 and described tablet 62 by described travelling carriage distance measuring sensor 61;
According to described the 3rd higher limit and the 3rd lower limit of the scope of distance between described travelling carriage distance measuring sensor 61 and described tablet 62 while scrubbing 3 normal operation,
Between described the 3rd higher limit and the 3rd lower limit, do not need the mobile wall car of washing when described the second measured value,
When described the second measured value is greater than described the 3rd higher limit, the described wall car of washing is moved away from described metope,
When described the second measured value is less than described the 3rd lower limit, the described wall car of washing is moved towards described metope.
Except detection scrub 3 and metope between the distance, in this preferred embodiment, also be provided with travelling carriage distance measuring sensor 61 and tablet 62 and measure the inside edge of described travelling carriage 4 and the distance between the described inside edge of washing the wall car, for the ease of distinguishing, the measured value of this distance is called the second measured value.And, meet under the conditions of normal operation scrubbing 3, between the inside edge of this travelling carriage 4 and the inside edge of washing the wall car apart from also remaining in certain scope, the high-low limit value of this scope is respectively the 3rd higher limit and the 3rd lower limit.Like this, by movement, wash the wall car, make travelling carriage 4 with respect to washing the wall car and all there is sufficient surplus on the direction towards with away from metope, to meet to drive, scrub the adjustment needs that arm 1 moves on the direction towards with away from metope.
When the second measured value is between the 3rd higher limit and the 3rd lower limit, the inside edge of travelling carriage 4 and wash distance between the inside edge of wall car in the reasonable scope, if now scrub 3 and metope between first measured value (measured value and first time measured value on first) of distance when being greater than the first higher limit or being less than the first lower limit, can by travelling carriage 4 with respect to wash the wall car towards or away from the motion of metope, adjust, therefore do not need the mobile wall car of washing; When the second measured value is 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 with respect to washing the wall car in the direction up stroke deficiency away from metope, if because scrub 3 and metope between distance be less than the first lower limit and travelling carriage 4 need to be moved away from metope the time, travelling carriage 4 does not have enough strokes to be adjusted, and therefore now needs to move away from metope washing the wall car; When the second measured value is 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 in the direction up stroke deficiency towards metope, if because scrub 3 and metope between distance be greater than the first higher limit and need to be by travelling carriage 4 when metope moves, travelling carriage 4 does not have enough formation to be adjusted, and therefore now needs to move towards metope washing the wall car.
It is a kind of for washing the controller of wall device that the present invention also provides, this is washed wall device and comprises successively scrubbing arm 1, scrubbing frame 2 and scrub 3 of connecting, this is scrubbed on 3 to be provided with and scrubs distance measuring sensor, wherein, described wash that wall device also comprises can be towards the travelling carriage 4 with away from the motion of described metope, the described arm 1 of scrubbing is arranged on this travelling carriage 4 and with described travelling carriage 4 and moves, and this controller comprises input equipment, treatment facility and the output equipment connected successively
Described input equipment for gather described scrub that distance measuring sensor measures about described scrub 3 and metope between the first measured value signal of distance, and this first measured value signal is sent to described treatment facility;
Described treatment facility is described while scrubbing 3 normal operation and the size of the first higher limit of the scope of described metope distance and the first lower limit, more described the first measured value signal and described the first higher limit and the first lower limit comparative result is sent to described output equipment for storing;
Described output equipment is used for controlling according to described comparative result the movement of described travelling carriage 4,
When described the first measured value, between described the first higher limit and the first lower limit, described output equipment is not exported and is controlled the signal that described travelling carriage 4 moves,
When described the first measured value is greater than described the first higher limit, the signal that described travelling carriage 4 moves towards described metope is controlled in described output equipment output,
When described the first measured value is less than described the first lower limit, the signal that described travelling carriage 4 moves away from described metope is controlled in described output equipment output.
Of the present inventionly for the controller of washing wall device, can realize above-mentioned control method of washing wall device.This controller is scrubbed the distance of arm 1 and metope by the movement adjustment of controlling travelling carriage 4.Particularly, this travelling carriage 4 can towards with away from metope motion, this is scrubbed arm 1 and is arranged on travelling carriage 4 and moves thereupon.Scrub on 3 arrange scrub distance measuring sensor be used for detecting scrub 3 and metope between distance, for other distances with are hereinafter described distinguished mutually, by scrub 3 and metope between distance be called the first distance, so this to scrub the value that distance measuring sensor detects be the first measured value.And, known 3 scopes in when normal operation and metope distance of scrubbing, two limiting values up and down of this scope are called the first higher limit and the first lower limit.
The input equipment of controller gathers described the first measured value signal, and this first measured value signal is sent to treatment facility.This treatment facility is used for storing while scrubbing 3 normal operation and the first higher limit and first lower limit of the scope of metope distance, the size of more described the first measured value signal and described the first higher limit and the first lower limit, and comparative result is sent to described output equipment.The movement of the output control travelling carriage 4 that this output equipment can compare respectively at the first higher limit and the first lower limit according to the first above-mentioned measured value, when the first measured value is between the first higher limit and the first lower limit, that is to say this scrub 3 and metope between distance in the scope of normal operation the time, described output equipment is not exported and is controlled the signal that described travelling carriage 4 moves; When the first measured value is greater than the first higher limit, that is to say and scrub 3 with the distance of metope while being greater than the scope of normal operation, needing to scrub 3 moves towards metope, the signal that described travelling carriage 4 moves towards described metope is controlled in the output of described output equipment, by scrubbing arm 1, to drive and scrub 3 and move towards metope; In like manner, when the first measured value is less than the first lower limit, scrub 3 and metope between distance while being less than the scope of normal operation, need to scrub 3 and move away from metope, the signal that described travelling carriage 4 moves away from described metope is controlled in described output equipment output.
Such scheme of the present invention by scrub distance measuring sensor detect scrub 3 and metope between distance, improved the accuracy detected, and the adjustment of scrubbing 3 distances with respect to metope automatically controls by travelling carriage 4, simple in structure, easy to operate.
Pass through technique scheme, technical solution of the present invention is to the measurement of washing the wall operation and control more accurately and reliably, and the distance measuring sensor in the present invention not only certainty of measurement is higher, and antijamming capability is strong, it is less that measurement result is subject to 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, described scrub distance measuring sensor comprise be arranged on respectively described scrub 3 upside and downside on scrub distance measuring sensor 51 and under scrub distance measuring sensor 52, detect respectively described scrub 3 and metope between distance first on measured value and first time measured value
Described input equipment is also for gathering on described first measured value signal and first time measured value signal and being sent to described treatment facility;
Described treatment facility is also for the size of measured value signal on more described first and first time measured value signal and described the first higher limit and the first lower limit and comparative result is sent to described output equipment;
Described output equipment is used for controlling according to described comparative result the movement of described travelling carriage 4,
On described first, all, between described the first higher limit and the first lower limit, described output equipment is not exported and is controlled the signal that described travelling carriage 4 moves for measured value and first time measured value,
On described first, measured value and first time measured value all are greater than described the first higher limit, and the signal that described travelling carriage 4 moves towards described metope is controlled in described output equipment output,
On described first, measured value and first time measured value all are less than described the first lower limit, and the signal that described travelling carriage 4 moves away from described metope is controlled in described output equipment output.
In this preferred embodiment, this is scrubbed distance measuring sensor and comprises respectively two distance measuring sensors, be respectively be arranged on the upside of scrubbing 3 on scrub distance measuring sensor 51, be used for detecting the upside of scrubbing 3 and the distance between metope, be measured value on first; Be arranged on the downside of scrubbing 3 under scrub distance measuring sensor 52, be used for detecting the downside of scrubbing 3 and the distance between metope, be first time measured value.
Due to the oblique attitude of scrubbing 3, mao degree of depth difference of eating that can cause upper and lower both sides, even that is to say and scrub on 3 the distance that is equipped with between the position of scrubbing distance measuring sensor and metope in normal range (NR), can not guarantee whole scrub 3 and metope between distance all in normal range (NR).The controller of this preferred embodiment gathers respectively the signal of scrubbing the distance between both sides and metope Shang Xia 3, can prevent owing to scrubbing the judgement that 3 oblique attitudes cause inaccurate.Therefore, in this preferred embodiment, in the input equipment collection of controller, scrub distance measuring sensor 51 and under scrub distance measuring sensor 52 detect respectively scrub 3 upsides and lower lateral extent metope first on measured value signal and first time measured value signal, thereby improve the reliability of measurement result.
Herein, with mentioned above in like manner, treatment facility is according to the first higher limit and the first lower limit, to above scrub distance measuring sensor 51 first on measured value signal and under scrub distance measuring sensor 52 first time measured value signal compare, and comparative result is sent to output equipment, thereby make output equipment according to this comparative result control travelling carriage 4 correspondingly towards or away from metope, move.
On described first, all, between described the first higher limit and the first lower limit, described output equipment is not exported and is controlled the signal that described travelling carriage 4 moves for measured value and first time measured value; On described first, measured value and first time measured value all are greater than described the first higher limit, and the signal that described travelling carriage 4 moves towards described metope is controlled in described output equipment output; On described first, measured value and first time measured value all are less than described the first lower limit, and the signal that described travelling carriage 4 moves away from described metope is controlled in described output equipment output.
Preferably, described treatment facility also for the difference of calculating measured value and first time measured value on described first, store according to the described size of the difference of measured value and first time measured value and this second higher limit and the second lower limit comparative result is sent to described output equipment on the second higher limit of the scope of described difference and the second lower limit, more described first while scrubbing 3 normal operation;
Described output equipment is used for controlling described rotation of scrubbing arm 1 according to described comparative result,
When described difference, between described the second higher limit and the second lower limit, described output equipment is not exported and is controlled the described signal that arm 1 rotates of scrubbing,
When described difference is greater than described the second higher limit, described output equipment control described scrub 3 along described scrub 3 upside towards described metope and downside the direction rotation away from described metope,
When described difference is less than described the second lower limit, described output equipment control described scrub 3 along described scrub 3 downside towards described metope and upside the direction rotation away from described metope.
In this preferred embodiment, treatment facility calculates the difference between measured value on first and first time measured value, this difference embodies the inclined degree of scrubbing 3, and this difference may be positive number, negative or zero, that is to say, when the upper lateral extent metope of scrubbing 3 is nearer than lower lateral extent metope, this difference is less than zero; When the upside of scrubbing 3 equates with the distance of lower lateral extent metope, this difference equals zero; When the upper lateral extent metope of scrubbing 3 is far away than lower lateral extent metope, this difference is greater than zero.
While due to the angle of inclination of scrubbing 3, being greater than certain value, can impact normal operation, therefore when scrubbing 3 normal operation, two limiting values up and down of the scope of this difference are respectively the second higher limit and the second lower limit, and this second higher limit and the second lower limit are stored in treatment facility.
Output equipment is according to the movement of the output control travelling carriage 4 of the comparison of this difference and the second higher limit and the second lower limit.
When difference is between the second higher limit and the second lower limit, scrub 3 normal operations, therefore described output equipment is not exported and is controlled the described signal of scrubbing 3 rotations; When difference is greater than the second higher limit, the distance of namely scrubbing between 3 upside and metope is greater than the distance between downside and metope, now described output equipment control described scrub 3 along described scrub 3 upside towards described metope and downside the direction rotation away from described metope; When difference is less than the second lower limit, the distance of namely scrubbing between 3 upside and metope is less than the distance between downside and metope, now described output equipment control described scrub 3 along described scrub 3 downside towards described metope and upside the direction rotation away from described metope.
Preferably, described travelling carriage 4 is arranged on to be washed on the wall car, on the described inside edge of washing the wall car, is provided with travelling carriage distance measuring sensor 61, is provided with tablet 62 on the inside edge of described travelling carriage 4,
The second measured value signal about distance between described travelling carriage distance measuring sensor 61 and described tablet 62 that described input equipment is also measured for gathering described travelling carriage distance measuring sensor 6, and this second measured value signal is sent to described treatment facility;
Described treatment facility is also for storing the described size of the 3rd higher limit of the scope of distance and the 3rd lower limit, more described the second measured value signal and described the 3rd higher limit and the 3rd lower limit comparative result is sent to described output equipment between described travelling carriage distance measuring sensor 61 and described tablet 62 while scrubbing 3 normal operation;
Described output equipment is used for controlling described movement of washing the wall car according to comparative result,
When described the second measured value, between described the 3rd higher limit and the 3rd lower limit, described output equipment is not controlled the described wall car of washing and is moved,
When described the second measured value is greater than described the 3rd higher limit, the described signal that the wall car moves towards described metope of washing is controlled in described output equipment output,
When described the second measured value is less than described the 3rd lower limit, the described signal that the wall car moves away from described metope of washing is controlled in described output equipment output.
Except detection scrub 3 and metope between the distance, in this preferred embodiment, the input equipment of this controller also gathers distance between travelling carriage distance measuring sensor 61 that travelling carriage distance measuring sensor 6 measures and described tablet 62, it is 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 the second measured value.And, under the condition of scrubbing 3 satisfied normal operations, 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 treatment facility.Like this, by movement, wash the wall car, make travelling carriage 4 with respect to washing the wall car and all there is sufficient surplus on the direction towards with away from metope, to meet to drive, scrub the adjustment needs that arm 1 moves on the direction towards with away from metope.
The size of more described the second measured value signal for the treatment of facility and described the 3rd higher limit and the 3rd lower limit, and comparative result is sent to described output equipment.Described output equipment is for controlling described movement of washing the wall car according to comparative result.
When the second measured value is between the 3rd higher limit and the 3rd lower limit, the inside edge of travelling carriage 4 and wash distance between the inside edge of wall car in the reasonable scope, if now scrub 3 and metope between first measured value (measured value and first time measured value on first) of distance when being greater than the first higher limit or being less than the first lower limit, can by travelling carriage 4 with respect to wash the wall car towards or away from the motion of metope, adjust, therefore described output equipment is not controlled the described wall car of washing and is moved; When the second measured value is 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 with respect to washing the wall car in the direction up stroke deficiency away from metope, if because scrub 3 and metope between distance be less than the first lower limit and travelling carriage 4 need to be moved away from metope the time, travelling carriage 4 does not have enough strokes to be adjusted, and therefore now the described signal that the wall car moves towards described metope of washing is controlled in described output equipment output; When the second measured value is 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 in the direction up stroke deficiency towards metope, if because scrub 3 and metope between distance be greater than the first higher limit and need to be by travelling carriage 4 when metope moves, travelling carriage 4 does not have enough formation to be adjusted, and therefore now the described signal that the wall car moves away from described metope of washing is controlled in described output equipment output.
The present invention also provides a kind of wall device of washing, and wherein, the described wall device of washing comprises of the present invention for washing the controller of wall device.
The wall device of washing of the present invention comprises above-mentioned controller and various other devices that are used in conjunction with this controller, the travelling carriage 4 of scrubbing arm 1 for example is installed, for detection of scrub 3 and metope between distance scrub distance measuring sensor (above scrub distance measuring sensor 51 and under scrub distance measuring sensor 52), and the travelling carriage distance measuring sensor 6 etc. that detects distance between travelling carriage 4 and metope, its concrete structure repeats no more herein.This washes the various functions that wall device can realize that above-mentioned controller is realized.
Pass through technique scheme, technical solution of the present invention is to the measurement of washing the wall operation and control more accurately and reliably, and the distance measuring sensor in the present invention not only certainty of measurement is higher, and antijamming capability is strong, it is less that measurement result is subject to 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 arranged on the subframe of washing the wall car, is provided with the guide rail 7 perpendicular to described metope on this subframe, and described travelling carriage 4 moves along this guide rail 7.
This is washed wall device and is arranged on the subframe of washing the wall car, and for realize travelling carriage 4 can towards or away from the movement of metope, be provided with the guide rail 7 perpendicular to metope on this subframe, this travelling carriage 4 is arranged on guide rail 7 and along guide rail 7 and slides.
Preferably, described travelling carriage 4 moves along described guide rail 7 by roller or chute etc.
The present invention is not limited the mode of travelling carriage and guide rail 7 cooperations.In the preferred embodiment of the present invention as shown in Figure 1, adopt the mode that roller is installed on travelling carriage 4 that it is slided in guide rail 7.Certainly, can also utilize this area modes commonly used such as chute to realize above-mentioned relative sliding.
Preferably, the described wall device of washing also comprises that connecting the described frame 2 of scrubbing saves 8 with the turning arm of scrubbing arm 1, and this rotation jib 8 can, around rotating with the described pin joint of scrubbing arm 1, be scrubbed frame 2 rotations with drive.
As described above, scrub in calculating that distance measuring sensor records first on measured value and under scrub the difference of first time measured value that distance measuring sensor records, and when this difference is greater than the second higher limit or is less than the second lower limit, just need control scrub 3 rotations.
The present invention is to realizing that the mode of scrubbing 3 rotations is not limited, and in prior art, any applicable whirligig can be applied in the present invention, repeats no more herein.In this preferred embodiment, be connected with turning arm joint 8 scrubbing arm 1 and scrub between frame 2, this turning arm joint 8 can be scrubbed frame 2 rotations thereby drive around the pin joint rotation with scrubbing arm 1, also just makes to scrub 3 rotations.
Preferably, the described arm 1 of scrubbing is for telescopic arm or folding arm.For washing wall device, scrubbing arm 1 can be telescopic arm or folding arm etc., and any structure of scrubbing arm 1 can be applied in the present invention.
In addition, the invention provides a kind of wall car of washing, wherein, this is washed the wall car and comprises the wall device of washing of the present invention.
Below describe by reference to the accompanying drawings the preferred embodiment of the present invention in detail; but; the present invention is not limited to the detail in 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.
It should be noted that in addition, each concrete technical characterictic described in the above-mentioned specific embodiment, in reconcilable situation, can be combined by any suitable mode, for fear of unnecessary repetition, the present invention is to the explanation no longer separately of various possible combinations.
In addition, between various embodiment of the present invention, also can carry out any combination, as long as it is without prejudice to thought of the present invention, it should be considered as content disclosed in this invention equally.
Claims (14)
1. one kind for washing the control method of wall device, the described wall device of washing comprises successively scrubbing arm (1), scrubbing frame (2) and scrub (3) of connecting, this is scrubbed on (3) and is provided with and scrubs distance measuring sensor, it is characterized in that, described wash that wall device also comprises can be towards the travelling carriage (4) with away from the motion of described metope, describedly scrub arm (1) to be arranged on this travelling carriage (4) upper and mobile with described travelling carriage (4), described control method comprises:
By described the first measured value of scrubbing distance between distance measuring sensor detection described scrubbing (3) and metope;
Scope according to described scrubbing (3) in when normal operation and described metope distance, determine the first higher limit and first lower limit of this scope,
Between described the first higher limit and the first lower limit, do not need mobile described travelling carriage (4) when described the first measured value,
When described the first measured value is greater than described the first higher limit, described travelling carriage (4) is moved towards described metope,
When described the first measured value is less than described the first lower limit, described travelling carriage (4) is moved away from described metope.
2. control method according to claim 1, it is characterized in that, described scrub distance measuring sensor comprise the upside that is arranged on respectively described scrubbing (3) and downside on scrub distance measuring sensor (51) and under scrub distance measuring sensor (52), detect respectively distance between described scrubbing (3) and metope first on measured value and first time measured value
On described first, measured value and first time measured value all, between described the first higher limit and the first lower limit, do not need mobile described travelling carriage (4);
On described first, measured value and first time measured value all are greater than described the first higher limit, and described travelling carriage (4) is moved towards described metope;
On described first, measured value and first time measured value all are less than described the first lower limit, and described travelling carriage (4) is moved away from described metope.
3. control method according to claim 2, is characterized in that, described control method also comprises:
Calculate the difference of measured value and first time measured value on described first;
The scope of described difference while working according to described scrubbing (3), determine the second higher limit and second lower limit of this scope,
Between described the second higher limit and the second lower limit, do not need to rotate described scrubbing (3) when described difference,
When described difference is greater than described the second higher limit, by described scrubbing (3) along the upside of described scrubbing (3) towards described metope and downside the direction rotation away from described metope,
When described difference is less than described the second lower limit, by described scrubbing (3) along the downside of described scrubbing (3) towards described metope and upside the direction rotation away from described metope.
4. control method according to claim 1, it is characterized in that, described travelling carriage (4) is arranged on to be washed on the wall car, be provided with travelling carriage distance measuring sensor (61) on the described inside edge of washing the wall car, be provided with tablet (62) on the inside edge of described travelling carriage (4), described control method also comprises:
Measure the second measured value of distance between described travelling carriage distance measuring sensor (61) and described tablet (62) by described travelling carriage distance measuring sensor (61);
The scope of distance between described travelling carriage distance measuring sensor (61) and described tablet (62) while working according to described scrubbing (3), determine the 3rd higher limit and the 3rd lower limit of this scope,
Between described the 3rd higher limit and the 3rd lower limit, do not need the mobile wall car of washing when described the second measured value,
When described the second measured value is greater than described the 3rd higher limit, the described wall car of washing is moved away from described metope,
When described the second measured value is less than described the 3rd lower limit, the described wall car of washing is moved towards described metope.
5. one kind for washing the controller of wall device, this is washed wall device and comprises successively scrubbing arm (1), scrubbing frame (2) and scrub (3) of connecting, this is scrubbed on (3) and is provided with and scrubs distance measuring sensor, it is characterized in that, described wash that wall device also comprises can be towards the travelling carriage (4) with away from the motion of described metope, describedly scrub arm (1) to be arranged on this travelling carriage (4) upper and mobile with described travelling carriage (4), this controller comprises input equipment, treatment facility and the output equipment connected successively
Described input equipment is used for gathering described the first measured value signal about distance between described scrubbing (3) and metope of scrubbing the distance measuring sensor measurement, and this first measured value signal is sent to described treatment facility;
Described treatment facility is for the size of the first higher limit of the scope that stores described scrubbing (3) when normal operation and described metope distance and the first lower limit, more described the first measured value signal and described the first higher limit and the first lower limit and comparative result is sent to described output equipment;
Described output equipment is used for controlling according to described comparative result the movement of described travelling carriage (4),
When described the first measured value, between described the first higher limit and the first lower limit, described output equipment is not exported and is controlled the mobile signal of described travelling carriage (4),
When described the first measured value is greater than described the first higher limit, the signal that described travelling carriage (4) moves towards described metope is controlled in described output equipment output,
When described the first measured value is less than described the first lower limit, the signal that described travelling carriage (4) moves away from described metope is controlled in described output equipment output.
6. controller according to claim 5, it is characterized in that, described scrub distance measuring sensor comprise the upside that is arranged on respectively described scrubbing (3) and downside on scrub distance measuring sensor (51) and under scrub distance measuring sensor (52), detect respectively distance between described scrubbing (3) and metope first on measured value and first time measured value
Described input equipment is also for gathering on described first measured value signal and first time measured value signal and being sent to described treatment facility;
Described treatment facility is also for the size of measured value signal on more described first and first time measured value signal and described the first higher limit and the first lower limit and comparative result is sent to described output equipment;
Described output equipment is used for controlling according to described comparative result the movement of described travelling carriage (4),
On described first, all, between described the first higher limit and the first lower limit, described output equipment is not exported and is controlled the mobile signal of described travelling carriage (4) for measured value and first time measured value,
On described first, measured value and first time measured value all are greater than described the first higher limit, and the signal that described travelling carriage (4) moves towards described metope is controlled in described output equipment output,
On described first, measured value and first time measured value all are less than described the first lower limit, and the signal that described travelling carriage (4) moves away from described metope is controlled in described output equipment output.
7. controller according to claim 6, is characterized in that,
Described treatment facility is also for the size of the difference of measured value and first time measured value on the difference of calculating measured value and first time measured value on described first, the second higher limit that stores the scope of described difference while working according to described scrubbing (3) and the second lower limit, more described first and this second higher limit and the second lower limit and comparative result is sent to described output equipment;
Described output equipment is used for controlling according to described comparative result the rotation of described scrubbing (3),
When described difference, between described the second higher limit and the second lower limit, described output equipment is not exported and is controlled the signal that described scrubbing (3) rotated,
When described difference is greater than described the second higher limit, described output equipment control described scrubbing (3) along the upside of described scrubbing (3) towards described metope and downside the direction rotation away from described metope,
When described difference is less than described the second lower limit, described output equipment control described scrubbing (3) along the downside of described scrubbing (3) towards described metope and upside the direction rotation away from described metope.
8. controller according to claim 5, it is characterized in that, described travelling carriage (4) is arranged on to be washed on the wall car, on the described inside edge of washing the wall car, is provided with travelling carriage distance measuring sensor (61), be provided with tablet (62) on the inside edge of described travelling carriage (4)
The second measured value signal about distance between described travelling carriage distance measuring sensor (61) and described tablet (62) that described input equipment is also measured for gathering described travelling carriage distance measuring sensor (6), and this second measured value signal is sent to described treatment facility;
Described treatment facility is also for the size of the 3rd higher limit that stores the scope of distance between described scrubbing (3) when normal operation described travelling carriage distance measuring sensor (61) and described tablet (62) and the 3rd lower limit, more described the second measured value signal and described the 3rd higher limit and the 3rd lower limit and comparative result is sent to described output equipment;
Described output equipment is used for controlling described movement of washing the wall car according to comparative result,
When described the second measured value, between described the 3rd higher limit and the 3rd lower limit, described output equipment is not controlled the described wall car of washing and is moved,
When described the second measured value is greater than described the 3rd higher limit, the described signal that the wall car moves towards described metope of washing is controlled in described output equipment output,
When described the second measured value is less than described the 3rd lower limit, the described signal that the wall car moves away from described metope of washing is controlled in described output equipment output.
9. wash wall device for one kind, it is characterized in that, the described wall device of washing comprises according to any one in claim 5-8 described for washing the controller of wall device.
10. the wall device of washing according to claim 9, is characterized in that, this is washed wall device and is arranged on the subframe of washing the wall car, is provided with the guide rail (7) perpendicular to described metope on this subframe, and described travelling carriage (4) is mobile along this guide rail (7).
11. wash wall device according to claim 10, it is characterized in that, described travelling carriage (4) is mobile along described guide rail (7) by roller or chute etc.
12. according to the described wall device of washing of claim 9 or 10, it is characterized in that, the described wall device of washing also comprises that connecting the described frame (2) of scrubbing saves (8) with the turning arm of scrubbing arm (1), this rotation jib (8) can, around rotating with the described pin joint of scrubbing arm (1), be scrubbed frame (2) rotation with drive.
13. wash wall device according to claim 12, it is characterized in that, the described 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 any one in the claims 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 |
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| 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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| CN102518062B true CN102518062B (en) | 2013-12-04 |
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| CN102518062B (en) * | 2011-12-22 | 2013-12-04 | 长沙中联重科环卫机械有限公司 | Wall washing device, control method for wall washing device, controller, and wall washing vehicle |
| CN105256748A (en) * | 2015-11-10 | 2016-01-20 | 山东汇强重工科技有限公司 | Multi-functional cleaning vehicle |
| CN107225114A (en) * | 2017-07-11 | 2017-10-03 | 金海重工（舟山）设计研究院有限公司 | Movable type cleaning derusting device |
| 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 |
Family Cites Families (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE29908429U1 (en) * | 1999-05-05 | 1999-07-29 | Mulag Fahrzeugwerk Heinz Wössner GmbH u. Co KG, 77740 Bad Peterstal-Griesbach | Device for adjusting the working distance |
| DE19921761B4 (en) * | 1999-05-05 | 2005-12-15 | Mulag Fahrzeugwerk Heinz Wössner GmbH u. Co KG | Method and device for adjusting the working distance |
| DE19927592C1 (en) * | 1999-06-17 | 2001-02-08 | Schmidt Holding Gmbh | Sweeping unit |
| CN2447378Y (en) * | 1999-10-12 | 2001-09-12 | 侯卫平 | Road guardrail-cleaning vehicle |
| JP2006026028A (en) * | 2004-07-14 | 2006-02-02 | Sanyo Electric Co Ltd | Cleaner |
| CN201161381Y (en) * | 2007-05-28 | 2008-12-10 | 夏庆华 | Multifunctional pipeline cleaning robot |
| CN201044737Y (en) * | 2007-06-01 | 2008-04-09 | 金庆生 | Exposed wall cleaning machine |
| CN201377082Y (en) * | 2008-12-28 | 2010-01-06 | 郭修安 | Vehicle-mounted double-sided screen and wall cleaning machine |
| CN201494354U (en) * | 2009-08-24 | 2010-06-02 | 长沙中联重工科技发展股份有限公司 | Wall washing vehicle |
| CN201679517U (en) * | 2009-12-25 | 2010-12-22 | 郭修安 | Vehicle-mounted programmable control, automatic tracking multifunctional tunnel cleaning device |
| CN102518062B (en) * | 2011-12-22 | 2013-12-04 | 长沙中联重科环卫机械有限公司 | Wall washing device, control method for wall washing device, controller, and wall washing vehicle |
| CN202577204U (en) * | 2011-12-22 | 2012-12-05 | 长沙中联重科环卫机械有限公司 | Wall-washing device, and controller thereof and wall-washing vehicle |
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2011
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| WO2013091422A1 (en) | 2013-06-27 |
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