CN102995591A - Watering cart flushing control device, system and method and watering cart - Google Patents
Watering cart flushing control device, system and method and watering cart Download PDFInfo
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- CN102995591A CN102995591A CN2012105478097A CN201210547809A CN102995591A CN 102995591 A CN102995591 A CN 102995591A CN 2012105478097 A CN2012105478097 A CN 2012105478097A CN 201210547809 A CN201210547809 A CN 201210547809A CN 102995591 A CN102995591 A CN 102995591A
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- 238000011010 flushing procedure Methods 0.000 title claims abstract description 37
- 238000000034 method Methods 0.000 title claims abstract description 23
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 88
- 239000000523 sample Substances 0.000 claims description 5
- 230000008859 change Effects 0.000 claims description 4
- 230000001143 conditioned effect Effects 0.000 claims description 2
- 238000005507 spraying Methods 0.000 abstract 2
- 230000004907 flux Effects 0.000 description 7
- 239000007921 spray Substances 0.000 description 5
- 230000001105 regulatory effect Effects 0.000 description 4
- 230000002441 reversible effect Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 239000000295 fuel oil Substances 0.000 description 2
- 230000009183 running Effects 0.000 description 2
- 239000010865 sewage Substances 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000011065 in-situ storage Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 235000012149 noodles Nutrition 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
- 238000003079 width control Methods 0.000 description 1
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Abstract
The invention discloses a flushing control device, a flushing control system and a flushing control method for a sprinkler, and the sprinkler comprising the flushing control system. The watering lorry includes water pump and nozzle, controlling means includes: the receiver is used for receiving a watering width set value signal of the nozzle and a rotating speed signal of the water pump; and the controller is connected with the receiver and used for determining the valve opening of the flow valve according to the rotating speed of the water pump, the sprinkling width set value and the flow characteristic of the flow valve connected between the water pump and the nozzle and outputting a control signal for adjusting the flow valve to the valve opening. Through the technical scheme, the water spraying width can be controlled according to the flow valve, and the width of water sprayed out of the nozzle is kept at the set water spraying width by adjusting the flow valve, so that the water resource is reasonably utilized.
Description
Technical field
The present invention relates to engineering truck, particularly, relate to a kind of sprinkling truck flushing control device, system, method and comprise the sprinkling truck of described system.
Background technology
The sprinkling truck is that widely used a kind of engineering truck is cleaned in the city.During operation, with nozzle the rubbish on the road surface is washed to curb, sewage flows away along the drain hole of curb, and rubbish is by artificial or mechanical collection.In operation process, too far if water is rushed, on the road surface without greenbelt, can disturb the pedestrian on the sidewalk greatly, rubbish and sewage splash everywhere; And on the road surface that greenbelt is arranged, rubbish can be sprayed in the greenbelt, be not easy to collect, and to environment.If water is rushed excessively closely, can bring the halfway problem of cleaning, therefore, the flushing width is a key parameter on sprinkling truck.
Fig. 1 shows existing sprinkling truck structure chart.As shown in Figure 1, sprinkling truck engine in situ 1 drives water pump 7 runnings by the engagement of power takeoff 2, and the water tank 8 that fills on the sprinkling truck is taken from the water source; When left water valve 3 or right water valve 4 were opened, left nozzle 5 or right nozzle 6 were sprinkled water, so that the rubbish on the road surface is washed to curb.
Fig. 2 shows existing sprinkling truck circuit diagram.Power supply GB is taken to the chassis vehicle storage battery, and (such as insurance FU) provides electric power for each control circuit through power protection.Power take-off valve S
1Closure, power takeoff electromagnetic gas valve YV
1Must be electric, the engagement of cylinder action power takeoff 2, motor 1 drives water pump 7 runnings; Power take-off valve S
1Disconnect power takeoff electromagnetic gas valve YV
1Dead electricity, the separation of cylinder reverse action power takeoff 2, motor 1 is thrown off, and water pump 7 does not turn round.Left watering switch S
2Or right watering switch S
3Closure, left watering electromagnetic gas valve YV
2Or right watering electromagnetic gas valve YV
3Must be electric, the left water valve 3 of cylinder action drives or right water valve 4 are opened, corresponding left nozzle 5 or right nozzle 6 water sprays; Left watering switch S
2Or right watering switch S
3Disconnect left watering electromagnetic gas valve YV
2Or right watering electromagnetic gas valve YV
3Dead electricity, cylinder reverse action drive left water valve 3 or right water valve 4 cuts out, and corresponding left nozzle 5 or right nozzle 6 stop water spray.
Can find out that by Fig. 1 and Fig. 2 existing sprinkling truck is utilize the electric control electromagnetic gas valve logical and disconnected, thus, valve is standard-sized sheet or complete shut-down under the promotion of cylinder.In other conditions situation of constant (such as, engine speed), the constant width of nozzle watering can't realize regulating the watering width according to real road, causes the waste of water resource.In addition, change (namely in engine speed, the pump rotary speed variation) in the situation, the watering width is directly proportional with engine speed, that is to say, existing sprinkling truck exists that the faster watering width of the speed of a motor vehicle is wider, the speed of a motor vehicle is sprinkled water the narrower disadvantage of width more slowly, can't be implemented in the situation that the speed of a motor vehicle changes to keep suitable watering width.
Summary of the invention
The purpose of this invention is to provide a kind of sprinkling truck flushing control device, system, method and comprise the sprinkling truck of described system, to realize the control to the watering width.
To achieve these goals, the invention provides a kind of sprinkling truck flushing control device, described sprinkling truck comprises water pump and nozzle, and described control device comprises: receiver is used for receiving the watering width duty setting signal of described nozzle and the tach signal of described water pump; And controller, be connected with described receiver, determine the valve opening of described flow valve for the discharge characteristic that sets value and be connected to the flow valve between described water pump and the described nozzle according to the rotating speed of described water pump, described watering width, and export the control signal that described flow valve is adjusted to described valve opening.
The present invention also provides a kind of sprinkling truck flushing control system, and this system comprises: speed probe, for the tach signal that gathers water pump; Watering width setting apparatus is for the watering width of setting nozzle; And above-mentioned sprinkling truck flushing control device.
The present invention also provides a kind of sprinkling truck that comprises above-mentioned sprinkling truck flushing control system.
The present invention also provides a kind of sprinkling truck flush control method, and described sprinkling truck comprises water pump and nozzle, and described method comprises: receive the watering width duty setting signal of described nozzle and the tach signal of described water pump; Determine the valve opening of described flow valve according to the rotating speed of described water pump, described watering width setting value and the discharge characteristic that is connected to the flow valve between described water pump and the described nozzle; And described flow valve is adjusted to described valve opening.
In technique scheme, control the flow that outputs to the water the nozzle from water pump by the adjust flux valve, control from the width of the water of nozzle ejection with this.Can set the watering width according to the real road situation, in the constant situation of the speed of a motor vehicle, by regulating described flow valve so that consistent with the watering width that sets from the width of the water of nozzle ejection; And in the situation that the speed of a motor vehicle changes, can be by the adjust flux valve so that remain on the watering width that sets from the width of the water of nozzle ejection, thereby realize the reasonable utilization to water resource.
Other features and advantages of the present invention will partly be described in detail in the specific embodiment subsequently.
Description of drawings
Accompanying drawing is to be used to provide a further understanding of the present invention, and consists of 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 existing sprinkling truck structure chart;
Fig. 2 is existing sprinkling truck circuit diagram;
Fig. 3 is sprinkling truck structure chart according to the embodiment of the present invention;
Fig. 4 is the structure chart of sprinkling truck flushing control device according to the embodiment of the present invention;
Fig. 5 is the schematic diagram of flow valve according to the embodiment of the present invention;
Fig. 6 is the structure chart of sprinkling truck flushing control system according to the embodiment of the present invention; And
Fig. 7 is the flow chart of sprinkling truck flush control method according to the embodiment of the present invention.
Description of reference numerals
1 motor, 2 power takeoffs, 3 left water valve 4 right water valve 5 left nozzles 6 right nozzles
7 water pumps, 8 water tanks, 9 flow valves, 10 sprinkling truck flushing control devices, 101 receivers
102 controllers, 901 electric pushrods, 902 manual adjustments valves, 20 speed probes
30 watering width setting apparatus, 40 spray control switches, 50 electric pushrod linear transducers
Too high alarm 70 rotating speeds of 60 rotating speeds are crossed low alarm 80 electric pushrod motors
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 is used for description and interpretation the present invention, is not limited to the present invention.
Fig. 3 shows the structure chart on sprinkling truck according to the embodiment of the present invention.As shown in Figure 3, between water pump 7 and nozzle (for example, the left nozzle among Fig. 15 or right nozzle 6), add a flow valve 9.Sprinkling truck of the present invention flushing control device is with regard to sprinkle water width control of the structure that is based on this kind sprinkling truck.
Fig. 4 shows the structure chart of sprinkling truck flushing control device according to the embodiment of the present invention, and wherein, described sprinkling truck comprises water pump 7 and nozzle.As shown in Figure 4, this device 10 can comprise: receiver 101 is used for receiving the watering width duty setting signal of described nozzle and the tach signal of described water pump 7; And controller 102, be connected with described receiver 101, determine the valve opening of described flow valve 9 for the discharge characteristic that sets value and be connected to the flow valve 9 between described water pump 7 and the described nozzle according to the rotating speed of described water pump 7, described watering width, and export the control signal that described flow valve 9 is adjusted to described valve opening.
Particularly, watering width (being the jet length of nozzle) D=K
1* V, wherein V is muzzle velocity, K
1Be factor of proportionality.Therefore, in nozzle opening and the constant situation of terrain clearance, muzzle velocity V and the flow Q that flows into this nozzle
1Be directly proportional.Therefore, horizontal-jet distance B and this flow Q
1Be directly proportional, after setting the watering width D, can calculate the flow Q that flows into this nozzle
1
Because nozzle links to each other with flow valve 9, therefore, the flow Q of flow nozzle
1Be the rate of discharge of flow valve 9.Pump capacity Q
2=K
2* n, wherein K
2Be factor of proportionality, n is pump rotary speed, this flow Q
2Be the inlet flow rate of flow valve 9.Flow valve 9 has discharge characteristic, for example straight line, logarithm (equal percentage), parabola and open soon four kinds, and this discharge characteristic embodies the relation between input, output flow and valve opening.Therefore, can be according to the inlet flow rate Q of flow valve 9
2With rate of discharge Q
1, and the discharge characteristic of this flow valve 9 draw the valve opening of flow valve 9.Afterwards, controller 102 outputs are adjusted to described flow valve 9 control signal of the valve opening that calculates.
Take flow valve 9 with linear flow flow characteristic as example, to spray distance be 1m if set, the corresponding Q of this width
1Be 5L, and the Q under the current pump rotary speed
2Be 10L, therefore, the valve opening of this flow valve 9 adjusted to 50%, can realize the sprinkling distance of 1m.When rotating speed descends, so that Q
2During for 5L, for the width that keeps sprinkling water is 1m, the valve opening of the flow valve 9 that calculates should be 100%, therefore, the valve opening of flow valve 9 is adjusted to 100%, can realize keeping the sprinkling distance of 1m.
Thus, by sprinkling truck provided by the invention flushing control device, can set the watering width according to the real road situation, in the constant situation of the speed of a motor vehicle, by the adjust flux valve so that consistent with the watering width that sets from the width of the water of nozzle ejection; And in the situation that the speed of a motor vehicle changes, can be by the adjust flux valve so that remain on the watering width that sets from the width of the water of nozzle ejection, thereby realize the reasonable utilization to water resource.
The flow valve 9 that the present invention adopts can comprise electric pushrod 901 and manual adjustments valve 902, and its structure as shown in Figure 5.Wherein, L is that the length variable of electric pushrod 901, hinge that A is electric pushrod 901 are to the distance of the hinge of manual control valve 902, the handle length that R is manual adjustments valve 902.θ is that the hinge of handle line and electric pushrod 901 arrives angle between the hinge line of manual control valve 902.Have following relation between the opening of electric pushrod 901 and manual adjustments valve 902:
L
2＝A
2+R
2-2ARCOSθ
Therefore, by changing the length variable L of electric pushrod 901, can change θ, i.e. the valve opening of manual adjustments valve 902.The potentiometer type linear transducer is arranged, the corresponding corresponding length variable value L of its corresponding resistance value in the electric pushrod 901.
Thus, the valve opening of manual adjustments valve 902 can be conditioned by the change in length of described electric pushrod 901, and the valve opening of this manual adjustments valve 902 is the valve opening of described flow valve 9.
Although the present invention for the consideration of cost, has adopted electric pushrod to add the flow valve of manual adjustments valve form, the invention is not restricted to this, other flow valves with similar functions all can be used.
According to sprinkling truck provided by the invention flushing control device, described controller 102 can also the valve opening that calculates greater than maximum preset value or the situation less than minimum preset value under, output speed is crossed low alarm signal or the too high alarm signal of rotating speed; Perhaps in the situation of the valve opening that calculates greater than the maximum preset value, increase the rotating speed of described water pump; And/or in the situation of the valve opening that calculates less than minimum preset value, reduce the rotating speed of described water pump.
For example, still with the above-mentioned example that is exemplified as, at Q
2=5L, Q
1=5L, valve opening has been adjusted in 100% the situation, if this moment, pump rotary speed continued to descend, for example, drops to so that Q
2=3L, at this moment, the valve opening that calculates surpasses 100%, has exceeded valve opening the permitted maximum range, therefore, can't be with Q
1Remain on 5L.In this case, controller 102 can be crossed low alarm signal by output speed.Because the rotating speed of water pump 7 is by motor 1 control, therefore, when the driver saw this alarm signal, it should be opened the throttle, and improved the rotating speed of motor 1.Perhaps replacedly, the rotating speed of the large water pump 7 of described controller 102 automatic torque-increasings is to guarantee that flow valve 9 is within adjustable scope.When flow valve 9 was within adjustable scope, controller 102 can be controlled the watering width by regulating this flow valve 9.When the valve opening that calculates is lower than minimum preset value, report to the police and adjust the principle of rotating speed of water pump 7 and the same Noodles of method seemingly, repeat no more herein.
Thus, pass through technique scheme, valve opening that can be by flow valve 9 and described maximum preset value and minimum preset value judge whether current pump rotary speed (namely motor) rotating speed is suitable, the reasonable control engine rotating speed of reminding driver, capable of saving fuel oil consumes, and prevents that over speed of rotation from damaging power takeoff.
Fig. 6 shows the structure chart of sprinkling truck flushing control system according to the embodiment of the present invention.As shown in Figure 6, this system comprises: speed probe 20, for the tach signal that gathers water pump 7; Watering width setting apparatus 30 is for the watering width of setting nozzle; And above-mentioned sprinkling truck flushing control device 10.Described speed probe 20, described watering width setting apparatus 30 are sent to described sprinkling truck flushing control device 10 with tach signal and the described watering width of water pump 7, and this device 10 is determined the valve opening of described flow valve 9 according to the discharge characteristic of this tach signal, this watering width setting value and flow valve 9.Wherein, described watering width setting apparatus 30 can be that potentiometer, many grades of selector switches or other have the electronic installation of similar functions.
As mentioned above, flow valve 9 can adopt electric pushrod 901 to add the form of manual adjustments valve 902, therefore, described system can also comprise electric pushrod motor 80, this electric pushrod motor 80 is connected with the output of sprinkling truck flushing control device 10, is used for driving elongation and the shortening of described electric pushrod 901.The control signal that described electric pushrod 901 is adjusted to the length that calculates of described controller 102 outputs drives electric pushrod motor 80 forward or reverse, realizes the adjusting to manual modulation valve 902.
In addition, described system can also comprise electric pushrod linear transducer 50, be connected with the input of sprinkling truck flushing control device 10, the length that is used for the current electric pushrod 901 of sensing, the controller 102 of described sprinkling truck flushing control device 10 is after calculating the length of electric pushrod, the current length of this length that calculates and institute's sensing is compared, and in two inconsistent situations of length, drive electric pushrod motor 80 forward or reverse, so that described electric pushrod 901 is elongated or shortened to the length that is calculated.
Thus, by sprinkling truck provided by the invention flushing control system, can be by the adjust flux valve so that consistent with the watering width that sets from the width of the water of nozzle ejection, realization is to the reasonable utilization of water resource.
Described system can also comprise one or more spray control switches 40 that are connected with sprinkling truck flushing control device 10, is used for startup and closes 10 work of sprinkling truck flushing control device.
Described system can also comprise that the too high alarm 60 of rotating speed and rotating speed cross low alarm 70, be connected with the output of described sprinkling truck flushing control device 10, be used for reporting to the police in the too high or too low situation of rotating speed determining, with the reasonable control engine rotating speed of reminding driver, capable of saving fuel oil consumes, and prevents that over speed of rotation from damaging power takeoff.Be understandable that the too high alarm 60 of described rotating speed and rotating speed are crossed low alarm 70 and can be integrated in together.
The present invention also provides a kind of sprinkling truck that comprises said system.
Fig. 7 shows the flow chart of sprinkling truck flush control method according to the embodiment of the present invention.As shown in Figure 7, the method comprises: step 702, the watering width duty setting signal of fanging noz(zle) and the tach signal of water pump; Step 703 is determined the valve opening of described flow valve according to the rotating speed of described water pump, described watering width setting value and the discharge characteristic that is connected to the flow valve between described water pump and the described nozzle; And step 706, described flow valve is adjusted to described valve opening.
Described method can also comprise: before step 702, judges whether to receive watering switch order (step 701), receiving in the situation of described instruction, carry out step 702, otherwise, continue to wait for, until receive described instruction.
Described method can also comprise: after step 703, judge that whether the valve opening of calculating is greater than maximum preset value (step 704), in the situation of valve opening greater than the maximum preset value, report to the police to represent rotating speed excessively low (step 707), and increase the rotating speed (step 709) of water pump.Otherwise, judge whether the valve opening of calculating is lower than minimum preset value (step 705), is lower than in valve opening in the situation of minimum preset value, reports to the police to represent rotating speed too high (step 708), and reduces the rotating speed (step 710) of water pump.Otherwise, carry out step 706.
Thus, in sprinkling truck provided by the invention flushing control device, system, method with comprise and control the flow that outputs to the water the nozzle from water pump by the adjust flux valve in the sprinkling truck of described system, control from the width of the water of nozzle ejection with this.Can set the watering width according to the real road situation, in the constant situation of the speed of a motor vehicle, by regulating described flow valve so that consistent with the watering width that sets from the width of the water of nozzle ejection; And in the situation that the speed of a motor vehicle changes, can be by the adjust flux valve so that remain on the watering width that sets from the width of the water of nozzle ejection, thereby realize the reasonable utilization to water resource.
Below describe by reference to the accompanying drawings preferred embodiment 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 that in addition each the concrete technical characterictic described in the above-mentioned specific embodiment in reconcilable situation, can make up by any suitable mode.For fear of unnecessary repetition, the present invention is to the no longer separately explanation of various possible combinations.
In addition, also can carry out any combination between the various embodiment of the present invention, 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 (10)
1. sprinkling truck flushing control device, described sprinkling truck comprises water pump and nozzle, it is characterized in that, described control device comprises:
Receiver is used for receiving the watering width duty setting signal of described nozzle and the tach signal of described water pump; And
Controller, be connected with described receiver, determine the valve opening of described flow valve for the discharge characteristic that sets value and be connected to the flow valve between described water pump and the described nozzle according to the rotating speed of described water pump, described watering width, and export the control signal that described flow valve is adjusted to described valve opening.
2. sprinkling truck according to claim 1 flushing control device is characterized in that, described valve opening greater than maximum preset value or the situation less than minimum preset value under, described controller output speed is crossed low alarm signal or the too high alarm signal of rotating speed.
3. sprinkling truck according to claim 1 flushing control device is characterized in that described controller also is used for:
In the situation of described valve opening greater than the maximum preset value, increase the rotating speed of described water pump; And/or
In the situation of described valve opening less than minimum preset value, reduce the rotating speed of described water pump.
4. the described sprinkling truck of each claim flushing control device is characterized in that according to claim 1-3,
Described flow valve comprises electric pushrod and manual adjustments valve, and the valve opening of this manual adjustments valve is conditioned by the change in length of described electric pushrod, and the valve opening of this manual adjustments valve is the valve opening of described flow valve.
5. sprinkling truck according to claim 4 flushing control device, it is characterized in that, described controller is used for calculating according to the functional relation between the valve opening of the length of the valve opening of determined described flow valve and described electric pushrod and described flow valve the length of described electric pushrod, and output is adjusted to described electric pushrod the control signal of the length that calculates.
6. a sprinkling truck washes control system, it is characterized in that this system comprises:
Speed probe is for the tach signal that gathers water pump;
Watering width setting apparatus is for the watering width of setting nozzle; And
The described sprinkling truck of any one claim flushing control device according to claim 1-5.
7. one kind comprises that sprinkling truck according to claim 6 washes the sprinkling truck of control system.
8. sprinkling truck flush control method, described sprinkling truck comprises water pump and nozzle, it is characterized in that, described method comprises:
Receive the watering width duty setting signal of described nozzle and the tach signal of described water pump;
Determine the valve opening of described flow valve according to the rotating speed of described water pump, described watering width setting value and the discharge characteristic that is connected to the flow valve between described water pump and the described nozzle; And
Described flow valve is adjusted to described valve opening.
9. sprinkling truck according to claim 8 flush control method is characterized in that the method also comprises:
Described valve opening greater than maximum preset value or the situation less than minimum preset value under, send rotating speed and cross low alarm signal or the too high alarm signal of rotating speed.
10. sprinkling truck according to claim 8 flush control method is characterized in that described method also comprises:
In the situation of described valve opening greater than the maximum preset value, increase the rotating speed of described water pump; And/or
In the situation of described valve opening less than minimum preset value, reduce the rotating speed of described water pump.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210547809.7A CN102995591B (en) | 2012-12-17 | 2012-12-17 | Watering cart flushing control device, system and method and watering cart |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210547809.7A CN102995591B (en) | 2012-12-17 | 2012-12-17 | Watering cart flushing control device, system and method and watering cart |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102995591A true CN102995591A (en) | 2013-03-27 |
| CN102995591B CN102995591B (en) | 2015-04-15 |
Family
ID=47924648
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210547809.7A Active CN102995591B (en) | 2012-12-17 | 2012-12-17 | Watering cart flushing control device, system and method and watering cart |
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| CN (1) | CN102995591B (en) |
Cited By (5)
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|---|---|---|---|---|
| CN103850215A (en) * | 2014-03-19 | 2014-06-11 | 中联重科股份有限公司 | Watering cart flushing control device, system and method and watering cart |
| CN107761644A (en) * | 2017-09-26 | 2018-03-06 | 长沙义和车桥有限公司 | A kind of intelligent water sprinkling car and its tank body |
| CN110624717A (en) * | 2015-06-01 | 2019-12-31 | 深圳市大疆创新科技有限公司 | Sprinkler system with feedback of liquid flow and rotational speed |
| CN113026643A (en) * | 2020-12-16 | 2021-06-25 | 长沙中联重科环境产业有限公司 | Sprinkling control system and method and sprinkling truck |
| CN114607822A (en) * | 2022-03-28 | 2022-06-10 | 三一电动车科技有限公司 | Water valve control method and device and cleaning vehicle |
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| CN114607822A (en) * | 2022-03-28 | 2022-06-10 | 三一电动车科技有限公司 | Water valve control method and device and cleaning vehicle |
| CN114607822B (en) * | 2022-03-28 | 2024-04-30 | 三一电动车科技有限公司 | Water valve control method and device and cleaning vehicle |
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