CN106836083A - Sweeper travel speed control system, method, device and sweeper - Google Patents
Sweeper travel speed control system, method, device and sweeper Download PDFInfo
- Publication number
- CN106836083A CN106836083A CN201510887809.5A CN201510887809A CN106836083A CN 106836083 A CN106836083 A CN 106836083A CN 201510887809 A CN201510887809 A CN 201510887809A CN 106836083 A CN106836083 A CN 106836083A
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- Prior art keywords
- speed
- travel speed
- hydraulic pump
- present mode
- sweeper
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Classifications
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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
Abstract
The present invention discloses a kind of sweeper travel speed control system, method, device and sweeper, to improve sweeper operation effectiveness, reduces Working mechanism components damage.System includes entire car controller, operation/driving mode selection equipment, gear selection equipment, travel speed input equipment, engine control module and traveling controller；Entire car controller is used to send present mode and current gear to engine control module and traveling controller, and input travel speed is sent to traveling controller；Engine control module is used to determine the rotating speed of target of engine, and control engine works according to the rotating speed of target of engine；Traveling controller is used to determine that the target of hydraulic pump exports distribution according to present mode and current gear, control hydraulic pump exports power according to target output distribution to traveling mechanism and several Working mechanisms, when travel speed is input into more than present mode and the corresponding maximum travelling speed of current gear, control traveling mechanism is travelled according to maximum travelling speed.
Description
Technical field
The present invention relates to environmental sanitation field of mechanical technique, more particularly to a kind of sweeper travel speed control system
System, method, device and sweeper.
Background technology
Sweeper is a kind of vehicle for undertaking city thoroughfare flushing and cleaning work.In recent years, with China
National economy is developed rapidly, and urban sanitation cleaning is increasing, and the do mechanization operation of city cleaning will
Ask and also step up, therefore increasing technical staff begins to focus on the research of sweeper.
At present, traditional sweeper includes chassis and the upper dress Working mechanism being installed on chassis, above pretends industry
Mechanism includes upper cartridge controller, assistant engine, and blower fan, water pump and Sao Pandeng operating mechanisms.Wherein,
Upper cartridge controller is used to receive assistant engine selection of speed signal, and control assistant engine is worked with rotating speed of target,
Assistant engine is used to drive blower fan, water pump and Sao Pandeng operating mechanisms to be worked with constant output.Chassis
Travel speed, that is, sweeper travel speed, then by driver by trampling gas pedal or setting
Cruise is controlled.Be ensure sweeper operation effectiveness, sweeper when operation is carried out, travel speed
Usually require that control in 5~10Km/h.
Above-mentioned prior art has a drawback in that, the travel speed of sweeper is by driver according to subjective experience
Operational control, the degree of accuracy of control is not high, often causes sweeper to exceed above-mentioned speed when operation is carried out
Scope, so as to operation effectiveness cannot be ensured.If sweeper is travelled at a relatively high speed when operation is carried out, meeting
Part to upper dress Working mechanism causes to damage.
The content of the invention
A kind of sweeper travel speed control system, method, device and sweeper are the embodiment of the invention provides,
To improve the operation effectiveness of sweeper, the components damage to Working mechanism is reduced.
The sweeper travel speed control system that the embodiment of the present invention is provided, including entire car controller and point
The operation not being connected with entire car controller/driving mode selection equipment, gear selection equipment, travel speed input
Equipment, engine control module and traveling controller, wherein：
The entire car controller, for receiving present mode and gear that operation/driving mode selection equipment sends
The current gear that selection equipment sends, and send to engine control module and traveling controller；And receive row
The input travel speed of speed input equipment transmission is sailed, and is sent to traveling controller；
The engine control module, for according to present mode and current gear, determining the target of engine
Rotating speed；And control engine works according to the rotating speed of target of engine；
The traveling controller, for according to present mode and current gear, determining the target output of hydraulic pump
Distribution；Control hydraulic pump exports power according to target output distribution to traveling mechanism and several Working mechanisms；
And when travel speed is input into more than present mode and the corresponding maximum travelling speed of current gear, control traveling
Mechanism travels according to maximum travelling speed.
Specifically, the traveling controller, for when present mode is driving mode, determining hydraulic pump
It is zero that target output is assigned as hydraulic pump to the output power of several Working mechanisms；When present mode is
During work pattern, according to current gear, it is determined that the rotating speed of target of several Working mechanisms；According to described
The rotating speed of target of several Working mechanisms, determines the target output distribution of hydraulic pump.
Preferably, the traveling controller, is additionally operable to when input travel speed no more than present mode and current
During the corresponding maximum travelling speed of gear, control traveling mechanism is travelled according to input travel speed.
Specifically, described several Working mechanisms include sweeping disc mechanism, water pump mechanism and fan mechanism；Or,
Described several Working mechanisms include sweeping disc mechanism and fan mechanism.
In the technical scheme of the above embodiment of the present invention, traveling controller is according to present mode and current shelves
Position, determines the target output distribution of hydraulic pump, control hydraulic pump according to target output distribution to traveling mechanism and
Several Working mechanisms export power, also, when input travel speed is more than present mode and current gear pair
During the maximum travelling speed answered, control traveling mechanism is travelled according to maximum travelling speed.Compared to existing technology,
The program can by sweeper operation when travel speed control in certain scope, be not in traveling speed
Situation high is spent, such that it is able to improve the operation effectiveness of sweeper, the components damage to Working mechanism is reduced.
Additionally, compared to existing technology, the program can simplify the structure of sweeper, its cost is reduced.In traveling speed
When spending driving mode higher, hydraulic pump is zero to the output power of several Working mechanisms, and Working mechanism is not
Allow to carry out operation, so as to damaging that the part for further reducing Working mechanism is subject in motion.
The embodiment of the present invention additionally provides a kind of sweeper, including the sweeper of foregoing any technical scheme is travelled
Speed control system.Travel speed during the sweeper operation can be controlled in certain scope, will not be gone out
The too high situation of existing travel speed, such that it is able to improve operation effectiveness, reduces the damage of its Working mechanism part.
Based on identical inventive concept, the embodiment of the present invention additionally provides a kind of sweeper travel speed controlling party
Method, methods described includes：
According to present mode and current gear, the target output distribution of hydraulic pump is determined；
Control hydraulic pump exports power according to target output distribution to traveling mechanism and several Working mechanisms；
When travel speed is input into more than present mode and the corresponding maximum travelling speed of current gear, control row
Mechanism is sailed to be travelled according to maximum travelling speed.
Similarly, using the above method, can by sweeper operation when travel speed control in certain scope
It is interior, be not in the too high situation of travel speed, such that it is able to improve the operation effectiveness of sweeper, it is right to reduce
The components damage of Working mechanism.
Based on identical inventive concept, the embodiment of the present invention additionally provides a kind of sweeper travel speed control dress
Put, including：
First determining unit, for according to present mode and current gear, determining the target output point of hydraulic pump
Match somebody with somebody；
First control unit, for controlling hydraulic pump according to target output distribution to traveling mechanism and several works
Industry mechanism exports power；
Second control unit, for being more than present mode and the corresponding maximum of current gear when input travel speed
During travel speed, control traveling mechanism is travelled according to maximum travelling speed.
Similarly, using said apparatus, can by sweeper operation when travel speed control in certain scope
It is interior, be not in the too high situation of travel speed, such that it is able to improve the operation effectiveness of sweeper, it is right to reduce
The components damage of Working mechanism.
Brief description of the drawings
Fig. 1 is one embodiment of the invention sweeper travel speed control system schematic diagram；
Fig. 2 is another embodiment of the present invention sweeper travel speed control system schematic diagram；
Fig. 3 is one embodiment of the invention sweeper travel speed control method schematic flow sheet；
Fig. 4 is one embodiment of the invention sweeper travel speed control device schematic diagram.
Specific embodiment
In order to improve the operation effectiveness of sweeper, the components damage to Working mechanism, the embodiment of the present invention are reduced
There is provided a kind of sweeper travel speed control system, method, device and sweeper.
As shown in figure 1, the sweeper travel speed control system that one embodiment of the invention is provided, including it is whole
Vehicle controller 11 and the operation/driving mode selection equipment 12, shelves being connected with entire car controller 11 respectively
Position selection equipment 13, travel speed input equipment 14, (the Electronic Control of engine control module 15
Unit, abbreviation ECU) and traveling controller 16, wherein：
Entire car controller 11, for receiving present mode and shelves that operation/driving mode selection equipment 12 sends
The current gear that position selection equipment 13 sends, and send to engine control module 15 and traveling controller 16；
And the input travel speed that travel speed input equipment 14 sends is received, and send to traveling controller 16；
Engine control module 15, for according to present mode and current gear, determining the mesh of engine 17
Mark rotating speed；And control engine 17 works according to the rotating speed of target of engine；
Traveling controller 16, for according to present mode and current gear, determining hydraulic pump 18 (by starting
Machine 17 drives) target output distribution；Control hydraulic pump 18 is according to target output distribution to traveling mechanism 22
It is dynamic with the output of several Working mechanisms (for example, sweeping disc mechanism 19, water pump mechanism 20 and fan mechanism 21)
Power；And when travel speed is input into more than present mode and the corresponding maximum travelling speed of current gear, control
Traveling mechanism 22 is travelled according to maximum travelling speed.
As shown in Fig. 2 in a preferred embodiment of the invention, entire car controller 11 controls mould with engine
Can be by CAN (Controller Area Network, CAN, control between block 15 and traveling controller 16
Device LAN processed, abbreviation CAN) bus carries out information transfer.
The particular type of operation/driving mode selection equipment 12 is not limited, for example, can be button or knob etc.,
Two operating positions with correspondence work pattern and driving mode.Gear selects the optional shelves of equipment 13
Bit quantity is not limited, and typically at least includes third gear gear.For example, in one embodiment of the invention, gear
Selection equipment includes third gear gear, respectively low or first gear, mid ranger and top gear.Work as front mould when sweeper
When formula is work pattern, third gear gear correspondence low speed operation shelves, middling speed operation shelves and high-speed job shelves；When washing
When the present mode for sweeping car is driving mode, third gear gear correspondence runs at a low speed shelves, drive at moderate speed shelves and high speed
Traveling shelves.
The Working mechanism of sweeper generally includes to sweep disc mechanism 19, water pump mechanism 20 and fan mechanism 21, certain
The sweeper of a little types can also including spraying mechanism etc. other Working mechanisms.In one embodiment of the present of invention
In, described several Working mechanisms include sweeping disc mechanism, water pump mechanism and fan mechanism；Of the invention another
In one embodiment, described several Working mechanisms include sweeping disc mechanism and fan mechanism, and water pump mechanism also may be used
Operation is not involved in in work pattern.
As shown in Fig. 2 travel speed input equipment 14 as can by driver manipulation input so as to control
The equipment of Vehicle Speed, generally includes accelerator pedal device 141.In a preferred embodiment of the invention,
Travel speed input equipment 14 can also include cruise equipment 142, and driver can be by manipulating constant speed
The switch of cruise equipment 142 makes vehicle be travelled with constant speed.
In a specific embodiment of the invention, traveling controller 16 is additionally operable to when input travel speed is little
When present mode and current gear corresponding maximum travelling speed, control traveling mechanism 22 is according to line of input
Sail speed traveling.
In the technical scheme of the above embodiment of the present invention, traveling controller is according to present mode and current shelves
Position, determines the target output distribution of hydraulic pump, control hydraulic pump according to target output distribution to traveling mechanism and
Several Working mechanisms export power, also, when input travel speed is more than present mode and current gear pair
During the maximum travelling speed answered, control traveling mechanism is travelled according to maximum travelling speed.Compared to existing technology,
The program can by sweeper operation when travel speed control in certain scope, be not in traveling speed
Situation high is spent, such that it is able to improve the operation effectiveness of sweeper, the components damage to Working mechanism is reduced.
Additionally, compared to existing technology, the program can simplify the structure of sweeper, its cost is reduced.
In a specific embodiment of the invention, traveling controller 16 is specifically for being traveling mould when present mode
During formula, determine that the target output of hydraulic pump 18 is assigned as hydraulic pump 18 and is moved to the output of several Working mechanisms
Power is zero；When present mode is work pattern, according to current gear, the mesh of several Working mechanisms is determined
Mark rotating speed；According to the rotating speed of target of several Working mechanisms, the target output distribution of hydraulic pump 18 is determined.
That is, in driving mode, Working mechanism does not allow to carry out operation, can so reduce Working mechanism
Damaging of being subject in motion of part.In work pattern, an output power part for hydraulic pump 18 is used
In several Working mechanism operations are driven, remainder is then used to drive traveling mechanism 22 to travel.
The course of work of the control system of sweeper travel speed shown in Fig. 2 is as follows：
System electrification；
Driver selects equipment 12 to select present mode by operation/driving mode, for example, select work pattern
Or driving mode；
Driver's initiation key is switched, and now engine is in idling mode；
Driver selects equipment 13 to select current gear by gear；
Entire car controller 11 receives present mode and the gear selection that operation/driving mode selection equipment 12 sends
The current gear that equipment 13 sends, and send to engine control module 15 and traveling controller 16；
Engine control module 15 determines the rotating speed of target of engine 17 according to present mode and current gear；
Control engine 17 accelerates to the rotating speed of target；
Traveling controller 16 determines the target output distribution of hydraulic pump 18 according to present mode and current gear；
Control hydraulic pump 18 is distributed to traveling mechanism 22 according to target output, sweeps disc mechanism 19, water pump mechanism 20
Power is exported with fan mechanism 21.Specifically, when present mode is driving mode, hydraulic pump 18 is to sweeping
The output power of disc mechanism 19, water pump mechanism 20 and fan mechanism 21 is zero, and the output of hydraulic pump 18 is moved
Power is completely used for driving traveling mechanism 22 to travel；When present mode is work pattern, according to current gear,
It is determined that sweeping the rotating speed of target of disc mechanism 19, water pump mechanism 20 and fan mechanism 21；According to sweep disc mechanism 19,
The rotating speed of target of water pump mechanism 20 and fan mechanism 21, determines the target output distribution of hydraulic pump 18.
Driver can control the travel speed of sweeper by manipulating accelerator pedal device 141, or use
The travel speed of the constant sweeper of cruise equipment 142.Under present mode and current gear, if logical
Cross accelerator pedal device 141 or cruise equipment 142 input travel speed be not more than present mode and
The corresponding maximum travelling speed of current gear, then vehicle according to the input travel speed travel；If passed through
Accelerator pedal device 141 or the travel speed of the input of cruise equipment 142 are more than present mode and currently
The corresponding maximum travelling speed of gear, then vehicle can only be travelled according to the maximum travelling speed.
By taking small-sized full-hydraulic sweeper as an example, under different mode, gear, the rotating speed of target of engine, each work
The rotating speed of target of industry mechanism, and travel speed corresponding relation as shown in following table one.
Table one
Under work pattern, engine speed point third gear sweeps disk rotating speed with rotation speed of fan with engine to sweeper
The lifting of rotating speed and lifted, the travel speed of vehicle is controlled within 10km/h, is swept so as to ensure that to wash
The effect of operation, and the loss caused by the speed part to Working mechanism higher can be reduced.Sweeper exists
Under driving mode, every grade limits maximum travelling speed, so as to ensure that the safety traffic of vehicle, also,
Under driving mode, Working mechanism does not allow action, so as to further reduce Working mechanism components damage.
The embodiment of the present invention additionally provides a kind of sweeper, including the sweeper of foregoing any embodiment travels speed
Degree control system.Travel speed during the sweeper operation can be controlled in certain scope, be not in
The too high situation of travel speed, such that it is able to improve operation effectiveness, reduces the damage of its Working mechanism part.
As shown in figure 3, being based on identical inventive concept, the embodiment of the present invention additionally provides a kind of sweeper row
Method for control speed is sailed, method is comprised the following steps：
Step 101, according to present mode and current gear, determine the target output distribution of hydraulic pump；
Step 102, control hydraulic pump are defeated to traveling mechanism and several Working mechanisms according to target output distribution
Go out power；
Step 103, judge input travel speed whether more than present mode and the corresponding maximum row of current gear
Speed is sailed, if it is, performing step 104, otherwise, step 105 is performed；
Step 104, control traveling mechanism are travelled according to maximum travelling speed；
Step 105, control traveling mechanism are travelled according to input travel speed.
Wherein, step 101 may particularly include：
When present mode is driving mode, determine that the target output of hydraulic pump is assigned as hydraulic pump to several
The output power of Working mechanism is zero；
When present mode is work pattern, according to current gear, determine that the target of several Working mechanisms turns
Speed；According to the rotating speed of target of several Working mechanisms, the target output distribution of hydraulic pump is determined.
Similarly, using the above method, can by sweeper operation when travel speed control in certain scope
It is interior, be not in the too high situation of travel speed, such that it is able to improve the operation effectiveness of sweeper, it is right to reduce
The components damage of Working mechanism.
As shown in figure 4, being based on identical inventive concept, the embodiment of the present invention additionally provides a kind of sweeper row
Speed control unit is sailed, including：
First determining unit 201, for according to present mode and current gear, determining that the target of hydraulic pump is defeated
Go out distribution；
First control unit 202, for controlling hydraulic pump according to target output distribution to traveling mechanism and some
Individual Working mechanism exports power；
Second control unit 203, for corresponding more than present mode and current gear when travel speed is input into
During maximum travelling speed, control traveling mechanism is travelled according to maximum travelling speed.
Specifically, the first determining unit 201, for when present mode is driving mode, determining hydraulic pump
Target output to be assigned as hydraulic pump to the output power of several Working mechanisms be zero；When present mode is work
During industry pattern, according to current gear, the rotating speed of target of several Working mechanisms is determined；According to several operations
The rotating speed of target of mechanism, determines the target output distribution of hydraulic pump.
Specifically, the second control unit 203, is additionally operable to when input travel speed no more than present mode and works as
During the corresponding maximum travelling speed of preceding gear, control traveling mechanism is travelled according to input travel speed.
Similarly, using said apparatus, can by sweeper operation when travel speed control in certain scope
It is interior, be not in the too high situation of travel speed, such that it is able to improve the operation effectiveness of sweeper, it is right to reduce
The components damage of Working mechanism.
Obviously, those skilled in the art can carry out various changes and modification without deviating from this hair to the present invention
Bright spirit and scope.So, if it is of the invention these modification and modification belong to the claims in the present invention and
Within the scope of its equivalent technologies, then the present invention is also intended to comprising these changes and modification.
Claims (11)
1. a kind of sweeper travel speed control system, it is characterised in that including entire car controller and point
The operation not being connected with entire car controller/driving mode selection equipment, gear selection equipment, travel speed input
Equipment, engine control module and traveling controller, wherein：
The entire car controller, for receiving present mode and gear that operation/driving mode selection equipment sends
The current gear that selection equipment sends, and send to engine control module and traveling controller；And receive row
The input travel speed of speed input equipment transmission is sailed, and is sent to traveling controller；
The engine control module, for according to present mode and current gear, determining the target of engine
Rotating speed；And control engine works according to the rotating speed of target of engine；
The traveling controller, for according to present mode and current gear, determining the target output of hydraulic pump
Distribution；Control hydraulic pump exports power according to target output distribution to traveling mechanism and several Working mechanisms；
And when travel speed is input into more than present mode and the corresponding maximum travelling speed of current gear, control traveling
Mechanism travels according to maximum travelling speed.
2. the system as claimed in claim 1, it is characterised in that the traveling controller, specifically for
When present mode be driving mode when, determine hydraulic pump target output be assigned as hydraulic pump to it is described several
The output power of Working mechanism is zero；When present mode is work pattern, according to current gear, institute is determined
State the rotating speed of target of several Working mechanisms；According to the rotating speed of target of several Working mechanisms, liquid is determined
The target output distribution of press pump.
3. system as claimed in claim 3, it is characterised in that the traveling controller, is additionally operable to work as
When input travel speed is not more than present mode and current gear corresponding maximum travelling speed, traveling machine is controlled
Structure is travelled according to input travel speed.
4. the system as described in any one of claims 1 to 3, it is characterised in that described several working rigs
Structure includes sweeping disc mechanism, water pump mechanism and fan mechanism；Or, described several Working mechanisms include sweeping disk
Mechanism and fan mechanism.
5. a kind of sweeper, it is characterised in that including the sweeper as described in any one of Claims 1 to 4
Travel speed control system.
6. a kind of sweeper travel speed control method, it is characterised in that methods described includes：
According to present mode and current gear, the target output distribution of hydraulic pump is determined；
Control hydraulic pump exports power according to target output distribution to traveling mechanism and several Working mechanisms；
When travel speed is input into more than present mode and the corresponding maximum travelling speed of current gear, control row
Mechanism is sailed to be travelled according to maximum travelling speed.
7. method as claimed in claim 6, it is characterised in that described according to present mode and current shelves
Position, determines the target output distribution of hydraulic pump, including：
When present mode is driving mode, if determining, the target output of hydraulic pump is assigned as hydraulic pump to described
The output power of dry Working mechanism is zero；
When present mode is work pattern, according to current gear, it is determined that the mesh of several Working mechanisms
Mark rotating speed；According to the rotating speed of target of several Working mechanisms, the target output distribution of hydraulic pump is determined.
8. method as claimed in claim 7, it is characterised in that methods described also includes：
When being input into travel speed and being not more than present mode and the corresponding maximum travelling speed of current gear, control
Traveling mechanism is travelled according to input travel speed.
9. a kind of sweeper travel speed control device, it is characterised in that including：
First determining unit, for according to present mode and current gear, determining the target output point of hydraulic pump
Match somebody with somebody；
First control unit, for controlling hydraulic pump according to target output distribution to traveling mechanism and several works
Industry mechanism exports power；
Second control unit, for being more than present mode and the corresponding maximum of current gear when input travel speed
During travel speed, control traveling mechanism is travelled according to maximum travelling speed.
10. device as claimed in claim 9, it is characterised in that first determining unit, it is specific to use
Hydraulic pump is assigned as to described some in the target output for when present mode is driving mode, determining hydraulic pump
The output power of individual Working mechanism is zero；When present mode is work pattern, according to current gear, it is determined that
The rotating speed of target of several Working mechanisms；According to the rotating speed of target of several Working mechanisms, it is determined that
The target output distribution of hydraulic pump.
11. devices as claimed in claim 10, it is characterised in that second control unit, also use
In when being input into travel speed and being not more than present mode and the corresponding maximum travelling speed of current gear, control row
Mechanism is sailed to be travelled according to input travel speed.
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|---|---|---|---|
| CN201510887809.5A CN106836083B (en) | 2015-12-07 | 2015-12-07 | Sweeper travel speed control system, method, apparatus and sweeper |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510887809.5A CN106836083B (en) | 2015-12-07 | 2015-12-07 | Sweeper travel speed control system, method, apparatus and sweeper |
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| CN106836083B CN106836083B (en) | 2019-06-21 |
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| CN107399319A (en) * | 2017-07-12 | 2017-11-28 | 长沙中联重科环境产业有限公司 | Power control unit, hybrid power system and its control method and cleaning vehicle |
| CN109083059A (en) * | 2018-07-20 | 2018-12-25 | 福建龙马环卫装备股份有限公司 | A kind of road surface dumper apparatus for work control method and system |
| CN110258412A (en) * | 2019-06-14 | 2019-09-20 | 长沙中联重科环境产业有限公司 | Road-cleaning equipment and its blower and the intelligent control method and system for sweeping disk |
| CN110725258A (en) * | 2019-10-21 | 2020-01-24 | 珠海亿华电动车辆有限公司 | Control method of sweeper, readable storage medium and sweeper |
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| CN110725258B (en) * | 2019-10-21 | 2021-06-01 | 珠海亿华电动车辆有限公司 | Control method of sweeper, readable storage medium and sweeper |
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| CN106836083B (en) | 2019-06-21 |
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