CN107966903A - A kind of computer based road-cleaning sprinkling truck - Google Patents

A kind of computer based road-cleaning sprinkling truck Download PDF

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Publication number
CN107966903A
CN107966903A CN201810057296.9A CN201810057296A CN107966903A CN 107966903 A CN107966903 A CN 107966903A CN 201810057296 A CN201810057296 A CN 201810057296A CN 107966903 A CN107966903 A CN 107966903A
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sprinkling
watering
water
sprinkling truck
nozzle
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CN201810057296.9A
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CN107966903B (en
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不公告发明人
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Putian City Fire Information Technology Co Ltd
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Putian City Fire Information Technology Co Ltd
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/0205—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric not using a model or a simulator of the controlled system
    • G05B13/024—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric not using a model or a simulator of the controlled system in which a parameter or coefficient is automatically adjusted to optimise the performance
    • 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
    • E01H3/00—Applying liquids to roads or like surfaces, e.g. for dust control; Stationary flushing devices
    • E01H3/02—Mobile apparatus, e.g. watering-vehicles

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • Artificial Intelligence (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Evolutionary Computation (AREA)
  • Medical Informatics (AREA)
  • Software Systems (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Cleaning Of Streets, Tracks, Or Beaches (AREA)

Abstract

The invention discloses a kind of computer based road-cleaning sprinkling truck, is related to road-cleaning field, including：Watering device, speed data collection device, be arranged at the second pipeline to the current meter between nozzle or flowmeter, sprinkling predetermined momentum value setting module, parameter memory module, master controller and sprinkling control module；Master controller according to speed, water discharge speed, liquid of sprinkling water density and water outlet cross-sectional area, solve the sprinkling kinetic energy of the unit operating range on sprinkling truck, adjust the operation power of water pump.Sprinkling kinetic energy of the invention by solving unit operating range, and according to the sprinkling kinetic energy of unit operating range, generation watering operation intensity instruction, to adjust the operation power of water pump, take into full account speed and keep watering operation uniformly to export, ensure that each place watering kinetic energy is identical, avoid local watering very few and cause watering kinetic energy deficiency to influence watering effect, on the other hand avoid local watering excessive, cause water resource waste.

Description

A kind of computer based road-cleaning sprinkling truck
Technical field
The present invention relates to road-cleaning field, more particularly to a kind of computer based road-cleaning sprinkling truck.
Background technology
Sprinkling truck is usually used in road-cleaning or watering and lowering dust operation, effectively improves the health level in city.Existing In technology, driver, when stopping, closing down sprinkler system, using water wisely, the one of the prior art by controlling sprinkler Aspect, watering operation need the artificial repetitive control watering switch of driver, and convenience is poor.
The content of the invention
In view of the drawbacks described above of the prior art, the technical problems to be solved by the invention are to provide one kind and are based on computer Road-cleaning sprinkling truck, it is intended to solve the prior art watering operation kept without considering speed watering operation uniformly export, make Into along the line since speed difference causes each place watering kinetic energy different；If on the one hand watering is very few, watering effect have impact on Fruit；On the other hand sprinkle water excessive, cause water resource waste.
To achieve the above object, the present invention provides a kind of computer based road-cleaning sprinkling truck, the sprinkling truck bag Include：
Watering device, for providing liquid of sprinkling water；The watering device includes：Water tank, the first pipeline, water pump, the second pipeline, Nozzle；The water inlet of the water pump is connected by first pipeline with the water tank, and the water outlet of the water pump passes through described Second pipeline is connected with the nozzle；
Speed data collection device, the speed that watering is swept described in water sprinkling path operation is performed for gathering；
Second pipeline is arranged to the current meter or flowmeter between the nozzle, for gathering the sprinkling truck The water discharge speed of the nozzle；
Spray predetermined momentum value setting module, the sprinkling predetermined momentum of the unit operating range for obtaining the sprinkling truck Value EL_set；
Parameter memory module, for storing the density of watering liquid and the water outlet cross section of the nozzle on the sprinkling truck Product；
Master controller, for according to the speed, the water discharge speed, it is described watering liquid the density and it is described go out Water cross-sectional area, solves the sprinkling kinetic energy E of the unit operating range on the sprinkling truckL；The ELMeetThe ρ is the liquid-tight degree of sprinkler, the vwaterGo out for the nozzle Water flow velocity, the SsectionFor the nozzle water outlet cross-sectional area, the vcarFor the speed on the sprinkling truck；The vcar＞ 0；
And sprinkling control module, the input terminal of the sprinkling control module are connected with the output terminal of the master controller, The output terminal of the sprinkling control module is connected with the control terminal of the water pump；Wherein,
The master controller is additionally operable to the default unit length momentum value E of the sprinklingL_setWith the sprinkling kinetic energy ELThan Compared with；If the difference of the two is less than first threshold ETH, then maintenance watering operation intensity instruction is sent；If the difference of the two is more than First threshold ETHAnd the default unit length momentum value E of sprinklingL_setMore than the sprinkling kinetic energy EL, then send enhancing watering and make Industry intensity instructs；If the difference of the two is more than first threshold ETHAnd the default unit length momentum value E of sprinklingL_setIt is small In the sprinkling kinetic energy EL, then decrease watering operation intensity instruction is sent；
The sprinkling control module, is additionally operable to according to watering job instruction, enhancing or decrease or maintains the sprinkling truck The operation power of the water pump of watering device；The watering job instruction includes maintaining the instruction of watering operation intensity, enhancing watering to make The instruction of industry intensity, weaken watering operation intensity instruction.
Optionally, the watering liquid is water, and the liquid-tight degree of watering is 1 × 103kg/m3。
The technology of speed data collection belongs to this area conventional technical means in itself, all has on substantially any vehicle and refers to car The dial plate of speed, is referred to the relevant technology of speed data collection, which is not described herein again.
In an embodiment, the sprinkling truck further includes input module, for gathering user on the sprinkling truck The input module on the sprinkling predetermined momentum value that inputs.
In an embodiment, the sprinkling truck further includes water discharge speed and solves module, and institute is arranged at for basis State the water flow L that the second pipeline to the flowmeter between the nozzle is gatheredwater, solve the water discharge speed of the nozzle vwater；The vwaterMeet：
In an embodiment, the first threshold ETHMeet：
In an embodiment, the operation power includes the pump power of several grades.
The beneficial effects of the invention are as follows：Sprinkling kinetic energy of the invention by solving unit operating range, and according to unit row Sail the sprinkling kinetic energy of distance, generation watering operation intensity instruction, to adjust the operation power of water pump；The present invention takes into full account car Speed and keep watering operation uniformly to export, ensure that each place watering kinetic energy is identical, avoid local watering very few and cause to sprinkle water Kinetic energy deficiency influences watering effect, on the other hand avoids local watering excessive, causes water resource waste.
Brief description of the drawings
Fig. 1 is a kind of structural representation on computer based road-cleaning sprinkling truck of the embodiment of the invention Figure；
Fig. 2 is a kind of controlling party on computer based road-cleaning sprinkling truck that the embodiment of the invention provides The flow diagram of method.
Embodiment
The invention will be further described with reference to the accompanying drawings and examples：
As shown in Figs. 1-2, in the first embodiment of the invention, there is provided a kind of computer based road-cleaning sprinkling truck, The sprinkling truck includes：
Watering device 106, for providing liquid of sprinkling water；The watering device 106 includes：Water tank, the first pipeline, water pump 110, Second pipeline, nozzle；The water inlet of the water pump 110 is connected by first pipeline with the water tank, the water pump 110 Water outlet is connected by second pipeline with the nozzle；
Speed data collection device 108, the speed that watering is swept described in water sprinkling path operation is performed for gathering；
Second pipeline is arranged to the current meter 102 or flowmeter 103 between the nozzle, for gathering described spill The water discharge speed of the nozzle of waterwheel；
Predetermined momentum value setting module 104 is sprayed, is preset for obtaining the sprinkling of unit operating range on the sprinkling truck Momentum value EL_set；
Parameter memory module 105, for the density of watering liquid and the water outlet horizontal stroke of the nozzle for storing the sprinkling truck Sectional area；
Master controller 101, for according to the speed, the water discharge speed, the density of the watering liquid and institute Water outlet cross-sectional area is stated, solves the sprinkling kinetic energy E of the unit operating range on the sprinkling truckL；The ELMeetThe ρ is the liquid-tight degree of sprinkler, the vwaterGo out for the nozzle Water flow velocity, the SsectionFor the nozzle water outlet cross-sectional area, the vcarFor the speed on the sprinkling truck；The vcar＞ 0； If the it is noted that vcar=0, then it is described to set the P=0；
And sprinkling control module 107, the input terminal for spraying control module 107 are defeated with the master controller 101 Outlet connects, and the output terminal of the sprinkling control module 107 is connected with the control terminal of the water pump 110；Wherein,
The master controller 101 is additionally operable to the default unit length momentum value E of the sprinklingL_setWith the sprinkling kinetic energy EL Compare；If the difference of the two is less than first threshold ETH, then maintenance watering operation intensity instruction is sent；If the difference of the two is big In first threshold ETHAnd the default unit length momentum value E of sprinklingL_setMore than the sprinkling kinetic energy EL, then enhancing watering is sent Operation intensity instructs；If the difference of the two is more than first threshold ETHAnd the default unit length momentum value E of sprinklingL_set Less than the sprinkling kinetic energy EL, then decrease watering operation intensity instruction is sent；
The sprinkling control module 107, is additionally operable to according to watering job instruction, enhancing or decrease or maintains the sprinkling truck Watering device 106 water pump 110 operation power；The watering job instruction includes maintaining the instruction of watering operation intensity, increases Strong watering operation intensity instruction, weaken watering operation intensity instruction.
Optionally, the watering liquid is water, and the liquid-tight degree of watering is 1 × 103kg/m3。
The technology of speed data collection belongs to this area conventional technical means in itself, all has on substantially any vehicle and refers to car The dial plate of speed, is referred to the relevant technology of speed data collection, which is not described herein again.
In the present embodiment, the sprinkling truck further includes input module 109, for gathering institute of the user on the sprinkling truck State the sprinkling predetermined momentum value inputted on input module 109.
In the present embodiment, the sprinkling truck further includes water discharge speed and solves module, and described second is arranged at for basis The water flow L that pipeline is gathered to the flowmeter 103 between the nozzlewater, solve the water discharge speed of the nozzle vwater；The vwaterMeet：
In the present embodiment, the first threshold ETHMeet：
In the present embodiment, the operation power includes 110 power of water pump of several grades.
In one example, according to watering operation intensity requirement, operation power is switched in several grades for sprinkling truck.Can Choosing, the power of water pump is electrodeless adjustment, by controlling electric current or voltage to adjust the operation power of water pump.
It is noted that the acquisition for flow velocity can directly gather acquisition by current meter, flow can also be passed through Meter carries out conversion acquisition.It is noted that spray head of watering cart is arranged to straight down, sprinkling truck speed is generally relatively small, Nozzle watering angle and travel angle are approximately right angle.
It is noted that pass throughThe air of sprinkling truck water outlet is hindered Power and nozzle are ignored to the gravitional force between ground, the reason is that nozzle is nearer apart from ground distance in itself, institute The air drag and the increment of gravitional force being subject to are smaller relative to the kinetic energy of watering, and sprinkle water operation real impact energy and EL Positive correlation.
In the present embodiment, the sprinkling kinetic energy E of unit operating rangeLThe derivation of equation is as follows.
By kinetic energy formulaIt can obtain：
Kinetic energy infinitesimal dE meets：
According to quality, density, volume relationship, quality infinitesimal dm satisfactions can be obtained：Dm=ρ dVvolume (2)
Wherein, dVvolumeFor the infinitesimal for volume of sprinkling water, and watering flow velocity, cross-sectional area and time correlation, dVvolumeMeet：dVvolume=vwaterSsectiondt (3)
It can be obtained by (1)-(3)：
From travel speed, time and distance relation, traveling distance infinitesimal dl meets：Dl=vcardt (5)
It can be obtained by (4)-(5), the sprinkling kinetic energy E of unit operating rangeLMeet：
As shown in Figs. 1-2, in second embodiment of the invention, there is provided a kind of computer based road-cleaning sprinkling truck Control method, the described method includes：
Collection performs the speed on the sprinkling truck of water sprinkling path operation；
Collection performs the water discharge speed of the nozzle on the sprinkling truck of water sprinkling path operation；
Obtain the sprinkling predetermined momentum value E of the unit operating range on the sprinkling truckL_set；
Obtain the density of watering liquid and the water outlet cross-sectional area of the nozzle on the sprinkling truck；
Solve the sprinkling kinetic energy E of the unit operating range on the sprinkling truckL；The ELMeetThe vcar＞ 0；If the it is noted that vcar=0, then it is described to set The fixed P=0；
By the default unit length momentum value E of the sprinklingL_setWith the sprinkling kinetic energy ELCompare；If the difference of the two is less than First threshold ETH, then maintenance watering operation intensity instruction is sent；If the difference of the two is more than first threshold ETHAnd the spray Spill default unit length momentum value EL_setMore than the sprinkling kinetic energy EL, then enhancing watering operation intensity instruction is sent；If the two The difference be more than first threshold ETHAnd the default unit length momentum value E of sprinklingL_setLess than the sprinkling kinetic energy EL, then Send decrease watering operation intensity instruction；
Wherein, the ρ is the liquid-tight degree of sprinkler, the vwaterFor the nozzle water discharge speed, the SsectionFor The nozzle water outlet cross-sectional area, the vcarFor the speed on the sprinkling truck.
Optionally, the watering liquid is water, and the liquid-tight degree of watering is 1 × 103kg/m3。
The technology of speed data collection belongs to this area conventional technical means in itself, all has on substantially any vehicle and refers to car The dial plate of speed, is referred to the relevant technology of speed data collection, which is not described herein again.
In the present embodiment, the collection performs the water discharge speed of the nozzle on the sprinkling truck of water sprinkling path operation, also Including：
The flow speed value that current meter at the nozzle on sprinkling truck described in capture setting is gathered；The flow speed value is described Water discharge speed.
Optionally, the outlet pipeline end connection nozzle on sprinkling truck, the current meter are connected to the outlet pipeline end Between the nozzle.
In the present embodiment, the sprinkling predetermined momentum value E of the unit operating range for obtaining the sprinkling truckL_set, also Including：
The sprinkling predetermined momentum value that collection user inputs on the input module on the sprinkling truck.
In the present embodiment, the collection performs the water discharge speed of the nozzle on the sprinkling truck of water sprinkling path operation, also Including：
Collection performs the water flow L of the nozzle on the sprinkling truck of water sprinkling path operationwater；
Solve the water discharge speed v of the nozzlewater；The vwaterMeet：
In the present embodiment, the first threshold ETHMeet：
In the present embodiment, the method further includes：In response to enhancing watering operation intensity instruction, strengthen the sprinkling truck Watering device water pump operation power.
In the present embodiment, the method further includes：In response to weakening watering operation intensity instruction, weaken the sprinkling truck Watering device water pump operation power.
In the present embodiment, the operation power includes the pump power of several grades.
Preferred embodiment of the invention described in detail above.It should be appreciated that those of ordinary skill in the art without Need creative work to conceive according to the present invention and make many modifications and variations.Therefore, all technologies in the art Personnel are available by logical analysis, reasoning, or a limited experiment on the basis of existing technology under this invention's idea Technical solution, all should be in the protection domain being defined in the patent claims.

Claims (5)

1. a kind of computer based road-cleaning sprinkling truck, it is characterised in that the sprinkling truck includes：
Watering device, for providing liquid of sprinkling water；The watering device includes：Water tank, the first pipeline, water pump, the second pipeline, spray Head；The water inlet of the water pump is connected by first pipeline with the water tank, and the water outlet of the water pump passes through described Two pipelines are connected with the nozzle；
Speed data collection device, the speed that watering is swept described in water sprinkling path operation is performed for gathering；
Second pipeline is arranged to the current meter or flowmeter between the nozzle, for gathering described in the sprinkling truck The water discharge speed of nozzle；
Spray predetermined momentum value setting module, the sprinkling predetermined momentum value of the unit operating range for obtaining the sprinkling truck EL_set；
Parameter memory module, for storing the density of watering liquid and the water outlet cross-sectional area of the nozzle on the sprinkling truck；
Master controller, for horizontal according to the speed, the water discharge speed, the density of the watering liquid and the water outlet Sectional area, solves the sprinkling kinetic energy E of the unit operating range on the sprinkling truckL；The ELMeetThe ρ is the liquid-tight degree of sprinkler, the vwaterFor the nozzle water outlet Flow velocity, the SsectionFor the nozzle water outlet cross-sectional area, the vcarFor the speed on the sprinkling truck；The vcar＞ 0；
And sprinkling control module, the input terminal of the sprinkling control module is connected with the output terminal of the master controller, described The output terminal of sprinkling control module is connected with the control terminal of the water pump；Wherein,
The master controller is additionally operable to the default unit length momentum value E of the sprinklingL_setWith the sprinkling kinetic energy ELCompare；If The difference of the two is less than first threshold ETH, then maintenance watering operation intensity instruction is sent；If the difference of the two is more than first Threshold value ETHAnd the default unit length momentum value E of sprinklingL_setMore than the sprinkling kinetic energy EL, then it is strong to send enhancing watering operation Degree instruction；If the difference of the two is more than first threshold ETHAnd the default unit length momentum value E of sprinklingL_setLess than institute State sprinkling kinetic energy EL, then decrease watering operation intensity instruction is sent；
The sprinkling control module, is additionally operable to according to watering job instruction, enhancing or the watering for weakening or maintaining the sprinkling truck The operation power of the water pump of device；The watering job instruction includes maintaining the instruction of watering operation intensity, enhancing watering operation strong Degree instruction, weaken watering operation intensity instruction.
2. a kind of computer based road-cleaning sprinkling truck as claimed in claim 1, it is characterised in that the sprinkling truck is also Including input module, the sprinkling predetermined momentum value inputted for gathering user on the input module on the sprinkling truck.
3. a kind of computer based road-cleaning sprinkling truck as claimed in claim 1, it is characterised in that the sprinkling truck is also Module is solved including water discharge speed, is arranged at what second pipeline was gathered to the flowmeter between the nozzle for basis Water flow Lwater, solve the water discharge speed v of the nozzlewater；The vwaterMeet：
A kind of 4. computer based road-cleaning sprinkling truck as claimed in claim 1, it is characterised in that the first threshold ETHMeet：
A kind of 5. computer based road-cleaning sprinkling truck as claimed in claim 1, it is characterised in that the operation power Pump power including several grades.
CN201810057296.9A 2018-01-22 2018-01-22 Road cleaning watering lorry based on computer Active CN107966903B (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112012150A (en) * 2020-08-07 2020-12-01 北京科技大学 Pressure self-balancing self-adaptive dust suppression system for deep-concave open-pit transportation road
CN113419477A (en) * 2021-07-13 2021-09-21 厦门狄耐克智能科技股份有限公司 Intelligent watering device based on vehicle speed and control method and system thereof
CN114272417A (en) * 2021-12-25 2022-04-05 千立生物技术(杭州)有限公司 Disinfection method and system of intelligent disinfection robot, intelligent terminal and storage medium

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JPH08120635A (en) * 1994-08-29 1996-05-14 Shin Meiwa Ind Co Ltd Liquid sprinkler for liquid sprinkling car
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CN106740406A (en) * 2017-02-20 2017-05-31 驭势（上海）汽车科技有限公司 A kind of unmanned sprinkling truck and watering method
CN107372048A (en) * 2017-07-26 2017-11-24 合肥巨步机械科技有限公司 A kind of sprinkling truck based on controller control
CN107435316A (en) * 2017-07-10 2017-12-05 孙小春 A kind of road sprinkler that watering speed is automatically adjusted according to speed

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CH553886A (en) * 1971-04-19 1974-09-13 Zellinger Ing Hans METHOD OF APPLYING LIQUIDS TO TRAFFIC AREAS AND STREET WASHING VEHICLES TO CARRY OUT THIS PROCEDURE.
JPH08120635A (en) * 1994-08-29 1996-05-14 Shin Meiwa Ind Co Ltd Liquid sprinkler for liquid sprinkling car
US20100116904A1 (en) * 2008-11-13 2010-05-13 Rayner Richard D Vehicle mounted, digital positioning spray system
CN203320468U (en) * 2013-05-16 2013-12-04 中国第一汽车股份有限公司 Water spraying amount automatic control system of water spraying vehicle
CN105317016A (en) * 2015-11-07 2016-02-10 西京学院 Intelligent sprinkling system for water sprinkler
CN106740406A (en) * 2017-02-20 2017-05-31 驭势（上海）汽车科技有限公司 A kind of unmanned sprinkling truck and watering method
CN107435316A (en) * 2017-07-10 2017-12-05 孙小春 A kind of road sprinkler that watering speed is automatically adjusted according to speed
CN107372048A (en) * 2017-07-26 2017-11-24 合肥巨步机械科技有限公司 A kind of sprinkling truck based on controller control

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112012150A (en) * 2020-08-07 2020-12-01 北京科技大学 Pressure self-balancing self-adaptive dust suppression system for deep-concave open-pit transportation road
CN113419477A (en) * 2021-07-13 2021-09-21 厦门狄耐克智能科技股份有限公司 Intelligent watering device based on vehicle speed and control method and system thereof
CN114272417A (en) * 2021-12-25 2022-04-05 千立生物技术(杭州)有限公司 Disinfection method and system of intelligent disinfection robot, intelligent terminal and storage medium
CN114272417B (en) * 2021-12-25 2024-05-14 千立生物技术(杭州)有限公司 Disinfection method and system of intelligent disinfection robot, intelligent terminal and storage medium

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