CN107966903B - Road cleaning watering lorry based on computer - Google Patents
Road cleaning watering lorry based on computer Download PDFInfo
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- CN107966903B CN107966903B CN201810057296.9A CN201810057296A CN107966903B CN 107966903 B CN107966903 B CN 107966903B CN 201810057296 A CN201810057296 A CN 201810057296A CN 107966903 B CN107966903 B CN 107966903B
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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
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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
- 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)
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Cleaning Of Streets, Tracks, Or Beaches (AREA)
Abstract
The invention discloses a road sweeping sprinkler based on a computer, which relates to the field of road sweeping and comprises the following components: the device comprises a water spraying device, a vehicle speed acquisition device, a flow meter or a flow meter arranged between a second pipeline and a spray head, a preset spraying momentum value setting module, a parameter storage module, a main controller and a spraying control module; the main controller solves the spraying kinetic energy of the sprinkler in unit running distance according to the speed of the vehicle, the flow rate of the discharged water, the density of the sprayed liquid and the cross sectional area of the discharged water, and adjusts the running power of the water pump. According to the invention, the spraying kinetic energy of the unit running distance is solved, and the spraying operation intensity instruction is generated according to the spraying kinetic energy of the unit running distance, so that the running power of the water pump is adjusted, the uniform output of the spraying operation is kept by fully considering the vehicle speed, the same spraying kinetic energy of each place is ensured, the problem that the spraying effect is influenced by insufficient spraying kinetic energy caused by too little local spraying is avoided, and the problem that the water resource is wasted caused by too much local spraying is avoided.
Description
Technical Field
The invention relates to the field of road cleaning, in particular to a road cleaning sprinkler based on a computer.
Background
The watering lorry is often used for road cleaning or in the watering dust fall operation, effectively improves the health level in city. In prior art, the driver is through controlling the watering lorry watering to when stopping, shutting down the watering system, the using water wisely, in prior art's an aspect, the watering operation needs the manual work of driver to control the watering switch repeatedly, and the convenience is relatively poor.
Disclosure of Invention
In view of the above-mentioned defects of the prior art, the technical problem to be solved by the present invention is to provide a computer-based road sweeping sprinkler, aiming at solving the problem that the sprinkler operation in the prior art keeps uniform output of sprinkler operation without considering the speed of the road, and the sprinkler kinetic energy is different in each place due to different speeds along the road; on one hand, if the water is sprayed too little, the water spraying effect is influenced; on the other hand, the water is sprinkled too much, which causes water resource waste.
To achieve the above object, the present invention provides a computer-based road sweeping sprinkler, comprising:
the sprinkling device is used for providing sprinkling liquid; the watering device includes: the water tank, the first pipeline, the water pump, the second pipeline and the spray head; a water inlet of the water pump is connected with the water tank through the first pipeline, and a water outlet of the water pump is connected with the spray head through the second pipeline;
the vehicle speed acquisition device is used for acquiring the vehicle speed of the watering cart for executing the road watering operation;
the flow meter or the flow meter is arranged between the second pipeline and the spray head and is used for collecting the water outlet flow rate of the spray head of the sprinkler;
a spraying preset unit length dynamic value setting module for obtaining the spraying preset unit length dynamic value E of the unit running distance of the sprinklerL_set；
The parameter storage module is used for storing the density of the sprinkling liquid of the sprinkler and the water outlet cross-sectional area of the spray head;
a main controller for solving the spraying kinetic energy E of the sprinkler in unit running distance according to the speed, the flow rate, the density and the cross-sectional area of the waterL(ii) a Said ELSatisfy the requirement of
Rho is the density of the sprinkler liquid of the sprinkler, vwaterFor the flow rate of water discharged from the nozzle, SsectionIs the cross-sectional area of the water outlet of the nozzle, vcarThe speed of the sprinkler; v iscar＞0；
The input end of the spraying control module is connected with the output end of the main controller, and the output end of the spraying control module is connected with the control end of the water pump; wherein the content of the first and second substances,
the main controller is also used for spraying the preset unit length dynamic value EL_setWith said spraying kinetic energy ELComparing; if the difference between the two is less than the first threshold value ETHSending out a command for maintaining the intensity of the watering operation; if the difference between the two is larger than the first threshold value ETHAnd the spraying preset unit length dynamic value EL_setGreater than the spraying kinetic energy ELSending an instruction for enhancing the intensity of the watering operation; if the difference between the two is larger than the first threshold value ETHAnd the spraying preset unit length dynamic value EL_setLess than the spraying kinetic energy ELSending out an instruction for weakening the intensity of the watering operation;
the spraying control module is also used for enhancing or weakening or maintaining the running power of a water pump of a water spraying device of the water spraying vehicle according to a water spraying operation instruction; the watering operation instruction comprises a watering operation intensity maintaining instruction, a watering operation intensity enhancing instruction and a watering operation intensity weakening instruction.
Optionally, the sprinkling liquid is water, and the sprinkling liquid has a density of 1 × 103kg/m3。
The technology of vehicle speed collection belongs to the conventional technical means in the field, basically any vehicle is provided with a dial plate for referring to the vehicle speed, and the technology related to vehicle speed collection can be referred to, and is not described herein again.
In a specific embodiment, the sprinkler further includes an input module, configured to collect a preset unit length momentum value for spraying, input by a user on the input module of the sprinkler.
In a specific embodiment, the sprinkler further includes a water outlet flow rate solving module, configured to solve the water outlet flow rate L according to a flow meter disposed between the second pipeline and the nozzle and collected by the flow meterwaterSolving the water outlet flow velocity v of the spray headwater(ii) a V iswaterSatisfies the following conditions:
in one embodiment, the first threshold ETHSatisfies the following conditions:
in one embodiment, the operating power includes several levels of water pump power.
The invention has the beneficial effects that: according to the method, the spraying kinetic energy of the unit running distance is solved, and a spraying operation intensity instruction is generated according to the spraying kinetic energy of the unit running distance so as to adjust the running power of the water pump; the invention fully considers the speed of the vehicle to keep the uniform output of the watering operation, ensures that the watering kinetic energy of each place is the same, avoids the insufficient watering kinetic energy caused by too little local watering from influencing the watering effect, and avoids the excessive local watering from causing the waste of water resources.
Drawings
FIG. 1 is a schematic diagram of a computer-based road sweeping sprinkler according to one embodiment of the present invention;
fig. 2 is a schematic flow chart of a control method of a road sweeping water sprinkler based on a computer according to an embodiment of the present invention.
Detailed Description
The invention is further illustrated by the following examples in conjunction with the accompanying drawings:
in a first embodiment of the invention, as shown in fig. 1-2, there is provided a computer-based road sweeping sprinkler comprising:
a sprinkler 106 for providing a sprinkler fluid; the sprinkler 106 includes: a water tank, a first pipeline, a water pump 110, a second pipeline and a spray head; a water inlet of the water pump 110 is connected with the water tank through the first pipeline, and a water outlet of the water pump 110 is connected with the spray head through the second pipeline;
a vehicle speed acquisition device 108 for acquiring the vehicle speed of the watering cart for performing the road watering work;
the flow meter 102 or the flow meter 103 is arranged between the second pipeline and the spray head and is used for collecting the water outlet flow rate of the spray head of the sprinkler;
a spraying preset unit length momentum value setting module 104, configured to obtain a spraying preset unit length momentum value E of the unit driving distance of the sprinklerL_set；
The parameter storage module 105 is used for storing the density of the sprinkling liquid of the sprinkler and the water outlet cross-sectional area of the spray head;
a main controller 101 for calculating the spraying kinetic energy E of the sprinkler per unit travel distance according to the vehicle speed, the water outlet flow rate, the density of the water spraying liquid and the water outlet cross-sectional areaL(ii) a Said ELSatisfy the requirement of
The rhoSpraying water density to the sprinkler, vwaterFor the flow rate of water discharged from the nozzle, SsectionIs the cross-sectional area of the water outlet of the nozzle, vcarThe speed of the sprinkler; v iscarIs greater than 0; it is worth mentioning that if said v iscarIf said P is 0, then said P is set to 0;
the input end of the spraying control module 107 is connected with the output end of the main controller 101, and the output end of the spraying control module 107 is connected with the control end of the water pump 110; wherein the content of the first and second substances,
the main controller 101 is further configured to control the spraying to preset a unit length momentum value EL_setWith said spraying kinetic energy ELComparing; if the difference between the two is less than the first threshold value ETHSending out a command for maintaining the intensity of the watering operation; if the difference between the two is larger than the first threshold value ETHAnd the spraying preset unit length dynamic value EL_setGreater than the spraying kinetic energy ELSending an instruction for enhancing the intensity of the watering operation; if the difference between the two is larger than the first threshold value ETHAnd the spraying preset unit length dynamic value EL_setLess than the spraying kinetic energy ELSending out an instruction for weakening the intensity of the watering operation;
the spraying control module 107 is further configured to increase or decrease or maintain the operating power of the water pump 110 of the water spraying device 106 of the water spraying vehicle according to the water spraying operation instruction; the watering operation instruction comprises a watering operation intensity maintaining instruction, a watering operation intensity enhancing instruction and a watering operation intensity weakening instruction.
Optionally, the sprinkling liquid is water, and the sprinkling liquid has a density of 1 × 103kg/m3。
The technology of vehicle speed collection belongs to the conventional technical means in the field, basically any vehicle is provided with a dial plate for referring to the vehicle speed, and the technology related to vehicle speed collection can be referred to, and is not described herein again.
In this embodiment, the sprinkler further includes an input module 109, configured to collect a preset unit length momentum value for spraying, input by a user on the input module 109 of the sprinkler.
In this embodiment, the sprinkler further includes a water outlet flow rate solving module, configured to solve the water outlet flow rate L according to the flow rate L collected by the flow meter 103 disposed between the second pipeline and the nozzlewaterSolving the water outlet flow velocity v of the spray headwater(ii) a V iswaterSatisfies the following conditions:
in this embodiment, the first threshold value ETHSatisfies the following conditions:
in this embodiment, the operating power includes several levels of power for the water pump 110.
Sprinkler in one example, the operating power is switched among several levels depending on the intensity requirements of the sprinkler operation. Optionally, the power of the water pump is adjusted steplessly, and the operating power of the water pump is adjusted by controlling current or voltage.
It is worth mentioning that the acquisition of the flow rate can be directly acquired by a flow rate meter, or can be converted by a flow meter. It is worth mentioning that the sprinkler head is arranged vertically downwards, the speed of the sprinkler is generally relatively small, and the sprinkling angle of the sprinkler head is approximately a right angle with the advancing angle.
It is worth mentioning that by
The air resistance of water discharged from the sprinkler and the gravitational potential energy between the spray head and the ground are ignored, the reason is that the spray head is closer to the ground, the increment of the air resistance and the gravitational potential energy is smaller relative to the kinetic energy of water sprinkling, and the actual impact energy and the E energy of water sprinkling operationLAnd (4) positively correlating.
In the present embodiment, the kinetic energy E of spraying per unit of travel distanceLThe formula is derived as follows.
From the formula of kinetic energy
The following can be obtained:
the kinetic energy infinitesimal dE satisfies the following conditions:
according to the relation of mass, density and volume, the obtained mass infinitesimal dm meets the following requirements: dm-rho dVvolume(2)
Wherein, dVvolumeA infinitesimal element of volume to be sprayed, dV, related to the flow rate, cross-sectional area and time of the sprayvolumeSatisfies the following conditions: dVvolume＝vwaterSsectiondt (3)
Available from (1) to (3):
according to the relation among the driving speed, the time and the distance, the driving distance infinitesimal dl satisfies the following conditions: dl ═ vcardt (5)
Spraying kinetic energy E per unit distance traveled, obtainable from (4) to (5)LSatisfies the following conditions:
in a second embodiment of the invention, as shown in fig. 1-2, there is provided a computer-based method of controlling a road sweeping sprinkler, the method comprising:
collecting the speed of a sprinkler for executing road sprinkling operation;
collecting the water outlet flow velocity of a spray head of the watering lorry for executing the road watering operation;
acquiring a preset spraying unit length dynamic value E of the unit running distance of the sprinklerL_set；
Acquiring the density of the sprinkling liquid of the sprinkling truck and the water outlet cross-sectional area of the spray head;
solving the spraying kinetic energy E of the unit running distance of the sprinklerL(ii) a Said ELSatisfy the requirement of
V iscarIs greater than 0; it is worth mentioning that if said v iscarIf said P is 0, then said P is set to 0;
spraying the preset unit length dynamic value EL_setWith said spraying kinetic energy ELComparing; if the difference between the two is less than the first threshold value ETHSending out a command for maintaining the intensity of the watering operation; if the difference between the two is larger than the first threshold value ETHAnd the spraying preset unit length dynamic value EL_setGreater than the spraying kinetic energy ELSending an instruction for enhancing the intensity of the watering operation; if the difference between the two is larger than the first threshold value ETHAnd the spraying preset unit length dynamic value EL_setLess than the spraying kinetic energy ELSending out an instruction for weakening the intensity of the watering operation;
wherein rho is the density of the sprinkler liquid of the sprinkler, vwaterFor the flow rate of water discharged from the nozzle, SsectionIs the cross-sectional area of the water outlet of the nozzle, vcarThe speed of the sprinkler.
Optionally, the sprinkling liquid is water, and the sprinkling liquid has a density of 1 × 103kg/m3。
The technology of vehicle speed collection belongs to the conventional technical means in the field, basically any vehicle is provided with a dial plate for referring to the vehicle speed, and the technology related to vehicle speed collection can be referred to, and is not described herein again.
In this embodiment, the collection is carried out the road watering operation the water outlet velocity of shower nozzle of watering lorry still includes:
collecting a flow velocity value collected by a flow velocity meter arranged at the spray head of the sprinkler; the flow rate value is the effluent flow rate.
Optionally, the end of the water outlet pipeline of the sprinkler is connected with the spray head, and the flow meter is connected between the end of the water outlet pipeline and the spray head.
In this embodiment, the unit driving for acquiring the watering cartSpraying preset unit length momentum value E of distanceL_setThe method also comprises the following steps:
and collecting the dynamic value of the preset unit length of spraying input by a user on the input module of the watering cart.
In this embodiment, the collection is carried out the road watering operation the water outlet velocity of shower nozzle of watering lorry still includes:
collecting the water outlet flow L of the spray head of the watering lorry for executing the road watering workwater；
Solving the water outlet flow velocity v of the spray headwater(ii) a V iswaterSatisfies the following conditions:
in this embodiment, the first threshold value ETHSatisfies the following conditions:
in this embodiment, the method further includes: and responding to the command of enhancing the intensity of the watering work, and enhancing the running power of a water pump of a watering device of the watering lorry.
In this embodiment, the method further includes: in response to a reduce sprinkler operational intensity instruction, reducing operating power of a water pump of a sprinkler of the sprinkler.
In this embodiment, the operating power includes several levels of water pump power.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.
Claims (5)
1. The utility model provides a road cleaning watering lorry based on computer which characterized in that, the watering lorry includes:
the sprinkling device is used for providing sprinkling liquid; the watering device includes: the water tank, the first pipeline, the water pump, the second pipeline and the spray head; a water inlet of the water pump is connected with the water tank through the first pipeline, and a water outlet of the water pump is connected with the spray head through the second pipeline;
the vehicle speed acquisition device is used for acquiring the vehicle speed of the watering cart for executing the road watering operation;
the flow meter or the flow meter is arranged between the second pipeline and the spray head and is used for collecting the water outlet flow rate of the spray head of the sprinkler;
a spraying preset unit length dynamic value setting module for obtaining the spraying preset unit length dynamic value E of the unit running distance of the sprinklerL_set；
The parameter storage module is used for storing the density of the sprinkling liquid of the sprinkler and the water outlet cross-sectional area of the spray head;
a main controller for solving the spraying kinetic energy E of the sprinkler in unit running distance according to the speed, the flow rate, the density and the cross-sectional area of the waterL(ii) a Said ELSatisfy the requirement of
Rho is the density of the sprinkler liquid of the sprinkler, vwaterFor the flow rate of water discharged from the nozzle, SsectionIs the cross-sectional area of the water outlet of the nozzle, vcarThe speed of the sprinkler; v iscar＞0；
The input end of the spraying control module is connected with the output end of the main controller, and the output end of the spraying control module is connected with the control end of the water pump; wherein the content of the first and second substances,
the main controller is also used for spraying the preset unit length dynamic value EL_setWith said spraying kinetic energy ELComparing; if the difference between the two is less than the first threshold value ETHThen send out the maintenance of sprinklingAn industry intensity instruction; if the difference between the two is larger than the first threshold value ETHAnd the spraying preset unit length dynamic value EL_setGreater than the spraying kinetic energy ELSending an instruction for enhancing the intensity of the watering operation; if the difference between the two is larger than the first threshold value ETHAnd the spraying preset unit length dynamic value EL_setLess than the spraying kinetic energy ELSending out an instruction for weakening the intensity of the watering operation;
the spraying control module is also used for enhancing or weakening or maintaining the running power of a water pump of a water spraying device of the water spraying vehicle according to a water spraying operation instruction; the watering operation instruction comprises a watering operation intensity maintaining instruction, a watering operation intensity enhancing instruction and a watering operation intensity weakening instruction.
2. A computer-based road sweeping sprinkler according to claim 1, further comprising an input module for collecting a preset unit length momentum value for spraying entered by a user on said input module of said sprinkler.
3. The computer-based road sweeping sprinkler of claim 1, further comprising an effluent flow rate solving module for solving an effluent flow rate L collected by a flow meter disposed between the second pipeline and the sprinklerwaterSolving the water outlet flow velocity v of the spray headwater(ii) a V iswaterSatisfies the following conditions:
4. a computer-based road sweeping sprinkler according to claim 1, wherein said first threshold ETHSatisfies the following conditions:
5. a computer-based road sweeping sprinkler according to claim 1, wherein the operating power includes several levels of pump power.
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| CN201810057296.9A CN107966903B (en) | 2018-01-22 | 2018-01-22 | Road cleaning watering lorry based on computer |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
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| 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. |
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