CN108170143A - A kind of sanitation cart job control method and sanitation cart - Google Patents
A kind of sanitation cart job control method and sanitation cart Download PDFInfo
- Publication number
- CN108170143A CN108170143A CN201711445776.4A CN201711445776A CN108170143A CN 108170143 A CN108170143 A CN 108170143A CN 201711445776 A CN201711445776 A CN 201711445776A CN 108170143 A CN108170143 A CN 108170143A
- Authority
- CN
- China
- Prior art keywords
- sanitation cart
- control method
- rubbish
- water
- moisturizing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 50
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 70
- 239000010813 municipal solid waste Substances 0.000 claims abstract description 59
- 238000001514 detection method Methods 0.000 claims abstract description 38
- 230000003020 moisturizing effect Effects 0.000 claims abstract description 31
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 4
- 229910052744 lithium Inorganic materials 0.000 claims description 4
- 238000005303 weighing Methods 0.000 claims description 4
- 238000004364 calculation method Methods 0.000 claims description 3
- 238000000205 computational method Methods 0.000 claims description 3
- 238000005259 measurement Methods 0.000 claims description 3
- 238000007689 inspection Methods 0.000 claims 1
- 230000007613 environmental effect Effects 0.000 description 8
- 238000004140 cleaning Methods 0.000 description 7
- 230000001105 regulatory effect Effects 0.000 description 4
- 238000004134 energy conservation Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000003921 oil Substances 0.000 description 2
- 241001417527 Pempheridae Species 0.000 description 1
- 230000003321 amplification Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000003749 cleanliness Effects 0.000 description 1
- 238000002485 combustion reaction Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 239000000295 fuel oil Substances 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
- 238000003786 synthesis reaction Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Civil Engineering (AREA)
- Architecture (AREA)
- Structural Engineering (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Acoustics & Sound (AREA)
- Processing Of Solid Wastes (AREA)
- Refuse Collection And Transfer (AREA)
Abstract
The invention discloses a kind of sanitation cart job control method and sanitation cart, sanitation cart is travelled by projected route, and multiple moisturizing points are equipped in projected route；Including water compensating control method；Water compensating control method includes the following steps：Step 11：The detection parameter related with moisturizing；Step 12：Current location is calculated to the water loss Lz1 of Z1；Current location is calculated to the water loss Lz2 of Z2；Lz1=S2* β 2；Lz2=S7* β 2；Step 13：Judge whether to need to carry out moisturizing in Z1 moisturizings point：If Lz1<Lx≤Lz2 then must add water in Z1 points；If Lz2<Lx does not then add water in Z1 points；After sanitation cart crosses moisturizing point Z1, then return to step 11；The sanitation cart job control method and sanitation cart are easy to implement, can realize Intelligent watering and dump rubbish.
Description
Technical field
The present invention relates to a kind of sanitation cart job control method and sanitation carts.
Background technology
When the existing responsible sanitation cart for cleaning road surface in its travelling route, needs to add water, when needs to topple over rubbish
Rubbish is required to manually voluntarily determine, often leads to problems with：
(1) filling up area closest because of water shortage farther out, and need return plus water, sweeping efficiency is caused to reduce, with
And oil consumption or electric energy is caused to increase；
(2) because trash repository completely need to retract refuse depot dump rubbish be further continued for operation cause operating efficiency reduce and
Oil consumption or electric energy is caused to increase；
Therefore, it is necessary to design a kind of new sanitation cart job control method and sanitation cart.
Invention content
The technical problems to be solved by the invention are to provide a kind of sanitation cart job control method and sanitation cart, the sanitation cart
Job control method and sanitation cart, which can be realized, automatically selects moisturizing point.
The technical solution of invention is as follows：
A kind of sanitation cart job control method, sanitation cart are travelled by projected route, and multiple moisturizings are equipped in projected route
Point；It is characterised in that it includes water compensating control method；
Water compensating control method includes the following steps：
Step 11：The detection parameter related with moisturizing：
Detect or calculate following parameter：
(1) detection current residual moisture storage capacity Lx；
(2) work unit milimeter number averagely watering amount β 2；
(3) current location is calculated to the distance of 2 nearest moisturizing points of front, and unit is kilometer；
The distance for wherein arriving first nearest moisturizing point Z1 is S2, and the distance to secondary near moisturizing point Z2 is S7；
Step 12：Current location is calculated to the water loss Lz1 of Z1；Current location is calculated to the water loss Lz2 of Z2；
Lz1=S2* β 2；Lz2=S7* β 2；
Step 13：Judge whether to need to carry out moisturizing in Z1 moisturizings point：
If Lz1<Lx≤Lz2 then must add water in Z1 points；
If Lz2<Lx does not then add water in Z1 points；Whether needed plus water as in Z2, then in next section (i.e. Z1 to z2
Between section) determine again；
After sanitation cart crosses moisturizing point Z1, then return to step 11；After return to step 11, Z1 and Z2 are redefined；
The computational methods of work unit milimeter number averagely watering amount β 2 are：β 2=(L-a* ε)/k；
Wherein L is water tank volume, and a is water tank current level, and ε is water tank cross-sectional area, and k is operation mileage travelled.
Sanitation cart at the uniform velocity travels；At the uniform velocity refer to speed in the range of ± the 10% of pre-set velocity v0, v0 is constant.Such as it is
20km/h。
Cistern water level is obtained by water level sensor measurement, and sanitation cart is equipped with controller (such as MCU), has in controller
For the computing module of calculating parameter.
It further includes rubbish and topples over control method；
Rubbish is toppled over control method and is included the following steps：
Step 21：Detection topples over related parameter with rubbish：
Detect or calculate following parameter：
(1) detection has currently collected quantity of refuse b；
(2) work unit milimeter number mean Spam collecting amount γ 2
(3) current vehicle location and specified rubbish pour(ing) point position Y distances：S1；
Step 22：Calculating dustbin completely expection can operation distance S6=(M-b)/γ 2
Step 23：Judge whether to need to dump rubbish in specified rubbish pour(ing) point Y：
If S1≤S6 ＜ S1+S3, must dump rubbish in Y points；
M is rubbish tankage,
S3 is specified rubbish pour(ing) point Y and operation final position F distances；
Operation terminal also there is rubbish to topple over place.
It has collected quantity of refuse and has passed through detection of weighing.
Quantity of refuse has been collected to detect by infrared emission pipe.Infrared emission pipe is used to check that the sanitary fill of dustbin to be high
Degree, infrared emission pipe are multigroup, vertical equidistantly arrangement.
The calculation formula of work unit milimeter number mean Spam collecting amount is:γ 2=(M-b)/k.
A kind of sanitation cart, including watering mechanism and garbage collecting mechanism；Further include controller, locating module, velocity measuring
Sensor, cistern water level sensor and dustbin capacity sensor；Locating module, speed detection sensor, cistern water level sensing
Device and dustbin capacity sensor are connected with controller；Watering mechanism and garbage collecting mechanism are controlled by controller；
Sanitation cart realizes Operation control based on aforementioned sanitation cart job control method.
The sanitation cart is driven by lithium battery.Using new-energy automobile, energy conservation and environmental protection can also use fuel vehicle, mix
Motor-car, flexibility are good.
Advantageous effect：
The sanitation cart job control method and sanitation cart of the present invention, it is remaining in real time by cistern water level detection and dustbin
The detection of capacity, in conjunction with current location to the distance of nearest moisturizing point and rubbish pour(ing) point, synthesis is judged in advance at what
Locate moisturizing, wherein dump rubbish, cleaning work efficiency can be significantly improved, be also avoided that walking stroke causes sweeper energy consumption to increase more
Add, thus, sanitation cart job control method of the invention and sanitation cart have significant economic benefit and social benefit.
Description of the drawings
Fig. 1 is sanitation cart working path and area schematic.
Fig. 2 is schematic block circuit diagram.
Specific embodiment
The present invention is described in further details below with reference to the drawings and specific embodiments：
Embodiment 1：Such as Fig. 1-2, such as Fig. 1 and 2, a kind of sanitation cart job control method based on rainfall detection, Operation Van
Real-time rainfall value during by rainfall detection circuit detection operation based on rain sensor；According to rainfall value regulating pondage tune
The aperture of valve is saved to adjust the water spray in cleaning agency, with the water storage dosage in water saving tank.
Aperture (percentage) K=1-k1*Rx of water regulating valve；K1 is constant, and the value of K is between 0-1；Rx is rainfall
The output voltage values of sensor.K1 is according to actual conditions value.
Including the water compensating control method based on rainfall detection；
Water compensating control method includes the following steps：
Step 11：The detection parameter related with moisturizing：
Detect or calculate following parameter：
(1) detection current residual moisture storage capacity Lx；
(2) work unit milimeter number averagely watering amount β 2；
(3) current location is calculated to the distance of 2 nearest moisturizing points of front, and unit is kilometer；
The distance for wherein arriving first nearest moisturizing point Z1 is S2, and the distance to secondary near moisturizing point Z2 is S7；
Step 12：Current location is calculated to the water loss Lz1 of Z1；Current location is calculated to the water loss Lz2 of Z2；
Lz1=S2* β 2；Lz2=S7* β 2；
Step 13：Judge whether to need to carry out moisturizing in Z1 moisturizings point：
If Lz1<Lx≤Lz2 then must add water in Z1 points；
If Lz2<Lx does not then add water in Z1 points；Whether needed plus water as in Z2, then in next section (i.e. Z1 to z2
Between section) determine again.
After sanitation cart crosses moisturizing point Z1, then return to step 11；After return to step 11, Z1 and Z2 are redefined.
The computational methods of work unit milimeter number averagely watering amount β 2 are：β 2=(L-a* ε)/k；
Wherein L is water tank volume, and a is water tank current level, and ε is water tank cross-sectional area, and k is operation mileage travelled.
Sanitation cart at the uniform velocity travels；At the uniform velocity refer to speed in the range of ± the 10% of pre-set velocity v0, v0 is constant.Such as it is
20km/h。
Cistern water level is obtained by water level sensor measurement, and sanitation cart is equipped with controller (such as controller), in controller
With the computing module for calculating parameter.
It further includes rubbish and topples over control method；
Rubbish is toppled over control method and is included the following steps：
Step 21：Detection topples over related parameter with rubbish：
Detect or calculate following parameter：
(1) detection has currently collected quantity of refuse b；
(2) work unit milimeter number mean Spam collecting amount γ 2
(3) current vehicle location and specified rubbish pour(ing) point position Y distances：S1；
Step 22：Calculating dustbin completely expection can operation distance S6=(M-b)/γ 2
Step 23：Judge whether to need to dump rubbish in specified rubbish pour(ing) point Y：
If S1≤S6 ＜ S1+S3, must dump rubbish in Y points；
M is rubbish tankage,
S3 is specified rubbish pour(ing) point Y and operation final position F distances；
Operation terminal also there is rubbish to topple over place.
It has collected quantity of refuse and has passed through detection or use proximity sensor or the ultrasonic sensor detection of weighing.
Quantity of refuse has been collected to detect by infrared emission pipe.Infrared emission pipe is used to check that the sanitary fill of dustbin to be high
Degree, infrared emission pipe are multigroup, vertical equidistantly arrangement.
The calculation formula of work unit milimeter number mean Spam collecting amount is:γ 2=(M-b)/k.
A kind of environmental protection working vehicle based on rainfall detection, including watering mechanism and garbage collecting mechanism；Further include controller,
Speed detection sensor, cistern water level sensor and dustbin capacity sensor；Speed detection sensor, cistern water level sensor
It is connected with dustbin capacity sensor with controller；Watering mechanism and garbage collecting mechanism are controlled by controller；
Environmental protection working vehicle further includes rainfall detection circuit, and rainfall detection circuit includes rain sensor and amplifier；Rainfall
The signal of sensor output enters controller by amplifier；Controller also controls the aperture of water regulating valve, specific control electricity
Road is existing mature technology.
Amplifier is the adjustable amplifier of amplification factor based on multiple selector.
Multiple selector selects a multiple selector for four, and the amplifier is OP07 operational amplifiers.
The signal output end output rain collection signal Vin of rain sensor, the signal output end is through resistance R0's
The inverting input of operational amplifier (model OP07 uses LM353 etc.) is connect, the noninverting input of operational amplifier is through electricity
R0 ground connection is hindered, the noninverting input of operational amplifier also connects four through 4 resistance R01-R04 respectively and selects 4 of a selector to input
Channel, four, which select the output channel of a selector to meet the output end vo ut, Vout of operational amplifier OP07, connects the ADC ends of controller；
2 output ports of controller connect four and the channel of a selector are selected to select end A and B respectively；
The power plant of the sanitation cart is driven using lithium battery.New-energy automobile, energy conservation and environmental protection.Combustion can also be used
Oily vehicle or mixed motor-car.
Aperture (percentage) K=1-k1*Rx of water regulating valve；K1 is constant, and the value of K is between 0-1；Rx is rain
The output voltage values of quantity sensor；K1 is according to actual conditions value.
The sanitation cart is driven by lithium battery.Using new-energy automobile, energy conservation and environmental protection.Sanitation cart can also use fuel oil
Vehicle or using hybrid electric vehicle.
The present invention can also detect implementation path planning according to road surface cleannes；
A kind of sanitation cart working path planing method based on the detection of road surface cleannes, which is characterized in that use with lower section
Method determines road surface cleannes；
Method 1：The increment of rubbish determines road surface cleannes in dustbin in the unit of account time；
Method 2：Road surface cleannes are judged by driver's view-based access control model；
Method 3：Camera is installed in sanitation cart front end to obtain the live pavement image of cleaning and live road surface figure will be cleaned
It is true based on the cleaning scene pavement image that camera obtains by the operator of remote control table as being sent to remote monitoring platform
Determine road surface cleannes；
The rotating speed of motor is cleaned based on road surface cleanliness control；Road surface is more cleaned, then the rotating speed for cleaning motor is smaller；
Sanitation cart working path planing method further includes rubbish and topples over control method.
In method 1, rotating speed n=k2* γ 2, γ 2 are work unit milimeter number mean Spam collecting amount；
K2 is constant.
In method 2 and method 3, cleannes are set as 5 grades, rotating speed n=i*k3* γ 2, i=1,2 ..., 5, i represent grade
Not, k3 represents constant, i.e. rank is higher, and rotating speed is bigger.
The sanitation cart working path planing method based on the detection of road surface cleannes further includes water compensating control method；
Environmental protection working vehicle based on the detection of road surface cleannes includes watering mechanism and garbage collecting mechanism；Further include control
Device, speed detection sensor, cistern water level sensor and dustbin capacity sensor；Speed detection sensor, cistern water level pass
Sensor and dustbin capacity sensor are connected with controller；Watering mechanism and garbage collecting mechanism are controlled by controller；
Controller is also associated with locating module；
Controller based on locating module calculate environmental protection working vehicle in nearest △ t period operating range △ s, based on rubbish
Rubbish tankage sensor calculates increment △ V of the rubbish tankage in unit distance；
Calculate work unit milimeter number mean Spam collecting amount γ 2=△ V/ △ s；It is controlled based on γ 2 and cleans motor
Rotating speed n.
Camera and communication module are further included on environmental protection working vehicle.
In method 2, driver presses first by button or touch screen input cleannes level signal, such as 5 buttons
Button represents that current cleannes are 1 grade, etc.；In method 2, remote control person leads to man-machine interface and sends cleannes level signal
To sanitation cart.
In addition, multiple sanitation carts have locating module, and all wirelessly communicate and connect with monitor supervision platform.
It is connected in addition, each sanitation cart is wirelessly communicated with remote monitoring center, and receives remote monitoring center and send out
Instruction, instruction include path planning instruction, i.e., each vehicle is completed jointly according to what route running by multiple sanitation carts
Some region of cleaning work.Sanitation cart has locating module in itself, can be travelled according to path planning, avoid yawing, can realize
The manipulation downward driving of unmanned automatic driving or remote platform.
It has collected quantity of refuse and has passed through detection of weighing.
Quantity of refuse has been collected to detect by infrared emission pipe.Infrared emission pipe is used to check that the sanitary fill of dustbin to be high
Degree, infrared emission pipe are multigroup, vertical equidistantly arrangement.
The operation principle of rainfall detection is as follows：
The signal output end output rain collection signal Vin of rain sensor, the signal output end is through resistance R0's
The inverting input of operational amplifier OP07 (or using LM353 etc.) is connect, the noninverting input of operational amplifier OP07 is through resistance
R0 is grounded, the noninverting input of operational amplifier OP07 also respectively through 4 resistance R01-R04 connect four select 4 of a selector it is defeated
Enter channel, four, which select the output channel of a selector to meet the output end vo ut, Vout of operational amplifier OP07, meets the ADC of controller
End；
In addition 2 output ports of controller connect four the channel of a selector are selected to select end A and B respectively；
The relationship of Vout and Vin is as follows：
Vout=Vin* (Rx+R0)/R0；
Wherein, Rx=R01, R02, R03 or R04；Determine which resistance selected based on gated end AB；And R01, R02,
R03 and R04 are different；Preferred R04=5*R03=25*R02=100*R01；R01=5*R0. it can conveniently realize
Range and precision switching.
Embodiment 2：
Original input information：Cistern water level (a) has collected quantity of refuse (b), current vehicle location information (X), current vehicle speed
(c), the activity duration (t), operation mileage travelled (k), specified rubbish have toppled over dot position information (Y), specified filling up area position
Information 1 (Z1), specified filling up area location information 2 (Z2), operation end point location information (F).
Water tank volume：L；Rubbish tankage：M
The data information calculated from original input information：
Current residual moisture storage capacity=a* ε；
Current residual rubbish tankage=M-b；
Work unit time averagely watering amount β 1=(L-a* ε)/t；
Work unit milimeter number averagely watering amount β 2=(L-a* ε)/k；
Work unit time mean Spam collecting amount γ 1=b/t；
Work unit milimeter number mean Spam collecting amount γ 2=b/k；
Current service line average speed ￡=k/t
Current vehicle location (X) and specified rubbish pour(ing) point position (Y) distance：S1；
Current vehicle location (X) and specified filling up area position (Z1) distance：S2；
Current vehicle location (X) and specified filling up area position (Z2) distance：S7；
Specified rubbish pour(ing) point (Y) and operation final position (F) distance：S3；
Specified filling up area (Z1) and operation final position (F) distance：S4；
Specified filling up area (Z2) and operation final position (F) distance：S8；
Note, ε are water tank cross-sectional area.
It reaches filling up area and is expected surplus water Ls=L-a* ε-S2* (L-a* ε)/k；
Reach expected rubbish pour(ing) point dustbin residual capacity Ms=M-b-S1*b/k；
Being expected when to cistern water level being zero can operation distance S5=(L-a* ε)/β 2；
Dustbin completely expection can operation distance S6=(M-b)/γ 2；
If 0≤Ls≤(S5-S2) * β 2＆S5<S7 then must add water in Z1 points；
If 2≤Ls of (S7-S2) * β≤(S8+S7) * β 2, can no longer Z1 points add water, but water must be added in Z2 points；
If 2≤Ms of S1* γ≤(S1+S3) * γ 2 must dump rubbish in Y points.
Claims (10)
1. a kind of sanitation cart job control method, sanitation cart is travelled by projected route, and multiple moisturizing points are equipped in projected route；
It is characterised in that it includes water compensating control method；
Water compensating control method includes the following steps：
Step 11：The detection parameter related with moisturizing：
Detect or calculate following parameter：
(1) detection current residual moisture storage capacity Lx；
(2) work unit milimeter number averagely watering amount β 2；
(3) current location is calculated to the distance of 2 nearest moisturizing points of front, and unit is kilometer；
The distance for wherein arriving first nearest moisturizing point Z1 is S2, and the distance to secondary near moisturizing point Z2 is S7；
Step 12：Current location is calculated to the water loss Lz1 of Z1；Current location is calculated to the water loss Lz2 of Z2；
Lz1=S2* β 2；Lz2=S7* β 2；
Step 13：Judge whether to need to carry out moisturizing in Z1 moisturizings point：
If Lz1<Lx≤Lz2 then must add water in Z1 points；
If Lz2<Lx does not then add water in Z1 points；
After sanitation cart crosses moisturizing point Z1, then return to step 11.
2. sanitation cart job control method according to claim 1, which is characterized in that work unit milimeter number is averagely spilt
The computational methods of water β 2 are：β 2=(L-a* ε)/k；
Wherein L is water tank volume, and a is water tank current level, and ε is water tank cross-sectional area, and k is operation mileage travelled.
3. sanitation cart job control method according to claim 1, which is characterized in that sanitation cart at the uniform velocity travels；At the uniform velocity it is
Refer to speed in the range of ± the 10% of pre-set velocity v0, v0 is constant.
4. according to claim 1-3 any one of them sanitation cart job control methods, which is characterized in that cistern water level is by water level
Sensor measurement obtains, and sanitation cart is equipped with controller, has the computing module for calculating parameter in controller.
5. sanitation cart job control method according to claim 4, which is characterized in that further include rubbish and topple over controlling party
Method；
Rubbish is toppled over control method and is included the following steps：
Step 21：Detection topples over related parameter with rubbish：
Detect or calculate following parameter：
(1) detection has currently collected quantity of refuse b；
(2) work unit milimeter number mean Spam collecting amount γ 2
(3) current vehicle location and specified rubbish pour(ing) point position Y distances：S1；
Step 22：Calculating dustbin completely expection can operation distance S6=(M-b)/γ 2
Step 23：Judge whether to need to dump rubbish in specified rubbish pour(ing) point Y：
If S1≤S6 ＜ S1+S3, must dump rubbish in Y points；
M is rubbish tankage,
S3 is specified rubbish pour(ing) point Y and operation final position F distances；
[operation terminal also there is rubbish to topple over place].
6. sanitation cart job control method according to claim 5, which is characterized in that collected quantity of refuse and passed through inspection of weighing
It surveys.
7. sanitation cart job control method according to claim 5, which is characterized in that collected quantity of refuse pass through it is infrared right
Penetrate pipe detection.
8. sanitation cart job control method according to claim 5, which is characterized in that work unit milimeter number is averaged rubbish
The calculation formula of rubbish collecting amount is:γ 2=(M-b)/k.
9. a kind of sanitation cart, which is characterized in that including watering mechanism and garbage collecting mechanism；Further include controller, locating module,
Speed detection sensor, cistern water level sensor and dustbin capacity sensor；Locating module, speed detection sensor, water tank
Water level sensor and dustbin capacity sensor are connected with controller；Watering mechanism and garbage collecting mechanism are controlled by control
Device；
Sanitation cart is based on claim 5-8 any one of them sanitation carts job control method and realizes Operation control.
10. sanitation cart according to claim 9, which is characterized in that the sanitation cart is driven by lithium battery.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711445776.4A CN108170143A (en) | 2017-12-27 | 2017-12-27 | A kind of sanitation cart job control method and sanitation cart |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711445776.4A CN108170143A (en) | 2017-12-27 | 2017-12-27 | A kind of sanitation cart job control method and sanitation cart |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108170143A true CN108170143A (en) | 2018-06-15 |
Family
ID=62518422
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711445776.4A Pending CN108170143A (en) | 2017-12-27 | 2017-12-27 | A kind of sanitation cart job control method and sanitation cart |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108170143A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111223029A (en) * | 2020-01-10 | 2020-06-02 | 重庆高洁环境绿化工程集团有限公司 | Intelligent environmental sanitation management system and method |
| CN112575726A (en) * | 2020-11-10 | 2021-03-30 | 烟台海德专用汽车有限公司 | Intelligent water system of motor sweeper |
| CN114115235A (en) * | 2021-10-28 | 2022-03-01 | 创泽智能机器人集团股份有限公司 | Disinfectant supplementing method, device and medium for disinfecting robot |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2630310Y (en) * | 2003-06-06 | 2004-08-04 | 毕定国 | Electric street road scavenging vehicle |
| JP2008247523A (en) * | 2007-03-29 | 2008-10-16 | Fuji Heavy Ind Ltd | Operation control system for garbage truck |
| CN201433374Y (en) * | 2009-03-12 | 2010-03-31 | 徐国栋 | Road cleaning vehicle |
| CN102189940A (en) * | 2010-03-19 | 2011-09-21 | 爱信艾达株式会社 | Driving support device, method and program |
| CN103914037A (en) * | 2014-03-14 | 2014-07-09 | 湖南大学 | Intelligent informatization and multi-truck collaborative operation urban garbage collection and transportation system and method |
| CN104153279A (en) * | 2013-05-15 | 2014-11-19 | 中联重科股份有限公司 | Road roller and method, equipment and system for monitoring residual water in watering tank of road roller |
| CN104406652A (en) * | 2014-11-18 | 2015-03-11 | 柳州市金旭节能科技有限公司 | Vehicle fuel metering system |
| CN105956695A (en) * | 2016-04-27 | 2016-09-21 | 苏州市伏泰信息科技股份有限公司 | Circular and optimized planning method and system for garbage collection and transportation |
| CN106223240A (en) * | 2016-09-29 | 2016-12-14 | 江阴宏力工程机械有限公司 | Novel cleaning car |
| CN106869063A (en) * | 2017-03-01 | 2017-06-20 | 芜湖职业技术学院 | A kind of indoor clearing apparatus |
-
2017
- 2017-12-27 CN CN201711445776.4A patent/CN108170143A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2630310Y (en) * | 2003-06-06 | 2004-08-04 | 毕定国 | Electric street road scavenging vehicle |
| JP2008247523A (en) * | 2007-03-29 | 2008-10-16 | Fuji Heavy Ind Ltd | Operation control system for garbage truck |
| CN201433374Y (en) * | 2009-03-12 | 2010-03-31 | 徐国栋 | Road cleaning vehicle |
| CN102189940A (en) * | 2010-03-19 | 2011-09-21 | 爱信艾达株式会社 | Driving support device, method and program |
| CN104153279A (en) * | 2013-05-15 | 2014-11-19 | 中联重科股份有限公司 | Road roller and method, equipment and system for monitoring residual water in watering tank of road roller |
| CN103914037A (en) * | 2014-03-14 | 2014-07-09 | 湖南大学 | Intelligent informatization and multi-truck collaborative operation urban garbage collection and transportation system and method |
| CN104406652A (en) * | 2014-11-18 | 2015-03-11 | 柳州市金旭节能科技有限公司 | Vehicle fuel metering system |
| CN105956695A (en) * | 2016-04-27 | 2016-09-21 | 苏州市伏泰信息科技股份有限公司 | Circular and optimized planning method and system for garbage collection and transportation |
| CN106223240A (en) * | 2016-09-29 | 2016-12-14 | 江阴宏力工程机械有限公司 | Novel cleaning car |
| CN106869063A (en) * | 2017-03-01 | 2017-06-20 | 芜湖职业技术学院 | A kind of indoor clearing apparatus |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111223029A (en) * | 2020-01-10 | 2020-06-02 | 重庆高洁环境绿化工程集团有限公司 | Intelligent environmental sanitation management system and method |
| CN111223029B (en) * | 2020-01-10 | 2023-11-14 | 重庆高洁环境绿化工程集团有限公司 | Intelligent sanitation management system and method |
| CN112575726A (en) * | 2020-11-10 | 2021-03-30 | 烟台海德专用汽车有限公司 | Intelligent water system of motor sweeper |
| CN114115235A (en) * | 2021-10-28 | 2022-03-01 | 创泽智能机器人集团股份有限公司 | Disinfectant supplementing method, device and medium for disinfecting robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108181903A (en) | A kind of sanitation cart working path planing method based on the detection of road surface cleannes | |
| CN108166421B (en) | A kind of environmental protection working vehicle based on the detection of road surface cleannes | |
| CN110755002B (en) | Intelligent multifunctional outdoor cleaning robot | |
| CN108170143A (en) | A kind of sanitation cart job control method and sanitation cart | |
| CN109610396A (en) | Unmanned cleaning vehicle and its sprinkler system control method | |
| CN108563228A (en) | A kind of unmanned operation system of sanitation cart | |
| CN103787011B (en) | Community sewage disposer intelligent management system and rubbish recovering method | |
| CN108716201B (en) | Collaborative sweeping method | |
| CN207601347U (en) | A kind of intelligent environmental protection working vehicle based on rainfall detection | |
| CN109871639A (en) | A kind of the sweeper working power computing device and method of view-based access control model cognition technology | |
| CN112257623B (en) | Road surface cleanliness judgment and automatic cleaning method and automatic cleaning environmental sanitation device | |
| CN204288524U (en) | A kind of vehicle-mounted real-time road prior-warning device overflowing water channel road based on cloud computing | |
| CN110015147A (en) | Charge control method and system during pure electric vehicle Environmental sanitation cleaning vehicle automatic Pilot | |
| CN107884846A (en) | A kind of environmental protection working vehicle based on rainfall detection | |
| CN111931986A (en) | Garbage clearing and transporting vehicle route optimization method and urban garbage clearing and transporting ecological system | |
| CN108104035B (en) | A kind of sanitation cart job control method based on rainfall detection | |
| CN107607738A (en) | A kind of floor truck positioning speed-measuring system based on communication transfer | |
| CN110356736B (en) | Intelligent garbage collection box and information management system thereof | |
| CN114431122B (en) | Road greening sprinkling intelligent control system and method | |
| CN105676846A (en) | Use method of automatic navigation unmanned electric car | |
| CN207067800U (en) | Pure electric sanitation sweeper and its automated driving system | |
| CN210635126U (en) | Garbage can | |
| CN207096750U (en) | Managing and control system is rolled based on solar powered pavement spread | |
| CN106379674A (en) | Cleaning device for school sanitation | |
| CN106447795A (en) | Parking stall reservation system based on NFC payment technology |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180615 |