CN110158514A - Automatic cleaning method and device and storage medium - Google Patents
Automatic cleaning method and device and storage medium Download PDFInfo
- Publication number
- CN110158514A CN110158514A CN201910485456.4A CN201910485456A CN110158514A CN 110158514 A CN110158514 A CN 110158514A CN 201910485456 A CN201910485456 A CN 201910485456A CN 110158514 A CN110158514 A CN 110158514A
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- China
- Prior art keywords
- dust accumulation
- dust
- cleaning
- accumulation amount
- cleaning vehicle
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01D—SEPARATION
- B01D46/00—Filters or filtering processes specially modified for separating dispersed particles from gases or vapours
- B01D46/42—Auxiliary equipment or operation thereof
- B01D46/44—Auxiliary equipment or operation thereof controlling filtration
- B01D46/442—Auxiliary equipment or operation thereof controlling filtration by measuring the concentration of particles
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
- E01H1/00—Removing undesirable matter from roads or like surfaces, with or without moistening of the surface
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
- E01H1/00—Removing undesirable matter from roads or like surfaces, with or without moistening of the surface
- E01H1/08—Pneumatically dislodging or taking-up undesirable matter or small objects; Drying by heat only or by streams of gas; Cleaning by projecting abrasive particles
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
- E01H1/00—Removing undesirable matter from roads or like surfaces, with or without moistening of the surface
- E01H1/08—Pneumatically dislodging or taking-up undesirable matter or small objects; Drying by heat only or by streams of gas; Cleaning by projecting abrasive particles
- E01H1/0827—Dislodging by suction; Mechanical dislodging-cleaning apparatus with independent or dependent exhaust, e.g. dislodging-sweeping machines with independent suction nozzles ; Mechanical loosening devices working under vacuum
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01D—SEPARATION
- B01D2258/00—Sources of waste gases
- B01D2258/06—Polluted air
Abstract
The present invention discloses a kind of automatic cleaning method and device and storage medium, and the automatic cleaning method includes the front dust accumulation amount information for obtaining cleaning vehicle；According to the front dust accumulation amount information, the dust suction speed of the cleaning vehicle is adjusted；Dust accumulation filtering to being drawn into the cleaning vehicle, and filtered air is discharged.The present invention can satisfy the dedusting demand of different zones dust accumulation by adjusting the dust suction speed of cleaning vehicle, and this clean method greatly improves cleaning efficiency instead of artificial cleaning dust accumulation；And to clean air is discharged after the dust accumulation filtering being drawn into cleaning vehicle, prevents from causing secondary pollution to environment due to the dust in air content after discharge is excessive, preferably protect environment.
Description
Technical field
The present invention relates to automated cleaning technical fields, and in particular to a kind of automatic cleaning method and device and storage medium.
Background technique
Currently, the cleaning vehicle on road surface includes cleaning vehicle, sweeping machine, ground washing vehicle etc., for different road surfaces, cleaning vehicle has
Different road surface cleaning modes.But in these cleaning modes, it is to maintain certain speed road pavement and is cleaned, work as chance
When more to road dust, cleaning effect will affect；And certain fugitive dust can be generated in cleaning process, these cleaning vehicles exist
In cleaning process, there is no handling the fugitive dust of generation, these fugitive dusts will result in the secondary pollution to external environment, because
The cleaning effect of this existing cleaning vehicle urgently improves.
Summary of the invention
The main object of the present invention is to provide a kind of automatic cleaning method and device and storage medium, to solve existing cleaning
The problem of vehicle cleaning effect difference.
To achieve the above object, the present invention proposes that a kind of automatic cleaning method, the automatic cleaning method include:
Obtain the front dust accumulation amount information of cleaning vehicle；
According to the front dust accumulation amount information, the dust suction speed of the cleaning vehicle is adjusted；
Dust accumulation filtering to being drawn into the cleaning vehicle, and filtered air is discharged.
Preferably, described according to the front dust accumulation amount information, the step of adjusting the dust suction speed of the cleaning vehicle, includes:
According to the front dust accumulation amount information, the revolving speed of blower in the cleaning vehicle is adjusted.
Preferably, described according to the front dust accumulation amount information, the step of adjusting the revolving speed of blower in the cleaning vehicle, wraps
It includes:
When the front dust accumulation amount is less than default dust accumulation amount, the revolving speed of the blower is reduced；
When the front dust accumulation amount is greater than or equal to the default dust accumulation amount, increase the revolving speed of the blower.
Preferably, the described pair of dust accumulation filtering being drawn into the cleaning vehicle, and the step of filtered air is discharged
Include:
Obtain the dustiness information of filtered air；
According to the dustiness information, the filtering times of the air are adjusted, and filtered air is discharged.
Preferably, described according to the dustiness information, adjust the filtering times of the air, and by filtered air
The step of discharge includes:
When the dustiness is less than or equal to default dustiness, the air was carried out by the first default filtering times
Filter, and filtered air is discharged；
When the dustiness is greater than the default dustiness, the air was carried out by the second default filtering times
Filter, and filtered air is discharged；The second default filtering times are greater than the described first default filtering times.
Preferably, the automatic cleaning method further include:
Obtain the rear dust accumulation amount information of the cleaning vehicle；
The front dust accumulation amount and the rear dust accumulation amount are compared, dust accumulation amount difference information is obtained；
According to the dust accumulation amount difference information, the moving direction of the cleaning vehicle is controlled.
Preferably, described according to the dust accumulation amount difference, the step of controlling the moving direction of the cleaning vehicle, includes:
When the dust accumulation amount difference is greater than or equal to preset difference value, controls the cleaning vehicle and continue to move along；
When the dust accumulation amount difference is less than the preset difference value, controls the cleaning vehicle and return.
Preferably, the cleaning vehicle include flat car and the dust cleaning case being set on the flat car, the blower and
Exhaust pipe, dust collecting inlet ports and dust outlet are offered on the dust cleaning case, and the input end of the blower and dust outlet connect
Connect, the outlet end of the blower is connect with the exhaust pipe, be additionally provided on the flat car dust sensor and with it is described
The controller of dust sensor electrical connection.
Also, the present invention also proposes that a kind of cleaning device, the cleaning device include: memory, processor and be stored in
On the memory and the computer program that can run on the processor, the computer program are executed by the processor
The step of Shi Shixian automatic cleaning method as described above.
In addition, the present invention also proposes a kind of computer readable storage medium, stored on the computer readable storage medium
There is automated cleaning program, the automated cleaning program realizes the step of automatic cleaning method as described above when being executed by processor
Suddenly.
In technical solution of the present invention, the front dust accumulation amount information of cleaning vehicle is obtained first；Then according to the front dust accumulation
Information is measured, the dust suction speed of the cleaning vehicle is adjusted；Finally the dust accumulation being drawn into the cleaning vehicle is filtered, and will be after filtering
Air discharge.The present invention can satisfy the dedusting demand of different zones dust accumulation by adjusting the dust suction speed of cleaning vehicle, and
This clean method greatly improves cleaning efficiency instead of artificial cleaning dust accumulation；And to the dust accumulation mistake being drawn into cleaning vehicle
Clean air is discharged after filter, discomfort caused by preventing because of the excessively multipair human body of dusty gas preferably protects environment.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
The structure shown according to these attached drawings obtains other attached drawings.
Fig. 1 is the terminal structure schematic diagram for the hardware running environment that the solution of the present invention is related to；
Fig. 2 is the flow diagram of the first embodiment of automatic cleaning method of the present invention；
Fig. 3 is the flow diagram of the second embodiment of automatic cleaning method of the present invention；
Fig. 4 is the flow diagram of the 3rd embodiment of automatic cleaning method of the present invention；
Fig. 5 is the flow diagram of the fourth embodiment of automatic cleaning method of the present invention；
Fig. 6 is the flow diagram of the 5th embodiment of automatic cleaning method of the present invention；
Fig. 7 is the flow diagram of the sixth embodiment of automatic cleaning method of the present invention；
Fig. 8 is the flow diagram of the 7th embodiment of automatic cleaning method of the present invention；
Fig. 9 is the structural schematic diagram of present invention cleaning vehicle.
Drawing reference numeral explanation:
| Label | Title | Label | Title |
| 10 | Flat car | 40 | Filter |
| 20 | Fugitive dust component | 50 | Blower |
| 30 | Disposal box | 60 | Exhaust pipe |
| 31 | Dust collecting inlet ports |
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiment is only a part of the embodiments of the present invention, instead of all the embodiments.Base
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts it is all its
His embodiment, shall fall within the protection scope of the present invention.
It is to be appreciated that the directional instruction (such as up, down, left, right, before and after ...) of institute is only used in the embodiment of the present invention
In explaining in relative positional relationship, the motion conditions etc. under a certain particular pose (as shown in the picture) between each component, if should
When particular pose changes, then directionality instruction also correspondingly changes correspondingly.
In addition, the description for being such as related to " first ", " second " in the present invention is used for description purposes only, and should not be understood as
Its relative importance of indication or suggestion or the quantity for implicitly indicating indicated technical characteristic.Define as a result, " first ",
The feature of " second " can explicitly or implicitly include at least one of the features.In the description of the present invention, " multiple " contain
Justice is at least two, such as two, three etc., unless otherwise specifically defined.
In the present invention unless specifically defined or limited otherwise, term " connection ", " fixation " etc. shall be understood in a broad sense,
For example, " fixation " may be a fixed connection, it may be a detachable connection, or integral；It can be mechanical connection, be also possible to
Electrical connection；It can be directly connected, the connection inside two elements or two can also be can be indirectly connected through an intermediary
The interaction relationship of a element, unless otherwise restricted clearly.It for the ordinary skill in the art, can basis
Concrete condition understands the concrete meaning of above-mentioned term in the present invention.
It in addition, the technical solution between each embodiment of the present invention can be combined with each other, but must be general with this field
Based on logical technical staff can be realized, it will be understood that when the combination of technical solution appearance is conflicting or cannot achieve this
The combination of technical solution is not present, also not the present invention claims protection scope within.
As shown in Figure 1, Fig. 1 is the terminal structure schematic diagram for the hardware running environment that the embodiment of the present invention is related to.
The terminal of that embodiment of the invention structure can be cleaning vehicle, be also possible to sweeper, dust catcher etc. with automated cleaning
The terminal device of function.
As shown in Figure 1, the terminal structure may include: processor 1001, such as CPU, communication bus 1002, user interface
1003, network interface 1004, memory 1005.Wherein, communication bus 1002 is for realizing the connection communication between these components.
User interface 1003 may include display screen (Display), input unit such as keyboard (Keyboard), optional user interface
1003 can also include standard wireline interface and wireless interface.Network interface 1004 optionally may include that the wired of standard connects
Mouth, wireless interface (such as WI-FI interface).Memory 1005 can be high speed RAM memory, be also possible to stable memory
(non-volatile memory), such as magnetic disk storage.Memory 1005 optionally can also be independently of aforementioned processor
1001 storage device.
It will be understood by those skilled in the art that the not restriction of structure paired terminal in Fig. 1, may include than illustrate it is more or
Less component perhaps combines certain components or different component layouts.
As shown in Figure 1, as may include that operating system, network are logical in a kind of memory 1005 of computer storage medium
Believe module, Subscriber Interface Module SIM and automated cleaning application program.
In terminal shown in Fig. 1, network interface 1004 is mainly used for connecting background server, carries out with background server
Data communication；User interface 1003 is mainly used for connecting client (user terminal), carries out data communication with client；And processor
1001 can be used for calling the automated cleaning program stored in memory 1005, and execute following operation:
Obtain the front dust accumulation amount information of cleaning vehicle；
According to the front dust accumulation amount information, the dust suction speed of the cleaning vehicle is adjusted；
Dust accumulation filtering to being drawn into the cleaning vehicle, and filtered air is discharged.
Further, processor 1001 can call the automated cleaning program stored in memory 1005, also execute following
Operation:
According to the front dust accumulation amount information, the revolving speed of blower 50 in the cleaning vehicle is adjusted.
Further, processor 1001 can call the automated cleaning program stored in memory 1005, also execute following
Operation:
When the front dust accumulation amount is less than default dust accumulation amount, the revolving speed of the blower 50 is reduced；
When the front dust accumulation amount is greater than or equal to the default dust accumulation amount, increase the revolving speed of the blower 50.
Further, processor 1001 can call the automated cleaning program stored in memory 1005, also execute following
Operation:
Obtain the dustiness information of filtered air；
According to the dustiness information, the filtering times of the air are adjusted, and filtered air is discharged.
Further, processor 1001 can call the automated cleaning program stored in memory 1005, also execute following
Operation:
When the dustiness be less than or equal to the default dustiness when, to the air by the first default filtering times into
Row filtering, and filtered air is discharged；
When the dustiness is greater than default dustiness, the air is filtered by the second default filtering times, and
Filtered air is discharged.
Further, processor 1001 can call the automated cleaning program stored in memory 1005, also execute following
Operation:
Obtain the rear dust accumulation amount information of the cleaning vehicle；
The front dust accumulation amount and the rear dust accumulation amount are compared, dust accumulation amount difference information is obtained；
According to the dust accumulation amount difference information, the moving direction of the cleaning vehicle is controlled.
Further, processor 1001 can call the automated cleaning program stored in memory 1005, also execute following
Operation:
When the dust accumulation amount difference is greater than or equal to preset difference value, controls the cleaning vehicle and continue to move along；
When the dust accumulation amount difference is less than the preset difference value, controls the cleaning vehicle and return.
The specific embodiment and each embodiment of following automatic cleaning methods of present invention cleaning vehicle are essentially identical, do not go to live in the household of one's in-laws on getting married herein
It states.
As shown in figure 9, cleaning vehicle of the invention includes flat car 10 and the dust cleaning case being set on flat car 10 20, wind
Machine 50 and exhaust pipe 60, dust collecting inlet ports 31 and dust outlet are offered on dust cleaning case 20, and the input end and dust of blower 50 export
Connection, the outlet end of blower 50 are connect with exhaust pipe 60, and dust sensor is additionally provided on flat car 10 and is sensed with dust
The controller of device electrical connection.The present invention is by being arranged dust cleaning case 20 on flat car 10, and the movement of flat car 10 is to drive
Dust cleaning case 20 moves forward, and is entered dust accumulation in dust cleaning case 20 from dust collecting inlet ports 31 using blower 50, will be clean after filtering
Net air is emitted by air-exhausting duct, and this cleaning mode greatly improves cleaning efficiency instead of artificial cleaning dust accumulation.This
Outside, it is additionally provided with fugitive dust component 20 in the front of dust cleaning case 20, for raising the dust accumulation for cleaning front side, to be conducive to dust accumulation
Preferably it is inhaled into dust cleaning case 20.
Referring to Fig. 2, the first embodiment of the present invention provides a kind of automatic cleaning method, and the automatic cleaning method includes:
Step S10 obtains the front dust accumulation amount information of cleaning vehicle；
The present invention is applied in cleaning vehicle as described above, powers on, clicks the switch button of cleaning vehicle, cleans in vehicle
Dust sensor detection cleaning front side preset range in dust accumulation amount, such as can detecte the dense of dust in the preset range
Degree.The dust accumulation amount information that this dust sensor will test using dust sensor is converted to electric signal and passes to controller,
Controller controls the dust suction speed of cleaning vehicle according to dust accumulation amount information.Preset range can be that length is 1 meter, width be 1 meter with
Interior dust accumulation detection range.In other examples, preset range can also be set according to actual needs.
Step S20 adjusts the dust suction speed of the cleaning vehicle according to the front dust accumulation amount information；
When detecting that cleaning front side dust accumulation amount is more, controller control cleaning vehicle increases dust suction speed；When detecting
When cleaning front side dust accumulation amount is less, controller control cleaning vehicle reduces dust suction speed.Cleaning vehicle dust suction adjustable in this way
Effect is avoided when there are many dust accumulation, since the dynamics very little of dust suction causes cleaning to be not thorough.
Step S30 filters the dust accumulation being drawn into the cleaning vehicle, and filtered air is discharged；
First case intracorporal dust accumulation gas is entered from dust collecting inlet ports 31, dust drops into the first cabinet, a part warp
Air after crossing the primary filtration of filter screen exported away from the dust on the second cabinet and enter in filter 40 carry out into
Filter to one step.It is also equipped with dust mouth on the first cabinet, it, can be from dust mouth when first case intracorporal dust accumulation is excessive
Dust accumulation is cleaned up.
Automatic cleaning method in the present embodiment obtains the dust accumulation amount information of cleaning front side, and root using dust sensor
The dust accumulation warp that according to how much adjustment dust suction speed of dust accumulation amount, can be improved the cleaning efficiency of cleaning vehicle, and be drawn onto cleaning vehicle
It can just be emitted after filtering, can preferably protect external environment, not will cause secondary dust pollution.
Further, referring to Fig. 3, the second embodiment of the present invention provides a kind of automatic cleaning method, is based on above-mentioned Fig. 2 institute
The first embodiment shown, the step S20 further include:
Step S21: according to the front dust accumulation amount information, the revolving speed of blower 50 in the cleaning vehicle is adjusted；
When dust sensor detects the dust accumulation amount in preset range, controller adjusts turning for blower 50 according to dust accumulation amount
Speed.Since blower 50 is connected with dust cleaning case 20, the negative pressure that such blower 50 generates can will clean the dust accumulation of front side by dust
Entrance 31 is drawn into dust cleaning case 20 and is filtered.Wherein, the dust suction speed and strength of the revolving speed of blower 50 and dust collecting inlet ports 31
It is proportional.
Further, referring to Fig. 4, the third embodiment of the present invention provides a kind of automatic cleaning method, is based on above-mentioned Fig. 3 institute
The second embodiment shown, the step S21 further include:
Step S211: when the front dust accumulation amount is less than default dust accumulation amount, the revolving speed of the blower 50 is reduced；
During cleaning vehicle continues to move along dust suction, if detecting that front dust accumulation amount is less than preset dust accumulation amount
When, it can accordingly reduce in the revolving speed to certain range of blower 50, be conducive to the consumption for saving blower 50 in this way, and then save
Electric energy.Wherein, the revolving speed of dust accumulation amount and corresponding blower 50 can be set according to actual needs.
Step S212: when the front dust accumulation amount is greater than or equal to the default dust accumulation amount, increase the blower 50
Revolving speed；
When detecting that front dust accumulation amount is greater than or equal to default dust accumulation amount, illustrate that front dust accumulation is relatively more at this time, in order to
Preferably cleaning dust accumulation, controller control improves the power of blower 50, so that the revolving speed of blower 50 is improved, such dust cleaning case 20
Dust collecting inlet ports 31 are stronger for the adsorption capacity of dust accumulation, so that dust accumulation is easier to be inhaled into dust cleaning case 20, prevent blocking dust
Entrance 31.
By adjusting the revolving speed of blower 50 according to practical dust accumulation amount information in the present embodiment, and then adjust the suction of cleaning vehicle
Dirt speed prevents the cleaning dynamics when dust accumulation amount is excessive from not enough cleaning being caused not done to improve the cleaning efficiency of cleaning vehicle
Only or the excessive dust suction speed of dust accumulation amount it is too small and cause clean vehicle damage.
Further, referring to Fig. 5, the fourth embodiment of the present invention provides a kind of automatic cleaning method, is based on above-mentioned Fig. 2 institute
The first embodiment shown, the step S30 further include:
Step S31: the dustiness information of filtered air is obtained；
Be connected with dust concentration on-line detector in the outlet of air-exhausting duct, to the filtered air being discharged from air-exhausting duct into
The detection of row dust concentration.The dust concentration on-line detector utilizes built-in filter membrane on-line sampling device, in the air of air-exhausting duct discharge
In per the air for collecting certain volume at regular intervals, which is able to detect in the air being collected into
Dust concentration, and intuitively shown on the instrument, when dustiness is higher than preset threshold values, issue certain warning information.
Step S32: according to the dustiness information, the filtering times of the air are adjusted, and filtered air is arranged
Out.
It is additionally provided with the filter 40 with dust outlet connection in cleaning vehicle of the invention, enters remove under normal circumstances
Dust accumulation in dirt case 20 enters after once filtering in dust cleaning case 20 carries out secondary filter in filter 40, then pass through
Filtered air is discharged from air-exhausting duct twice.But when dustiness is unsatisfactory for emission request in the air of discharge, need pair
The filtering times of dust accumulation in dust cleaning case 20 are adjusted, until meeting subject to discharge standard.
In the present embodiment, by detecting the dustiness for the air being discharged from air-exhausting duct, it can judge 20 pairs of products of dust cleaning case
The degree of filtration of dirt air prevents the air of discharge from causing secondary pollution to external environment, therefore automatic clear in the present embodiment
Clean method can also protect external environment while guaranteeing cleaning effect, be conducive to large-scale application.
Further, referring to Fig. 6, the fifth embodiment of the present invention provides a kind of automatic cleaning method, is based on above-mentioned Fig. 5 institute
The fourth embodiment shown, the step S32 further include:
Step S321: default by first to the air when the dustiness is less than or equal to the default dustiness
Filtering times are filtered, and filtered air is discharged；
First default filtering times of cleaning vehicle of the invention are twice, to be provided with filter screen in dust cleaning case 20, removing
It is entered back into after once being filtered in dirt case 20 and carries out secondary filter in filter 40.When detecting by filtered twice
When air is less than or equal to default dustiness, illustrate to have reached discharge standard by filtered air, it can be from exhaust pipe
It is emitted in 60.Wherein, default dustiness can be 70mg/m3。
Step S322: when the dustiness is greater than default dustiness, to the air by the second default filtering times into
Row filtering, and filtered air is discharged；；
It when detecting that dustiness is greater than default content, needs to increase certain filtering times at this time, to air according to the
Two filtering times are filtered, and the second default filtering times are greater than the first default filtering times.Specifically, it is filtered in cleaning vehicle
Device 40 can be set to it is multiple, when the dustiness for detecting air from the outlet end of air-exhausting duct is greater than default dustiness, explanation
The air-borne dust content of discharge is more, is unsatisfactory for discharge standard, thus to by first filtered air of filter 40 into
Enter into other filters 40 and be filtered for multiple times, the outlet of each filter 40 is both provided with dust content detector, directly
To when detecting that dustiness meets discharge standard, that is, filtering is completed, is discharged from air-exhausting duct.
The dustiness of wind air is discharged by detection from air-exhausting duct for the present embodiment, to judge by filtered dust-laden
Whether air reaches discharge standard, prevents from not filtering complete dust laden air being discharged into air, causes secondary dirt to environment
Dye.
Further, referring to Fig. 7, the sixth embodiment of the present invention provides a kind of automatic cleaning method, is based on above-mentioned Fig. 2 institute
The first embodiment shown, the automatic cleaning method further include:
Step S40: the rear dust accumulation amount information of the cleaning vehicle is obtained；
After due to cleaning vehicle cleaning, it is possible to which ground after cleaning is simultaneously unsatisfactory for clean requirement, therefore in cleaning vehicle
Rear is also equipped with dust accumulation sensor, for detecting the dust accumulation amount at cleaning vehicle rear, such as can detecte cleaning 3 meters of vehicle rear or
Dust accumulation amount within the scope of 4 meters of person.Alternatively, in other examples, shooting can also be arranged in the front and back of cleaning vehicle
The camera of information of road surface, by comparing the picture of the road surface cleannes taken, to obtain the cleannes on the road surface cleaned
Whether meet the requirements.
Step S50: comparing the front dust accumulation amount and the rear dust accumulation amount, obtains dust accumulation amount difference information；
After the dust accumulation amount for getting the cleaned road surface gone at cleaning vehicle rear, by rear dust accumulation amount and front product
Whether dust quantity compares, see the dust accumulation amount difference of the two in preset threshold range.
Step S60: according to the dust accumulation amount difference information, the moving direction of the cleaning vehicle is controlled；
Electric signal is converted into after dust sensor detects dust accumulation amount difference information and passes to controller, controller root
Control whether cleaning vehicle continues to move along or return according to dust accumulation amount difference information.
The present embodiment can preferably realize the cleaning on ground, work as ground by the dust accumulation amount at comparison cleaning Chinese herbaceous peony rear
When less clean position, cleaning vehicle road pavement can be controlled and cleaned again, substantially increase cleaning effect, and entirely cleaned
Journey automatically controls, and without human intervention, has saved human cost.
Further, the seventh embodiment of the present invention provides a kind of automatic cleaning method, is based on the above-mentioned shown in Fig. 7 6th
Embodiment, as shown in figure 8, the step S60 further include:
Step S61: it when the dust accumulation amount difference is greater than or equal to preset difference value, controls the cleaning vehicle and continues to Forward
It is dynamic；
When the difference of front dust accumulation amount and rear dust accumulation amount is greater than or equal to preset difference value, the road surface after illustrating cleaning is
Cleanliness standard is reached, such controller control cleaning vehicle continues to move along the road surface in cleaning front.Wherein, preset difference value
It can be arranged according to road surface actual demand.
Step S62: it when the dust accumulation amount difference is less than the preset difference value, controls the cleaning vehicle and returns.
When the difference of front dust accumulation amount and rear dust accumulation amount is less than preset difference value, illustrate the road surface that cleaning vehicle cleaned
Dust accumulation amount is also relatively more, does not reach cleanliness standard, clean road surface continues to clean before controller control cleaning vehicle returns, directly
Until to the institute, clean road surface reaches cleanliness standard.
The present embodiment is compared by cleaning Chinese herbaceous peony rear dust accumulation amount difference and preset difference value, clear according to control the case where comparison
Clean vehicle continues cleaning forward or returns to cleaning, and this automated manner enables to that clean road surface range is needed to can satisfy clearly
Clean standard, improves cleaning efficiency at the case where avoiding the occurrence of less clean position.
Further, the present invention also provides a kind of cleaning device, based on embodiment shown in above-mentioned, cleaning vehicle includes storage
Device, processor and storage are on a memory and the computer program that can run on a processor, computer program are held by processor
The step of automatic cleaning method as described above is realized when row.
In addition, the present invention also proposes a kind of computer readable storage medium, stored on the computer readable storage medium
There is automated cleaning program, following operation realized when the automated cleaning program is executed by processor:
Obtain the front dust accumulation amount information of cleaning vehicle；
According to the front dust accumulation amount information, the dust suction speed of the cleaning vehicle is adjusted；
Dust accumulation filtering to being drawn into the cleaning vehicle, and filtered air is discharged.
Further, following operation is also realized when automated cleaning program is executed by processor:
According to the front dust accumulation amount information, the revolving speed of blower 50 in the cleaning vehicle is adjusted.
Further, following operation is also realized when automated cleaning program is executed by processor:
When the front dust accumulation amount is less than default dust accumulation amount, the revolving speed of the blower 50 is reduced；
When the front dust accumulation amount is greater than or equal to the default dust accumulation amount, increase the revolving speed of the blower 50.
Further, following operation is also realized when automated cleaning program is executed by processor:
Obtain the dustiness information of filtered air；
According to the dustiness information, the filtering times of the air are adjusted, and filtered air is discharged.
Further, following operation is also realized when automated cleaning program is executed by processor:
When the dustiness be less than or equal to the default dustiness when, to the air by the first default filtering times into
Row filtering, and filtered air is discharged；
When the dustiness is greater than default dustiness, the air is filtered by the second default filtering times, and
Filtered air is discharged.
Further, following operation is also realized when automated cleaning program is executed by processor:
Obtain the rear dust accumulation amount information of the cleaning vehicle；
The front dust accumulation amount and the rear dust accumulation amount are compared, dust accumulation amount difference information is obtained；
According to the dust accumulation amount difference information, the moving direction of the cleaning vehicle is controlled.
Further, following operation is also realized when automated cleaning program is executed by processor:
When the dust accumulation amount difference is greater than or equal to preset difference value, controls the cleaning vehicle and continue to move along；
When the dust accumulation amount difference is less than the preset difference value, controls the cleaning vehicle and return.
The specific embodiment of computer readable storage medium of the present invention and above-mentioned application software security flaw detection method are each
Embodiment is essentially identical, and therefore not to repeat here.
It should be noted that, in this document, the terms "include", "comprise" or its any other variant are intended to non-row
His property includes, so that the process, method, article or the system that include a series of elements not only include those elements, and
And further include other elements that are not explicitly listed, or further include for this process, method, article or system institute it is intrinsic
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including being somebody's turn to do
There is also other identical elements in the process, method of element, article or system.
The serial number of the above embodiments of the invention is only for description, does not represent the advantages or disadvantages of the embodiments.
Through the above description of the embodiments, those skilled in the art can be understood that above-described embodiment side
Method can be realized by means of software and necessary general hardware platform, naturally it is also possible to by hardware, but in many cases
The former is more preferably embodiment.Based on this understanding, technical solution of the present invention substantially in other words does the prior art
The part contributed out can be embodied in the form of software products, which is stored in one as described above
In storage medium (such as ROM/RAM, magnetic disk, CD), including some instructions are used so that a terminal device (can be cleaning vehicle
Or sweeper etc.) execute method described in each embodiment of the present invention.
The above is only a preferred embodiment of the present invention, is not intended to limit the scope of the invention, all to utilize this hair
Equivalent structure or equivalent flow shift made by bright specification and accompanying drawing content is applied directly or indirectly in other relevant skills
Art field, is included within the scope of the present invention.
Claims (10)
1. a kind of automatic cleaning method, which is characterized in that the automatic cleaning method includes:
Obtain the front dust accumulation amount information of cleaning vehicle；
According to the front dust accumulation amount information, the dust suction speed of the cleaning vehicle is adjusted；
Dust accumulation filtering to being drawn into the cleaning vehicle, and filtered air is discharged.
2. automatic cleaning method as described in claim 1, which is characterized in that it is described according to the front dust accumulation amount information, it adjusts
It is whole it is described cleaning vehicle dust suction speed the step of include:
According to the front dust accumulation amount information, the revolving speed of blower in the cleaning vehicle is adjusted.
3. automatic cleaning method as claimed in claim 2, which is characterized in that it is described according to the front dust accumulation amount information, it adjusts
The step of revolving speed of blower, includes: in the whole cleaning vehicle
When the front dust accumulation amount is less than default dust accumulation amount, the revolving speed of the blower is reduced；
When the front dust accumulation amount is greater than or equal to the default dust accumulation amount, increase the revolving speed of the blower.
4. automatic cleaning method as described in claim 1, which is characterized in that the described pair of dust accumulation being drawn into the cleaning vehicle
Filtering, and the step of filtered air is discharged includes:
Obtain the dustiness information of filtered air；
According to the dustiness information, the filtering times of the air are adjusted, and filtered air is discharged.
5. automatic cleaning method as claimed in claim 4, which is characterized in that it is described according to the dustiness information, adjust institute
The filtering times of air are stated, and the step of filtered air is discharged includes:
When the dustiness is less than or equal to default dustiness, the air is filtered by the first default filtering times,
And filtered air is discharged；
When the dustiness is greater than the default dustiness, the air is filtered by the second default filtering times, and
Filtered air is discharged；The second default filtering times are greater than the described first default filtering times.
6. automatic cleaning method according to any one of claims 1 to 5, which is characterized in that the automatic cleaning method also wraps
It includes:
Obtain the rear dust accumulation amount information of the cleaning vehicle；
The front dust accumulation amount and the rear dust accumulation amount are compared, dust accumulation amount difference information is obtained；
According to the dust accumulation amount difference information, the moving direction of the cleaning vehicle is controlled.
7. automatic cleaning method as claimed in claim 6, which is characterized in that it is described according to the dust accumulation amount difference, control institute
State cleaning vehicle moving direction the step of include:
When the dust accumulation amount difference is greater than or equal to preset difference value, controls the cleaning vehicle and continue to move along；
When the dust accumulation amount difference is less than the preset difference value, controls the cleaning vehicle and return.
8. automatic cleaning method according to any one of claims 1 to 5, which is characterized in that the cleaning vehicle includes flat car
And be set to dust cleaning case, the blower and exhaust pipe on the flat car, offered on the dust cleaning case dust collecting inlet ports and
Dust outlet, the input end of the blower and dust outlet connect, and the outlet end of the blower is connect with the exhaust pipe,
The controller for being additionally provided with dust sensor on the flat car and being electrically connected with the dust sensor.
9. a kind of cleaning device, which is characterized in that the cleaning device includes: memory, processor and is stored in the storage
On device and the computer program that can run on the processor, realized such as when the computer program is executed by the processor
The step of automatic cleaning method of any of claims 1-8.
10. a kind of computer readable storage medium, which is characterized in that be stored on the computer readable storage medium automatic clear
Clean program realizes such as automated cleaning of any of claims 1-8 when the automated cleaning program is executed by processor
The step of method.
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| CN201910485456.4A CN110158514A (en) | 2019-06-03 | 2019-06-03 | Automatic cleaning method and device and storage medium |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910485456.4A CN110158514A (en) | 2019-06-03 | 2019-06-03 | Automatic cleaning method and device and storage medium |
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| CN110158514A true CN110158514A (en) | 2019-08-23 |
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| CN201910485456.4A Pending CN110158514A (en) | 2019-06-03 | 2019-06-03 | Automatic cleaning method and device and storage medium |
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Application publication date: 20190823 |